AME 455 Control Systems Design Lecture 2 Modeling of physical systems

Instructional objectives: At the end of this lecture students should be able to Develop dynamic models of physical components Derive transfer function for them.

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design Example: position control using a DC motor Lets analyze each element to try to complete a blockdiagram representation of the system

AME 455 Control Systems Design

AME 455 Control Systems Design Differential amplifier:

R1
vn
R2

vp

vout

R3
R4

vout

R4 R1 = v p vn R3 R2

R4 R1 = K a (v p vn ) when = = Ka R3 R2

AME 455 Control Systems Design

Motor:

Load/dynamics:

= K m vout

l = dt

AME 455 Control Systems Design

Example: Control of flaps on airplane

AME 455 Control Systems Design

Servo valve

q = K valve vinput

vinput

K valve

AME 455 Control Systems Design

Piston

& q = Ax 1 x = qdt A

Linkage

x = K l flap

AME 455 Control Systems Design

Final block diagram

AME 455 Control Systems Design

AME 455 Control Systems Design

AME 455 Control Systems Design

qo =

h Ro

& = q q Ah i o h & Ah = qi Ro 1 H = Qi As + R o H 1 = Qi As + 1 Ro

AME 455 Control Systems Design

Laplace Transform:

AME 455 Control Systems Design

Final value theorem:

f () = lim F ( s ) s
s 0

AME 455 Control Systems Design

Some electrical models: