Power System Analysis

Theory
Solved Examples
Assignment Questions
Control systems
Lecture-2: Mathematical Modelling
V. Sankaranarayanan
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Outline
Theory
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Representations
Dynamical system
System is said to be dynamical if
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Control system
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Representations
Dynamical system

The output y(t) and the input are related through differential equations
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Control system
Theory
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Representations
Dynamical system

There is the time delay between the input u(t) and the output y(t)
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Control system
Theory
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Representations
Dynamical system

The output y(t) is a filtered output of u(t)
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Control system
Theory
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Representations
Dynamical system

The output y(t) is a filtered output of u(t)
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Control system
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Linear system
Definition
A system is said to be linear in terms of the system input u(t) and the system
output y(t) if it satisfies the additive and homogeneity property which implies
that it satisfies the superposition principle.
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Control system
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Linear system
additive property
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Control system
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Mathematical modelling
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Is this linear system ?
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Mathematical relation
1
di
+
dt
C
Z
1
=
idt
C
Vin = Ri + L
Vout
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Z
idt
Control system
Theory
Solved Examples
Mathematical relation
1
di
+
dt
C
Z
1
=
idt
C
Vin = Ri + L
Vout
Z
idt
How to find Vout (t)
V. Sankaranarayanan
Control system
Theory
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Why we need to find Vout (t)
Modelling
The behaviour of the output
Passive design
What values of Vin , R, L and C for particular output value at particular time
Vout (2.8) = 3.9V
Active design
How to get the desired output value by changing the input ?
Controller
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Control system
Theory
Solved Examples
How to obtain Vout (t)
Let Vin =10V,R=3,L=1H,C=0.5F

Vin = Ri + L
1
di
+
dt
C
Z
idt
On Differentiating, we get
R
di2
i
di
+L 2 +
=0
dt
dt
C
i
Ri + Li +
=0
C
Sub for R,L,C values,we get

z 2 + 3z + 2 = 0
(z + 1)(z + 2) = 0
i(t) = c1 et + c2 e2t
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Vout (t)
1
0.5
2(c1 et
i(t)dt
c2 2t
e
)+K
2
When Vout () = 10 ; K=10

Thus,
Vout = 2(c1 et
c2 2t
e
) + 10
2
When Vout (0) = 0 2c1 + c2 = 10

i(0) = 0 c1 + c2 = 0
c1 = 10; c2 = 10
Vout = 10 + 10e2t 20et
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Control system
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Is there an another way ?

Laplace Transform
Definition
Z
L{f (t)} = F (s) =
f (t)est dt
Definition
0
L{f } = sL{f } f (0)

00
L{f } = s2 L{f } sf (0) f (0)

V. Sankaranarayanan
Control system
Theory
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How to compute Vout (t) ? using Laplace Transform
di
1
+
dt
C
Z
1
=
dt
C
Vin = Ri + L
Vout
dt
Taking Laplace transform

1
Vin (s) = i(s) R + sL +
sC
Vout (s) =
1
Vout (s) =
sC
V. Sankaranarayanan
"
1
i(s)
sC
Vin (s)

1
R + sL + sC
Control system
Theory
Solved Examples
Let Vin =10V,R=3,L=1H,C=0.5F

Vout (s)
Vout (s)
2
(s + 1)(s + 2)
20
s(s + 1)(s + 2)
Vin (s)
Taking Laplace inverse transform,

Vout (t) = 10 20et + 10e2t
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Control system
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Definitions
Transfer function
Ratio between the Laplace transform of input and output, that is,
Y (s)
U (s)
Vout (s)
1
=
Vin (s)
sC
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"
1
R + sL +
#
1
sC
Control system
Theory
Solved Examples
Mechanical system
d2 x
dx
+B
+ Kx = F (t)
dt2
dt

