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Faculty of Engineering and

Materials Science

Modern Control Engineering


MCTR 702

Tutorial # 1

Background and Preview


Mennatallah Magdy, MSc
Assist. Lecturer of Mechatronics Engineering
mennatullah.ibrahim@guc.edu.eg
C3.124

Modern Control Engineering

Tutorial Contents
Reviewing dynamic modeling for
Mechanical systems
Electrical Systems

Modern Control Engineering

Tutorial Contents
Reviewing dynamic modeling for
Mechanical systems
Electrical Systems

Modern Control Engineering

Problem 1
Consider the following 2 mass-spring-damper system. The displacements of m1 and m2 are
y1(t) and y2(t) and are acted upon by the forces u1(t) and u2(t) in respective order.

Required:
a) Derive the equation(s) of motion for this system
b) Setting u1(t) to zero, obtain an expression for the T.F. relating y1(t) and u2(t).
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Modern Control Engineering


Recall, for a single degree of freedom system
Translation

Rotation
x(t)

T (t )
kR

u(t)

cR

Newton

F mx

Euler

T J

m x k x c x u

J k R cR T

m x c x k x u

J cR k R T

Modern Control Engineering


Solution
a)
Sketching the FBD of the masses as follows

Applying Newtons 2nd law for each mass to get the systems EOM

Re-arranging the EOM,

m1 y1 c1 c2 y1 c2 y 2 (k1 k2 ) y1 k2 y2 u1
m2 y2 c2 y1 c2 y 2 k2 y1 k2 y2 u2
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Modern Control Engineering


The EOM for a Multi DOF system could also be expressed in matrix form as,

m1 0 y1 c1 c2


0 m2 y2 c2

c2 y1 k1 k2

c2 y 2 k2

k2 y1 u1

k2 y2 u2

b)
Taking the Laplace Transform of the equations & setting the initial conditions to zero
Eq.1

m1 y1 c1 c2 y1 c2 y 2 (k1 k2 ) y1 k2 y2 0

m1 s 2Y1 ( s ) c1 c2 sY1 ( s ) c2 sY2 ( s ) (k1 k2 )Y1 ( s ) k2Y2 ( s ) 0

m1s 2 c1 c2 s (k1 k2 )Y1(s) Y2 (s)k2 c2s 0 (1)


Eq.2

m2 y2 c2 y1 c2 y 2 k2 y1 k2 y2 u2

m2 s 2Y2 ( s ) c2 sY1 ( s ) c2 sY2 ( s ) k2 sY1 ( s ) k2Y2 ( s ) U 2 ( s )

m2s 2 c2s k2 Y2 (s) c2s k2 Y1(s) U 2 (s) (2)

Modern Control Engineering


b) contd
Eliminating Y2(s) from the equations

from (1) Y2 ( s ) Y1 ( s ) m1s 2 c1 c2 s (k1 k2 ) k2 c2 s


substituting in (2)

m s

c2 s k2 Y2 ( s ) c2 s k2 Y1 ( s ) U 2 ( s )

Y1 ( s ) m2 s 2 c2 s k2 m1s 2 c1 c2 s (k1 k2 ) c2 s k2 c2 s k2 Y1 ( s ) U 2 ( s )
The T.F. is thus,

Y1 ( s )
1

U 2 ( s ) m2 s 2 c2 s k2 m1s 2 c1 c2 s c2 s (k1 k2 ) c2 s k2 c2 s k2

c2 s k2
m2 s 2 c2 s k2 m1s 2 c1 c2 s c2 s (k1 k2 ) c2 s k2 2

Modern Control Engineering


Problem 2
Two disks of mass polar moments of inertia, I1 and I2 mounted on a circular massless
shaft consisting of 2 segments of torsional stiffnesses k1 and k2. The disks are acted upon
by the external moments, M1 and M2.

k1

k2
k2

Required:
Derive the differential equation(s) for the angular displacements of the disks.

Modern Control Engineering


Solution
FBD

M1

M2

k1

k2

M1 k11 1 k2 1 2

k2 2 1

M2

In a manner analogous to problem 1, the EOM are obtained by applying Eulers


law to each disk
1 I11 (k1 k2 )1 k2 2 M1 I11

2 I 22 k11 k2 2 M 2 I 22
Re-arranging the EOM,
I11 (k1 k2 )1 k2 2 M1 (1)

I 22 k11 k2 2 M 2 (2)

The EOM could also be expressed in matrix form as,


I1 0 1 k1 k2 k2 1 M1

0
I

k
k

2 2
2
2 2 2
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Modern Control Engineering


Problem 3
Consider the accelerometer model shown in the following figure.
where
m is the mass of the moving block.
k is the stiffness of the spring.
c is the damping constant.

x is the position of the moving block relative to an inertial


(stationary) frame of reference.
y is the position of the housing relative to the same inertial frame
and is the input to the accelerometer.

Required:
a) Derive the differential equation(s) of motion of the accelerometer.
b) Re-write the equations in terms of the motion of the mass relative to the housing, z

c) Obtain an expression for the T.F. relating the input acceleration of the housing and the
output relative displacement.
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Modern Control Engineering


Solution
a)
Moving block FBD

k ( x y)
b( x y )

Applying Newton to get the EOM

F mx k ( x y ) b( x y ) mx k ( x y ) b( x y ) 0
b) The EOM re-written in terms of z, where z x y

mz kz bz my
c) T.F. relating the acceleration and relative displacement
Denoting the housing input acceleration by a :

mz kz bz my ma

Taking the Laplace Transform of the whole equation: ms 2 Z ( s ) kZ ( s ) bsZ ( s ) mA( s )

Hence, the T.F. is:

Z (s)
m
2
A( s )
ms bs k
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Modern Control Engineering


Problem 4
The following figure represents a simplified model for the automobile system.
C

k1

k2

Required:
Derive the differential equation(s) for the system. Displacements are measured relative to
the equilibrium position.

(You may assume small vibrations).

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Modern Control Engineering


Solution

k1

Equilibrium position

x1

x2

xC

k2 x2

k2

Unstrained orientation

k1x1
FBD of the deformed
orientation

Deformed orientation

Applying Newton and Euler to get the EOM

F mxc k1x1 k2 x2
M c I c k1x1a k2 x2b

The weight was not


included .why?
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Modern Control Engineering


Solution contd
For a 2 DOF system, only 2 coordinates are needed. Usually, xc and are selected
to describe the motion. Thus, we need to eliminate x1 and x2 from the equations
using the geometric relations;

x1 ( xc a tan )

x2 ( xc b tan )

And using the small angle assumption, the above relations can be reduced to

x1 ( xc a )

x2 ( xc b )

Re-writing the EOM in terms of xc and

mxc k1 ( xc a ) k2 ( xc b ) 0
I c k1 ( xc a )a k2 ( xc b )b 0

15

Modern Control Engineering

Tutorial Contents
Reviewing dynamic modeling for
Mechanical systems
Electrical Systems

16

Modern Control Engineering


Problem 5
Consider the following electrical circuit

Required:
a) Derive the dynamic equation for the circuit.
b) Obtain an expression for the T.F. between vin and vo.

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Modern Control Engineering


Solution
a) Applying nodal analysis @ vn

0 vin 0 vo
d

CF 0 vo 0
R1
RF
dt
v

vin o CF vo
RF

b) The T.F. between vin and vo

V (s)

Vin ( s ) R1 o CF s Vo ( s )
RF

1 RF CF s

Vin ( s ) Vo ( s ) R1
CF s R1
RF
RF

Vo ( s )
R
F
Vin ( s )
R1

1 RF CF s
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