Mathematical Modelling and Transfer Functions

MEX4243 - Control Systems Engineering

Department of Mechanical Engineering, Department of Electrical and Computer Engineering
Nov. 24, 2013

Contents:
Introduction Transfer Functions Transfer Function Calculations Block Diagrams Signal Flow Graphs
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Modeling of control systems

We use quantitative mathematical models of physical systems to design and analyze control systems. The dynamic behavior is generally described by ordinary differential equations.

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How model a system?

Mathematical representation
-Transfer functions

Graphical representation
-Block diagrams -Signal Flow Graph

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Desired input

Actual Output

Controller

Actuator

Process

Sensor

Elements of a feedback control system

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Mathematical Modelling and Transfer Functions

output t. f = input
C(s)
=

Output in Laplace domain Input in Laplace domain

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R(s)
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Properties of the Transfer Function 1. Transfer function is defined only for a linear time-invariant system. It is not defined for non-linear systems. 2. The transfer function can be defined: LaplaceTransform(output variable) Transfer function = LaplaceTransform(input variable) 3. All initial conditions of the system are set to zero. 4. The transfer function is independent of the input of the system.
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Laplace transformation
A differential equation will be transformed by Laplace transformation into an algebraic equation which will be solvable. And that solution will be transformed back to give the actual solution of the differential equation we started with. The main application is for solving differential equations.
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Laplace transformation
Laplace transform is the dual (or complement) of the time-domain analysis. In time-domain analysis, we break input x(t) into impulsive component, and sum the system response to all these components. In frequency-domain analysis, we break the input x(t) into exponential components of the form est, where s is the complex frequency: s = + j Laplace transform is the tool to map signals and system behaviour from the time-domain into the frequency domain.
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Laplace transformation

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Laplace transformation

For a signal x(t) its Laplace transform is defined by

The signal x(t) is said to be the inverse Laplace transform of X(s). It can be shown that

where c is a constant.

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Transfer Function Calculations

i

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Mechanical Systems
Basic building blocks
Mass Spring Viscous damper

Newtons Laws of motion

Translational motion Rotational motion

Motions in mechanical systems

Translational motion
Linear motion Newtons law

forces = Ma

When M denotes the mass and a is the acceleration

Rotational motion Motion about a fixed axis

Newtons law

torques = J

When J denotes the inertia and is the angular acceleration

Linear motion
Component Force - velocity Force displacement Impedance

Z M (s) = F (s) / X (s)

Spring

x(t ) f (t ) = K v( )d
0 t

f (t )

f (t ) = Kx (t )

Viscous damper

x(t ) f (t ) fv f (t ) = Fv v(t )

f (t ) = f v

dx(t ) dt

fv s

Mass

x (t )

f (t ) = M
M f (t )

dv(t ) dt

f (t ) = M

d 2 x (t ) dt
2

Ms 2

Rotational motion
Component Torque - angular velocity Torque - angular displacement Impedance

Z M (s ) = T ( s) / (s )

T (t ) (t )
Spring

T (t ) = K ( )d
0

T (t ) = K (t )

Viscous damper

T (t ) (t ) T (t ) = D (t )

T (t ) = D

d (t ) dt

Ds

D T (t ) (t )

Inertia

T (t ) = J
f

d (t ) dt

T (t ) = J

d 2 (t ) dt
2

Js 2

Example: Find the transfer function X (s) F(s) of the following Spring-mass damper system.
K M f (t )

x(t )

Assume the mass travelling to the right.

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Applying Newtons law:

M
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d x(t ) dt 2

dx(t ) +c + Kx(t ) = f (t ) dt
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Taking the Laplace transform, assuming zero initial conditions:

Ms X ( s ) + csX ( s ) + KX ( s ) = F ( s)

( Ms + cs + k ) X ( s ) = F ( s )
X (s) 1 G ( s) = = 2 F ( s ) Ms + cs + K
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We can obtain the following equations: For the spring,

F (s) = KX (s)
F (s) = CsX (s)
F (s) = Ms X (s)
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For the viscous damper, For the mass,

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Block Diagrams
Block diagram of a feedback control system
+ R E G C

B H

G = Direct transfer function. H = Feedback transfer function. GH = Open loop (or loop) transfer function. C/R = Closed loop transfer function. E/R = Actuating signal ratio. (or error ratio.) B/R = Primary feedback ratio.
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Simplifying the Block diagrams Eg. Reduce the following diagram.

G3

G1

G4

G2

H1

H2
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Step 1: Combine all cascade block.

G1 G4

G1G4

Step 2: Combine all parallel blocks.

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Step 3: Eliminate all minor feedback loops

Step 4: Now we can draw the block diagram as:

G1G4 1 G1G4 H 1
G1 + G2

H2
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Finally we get the following canonical form.

G1G4 (G1 + G2 ) 1 G1G4 H 1

H2

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Signal Flow Graphs

Signal Flow Graph from block diagrams

R(s)

C(s)

R(s)

G(s)

C(s)

H(s)

H
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Eg. Draw the signal flow graph of the following block diagram.

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Solution

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Masons Gain Formula

Yout M k k M = = Yin k =1

Where,

y in = i p node variable. yout = o p node varible.

M = gain between and N = total number of forward paths between Mk = gain of the kth forward path between
= 1 Li1 + L j 2 Lk 3 + ......
i j k

& &

Lmr = gain product of the mth (m = i, j, k) possible combination of nontouching loops

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Eg. Determine the gain between y1 and y5 of the following SFG using Masons gain formula.

Solution 1) The 3 forward paths between y1 and y5 are,

M 1 = a12 a 23 a34 a 45

y1 y 2 y 3 y 4 y 5

M 2 = a12 a 24 a 45

y1 y 2 y 4 y 5
y1 y 2 y 5
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M 3 = a12 a 25
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2) There are 5 individual loops. L 11 = a 23 a 32 L 12 = a 34 a 43

L 13 = a 24 a 43 a 32

L 14 = a 44
3

L 15 = a 24 a 44 a 43 a 32

3) There is only 1 pair of nontouching loops

y 2 y3 y 2 & y 4 y 4

i.e.

L11 & L44

The product of the gain of the 2 nontouching loops is L21 = a 23 a32 a 44

4) All the loops are in touch with forward paths M1 and M2 1 = 1 & 2 = 1 2 of the loops are not in touch with forward path M

y3 y 4 y3
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&

y4 y4
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3 = 1 a34 a 43 a 44

Substituting above,

= 1 (L11 + L12 + L13 + L14 + L15 ) + L21

= 1 - (a 23 a32 + a34 a 43 + a 24 a32 a 43 + a 44 + a 24 a 44 a 43 a32 ) + a 23 a32 a 44
Gain between y 5 & y1

y5 M 11 + M 2 2 + M 3 3 = y1

a12 a 23 a34 a 45 + a12 a 24 a 45 + (a12 a 25 )(1 a34 a 43 a 44 ) = 1 (a 23 a32 + a34 a 43 + a 24 a32 a 43 + a 44 + a 24 a 44 a 43 a32 ) + a 23 a32 a 44

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Questions?

Thank you.
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