M s2 x(s) + Bsx(s) + Kx(s) = F (s)
Transfer function
x(s)
1
=
F (s)
M s2 + Bs + k
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PMDC Motor
Ra i + La
di
+ eb
dt
eb
kb
kt i
d
J
+ B + Tl
dt
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V (s)
eb (s)
Ra i(s) + sLa i(s) + eb (s)

kb (s)
T (s)
kt i(s)
T (s)
Js(s) + B(s)
The transfer function

(s)
kb
=
V (s)
JLa s2 + s(BLa + JRa ) + (BRa + kb2 )
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Suspension system
m2
m1
d2 y
d
+ ks (y x) + b (y x) = 0
dt2
dt
d2 x
d
+ b (x y) + ks (x y) = kw (r x)
dt
dt
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Pendulum
mgl2 + mgl sin + kl = T

Linearization sin
mgl2 + mgl + kl = T
Calculate the transfer function
G(s) =
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(s)
T (s)
Control system
Theory
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Inverted pendulum on a cart
Equations of motion
2
d
F = Mx
+ m dt
2 (x + l sin )
F = (M + m)
x + ml2 sin ml cos
2
(I + ml ) = mgl sin m
xl cos
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Control system
Theory
Solved Examples
Electrical Systems
1. Find the transfer function of the system given below by taking input output as
given
Input ei
Output e0
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Electrical Systems
given
Input v1
Output v2
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Electro-Mechanical Systems
given
Input Battery voltage

Output Motor speed
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Operational Amplifier Circuit

given
Input ei
Output e0
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Spring-mass System on a Cart

given
Input u
Output y
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Cascaded Spring Mass System
given
Input u
Output can be x1 or x2
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Mechanical System
7. Consider the servo system with a dc motor given in the figure. A pair of
potentiometer act as a error measuring device. They convert input output position
into electrical signals. Input is r and output is c. The error signal is e = r c.
The error voltage is ev = er ec . And er = K0 r, ec = K0 c. For the constant field
current motor torque is T = K2 ia . Determine the transfer function of the system.
V. Sankaranarayanan
Control system
Theory
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Spring-Loaded Pendulum
8. Consider the spring-loaded pendulum system.Assume that the spring force
acting on the pendulum is zero when the pendulum is vertical, or = 0. Assume
also that the friction involved is negligible and the angle of oscillation is small.
Obtain a mathematical model of the system.
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Control system
Theory
Solved Examples
Inverted Pendulum System

9. Consider the inverted-pendulum.Assume that the mass of the inverted
pendulum is m and is evenly distributed along the length of the rod. (The center
of gravity of the pendulum is located at the center of the rod.) Assuming that is
small, derive mathematical models for the system in the forms of differential
equations.
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Servomotor System
10. Consider the system. An armature-controlled dc servomotor drives a load

consisting of the moment of inertia JL . The torque developed by the motor is T.
The moment of inertia of the motor rotor is Jm . The angular displacements of the
motor rotor and the load element are m and , respectively. The gear ratio is n =
/ m . Obtain the transfer function (s) / Ei (s).
V. Sankaranarayanan
Control system

Power System Analysis

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Theory

System is said to be dynamical if

System is said to be dynamical if

System is said to be dynamical if

System is said to be dynamical if

System is said to be dynamical if

Is this linear system ?

Is this linear system ?

Is this linear system ?

How to find Vout (t)

Why we need to find Vout (t)

How to obtain Vout (t)

Let Vin =10V,R=3,L=1H,C=0.5F

Sub for R,L,C values,we get

When Vout () = 10 ; K=10

When Vout (0) = 0 2c1 + c2 = 10

Is there an another way ?

L{f } = sL{f } f (0)

L{f } = s2 L{f } sf (0) f (0)

How to compute Vout (t) ? using Laplace Transform

Taking Laplace transform

Let Vin =10V,R=3,L=1H,C=0.5F

Taking Laplace inverse transform,

Taking Laplace transform

Taking Laplace transform

Ra i(s) + sLa i(s) + eb (s)

The transfer function

mgl2 + mgl sin + kl = T

Inverted pendulum on a cart

Input Battery voltage

Operational Amplifier Circuit

Spring-mass System on a Cart

Cascaded Spring Mass System

Inverted Pendulum System

10. Consider the system. An armature-controlled dc servomotor drives a load

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