3/24/2015

ME 461
Control Engineering
Semester: February 2015
Dr. Sumon Saha
Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Tuesday, March 24, 2015

Control
Engineering

Todays topic

Mathematical Modelling
&
Transfer Function

Control
Course Syllabus
Engineering

Introduction to control systems and their representation
by different equations and Laplace transforms

Block diagrams and transfer functions

Analog computer solution of system equations

System response, control action and system types

Frequency response

System analysis

System compensation

Analogues to control systems

Hydraulic and pneumatic control systems

Elements of electro-mechanical controls

Introduction to digital computer control

Control
Engineering

Transfer function

What is Transfer Function?

an algebraic expression for the dynamic relation between
the input and output of the process model. It is defined so
as to be independent of the initial conditions and of the
particular choice of forcing function.
Properties: It can be derived only for a linear differential
equation model because Laplace transform can be applied
only to linear equations. If model is non-linear, then it must be
linearized first.
Advantage: It is easy to interpret and use in calculating output
responses for particular input changes.

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Control
Engineering

Transfer function

Control
Engineering

Transfer function

Control
Engineering

Modeling Mechanical
System (Translational)

A transfer function (TF) relates one input and one output:

u (t )
y (t )
system
U (s)
Y (s)

Transfer function of a system, G(s), is defined as the ratio of the

Laplace Transform (LT) of the output variable, Y(s), to the LT of
the input variable, U(s), with all the initial conditions are
assumed to be zero.
Y ( s)
G(s) =
U (s)
where:

Y ( s) = L[ y (t ) ]
U ( s ) = L[ u (t ) ]

Control
Engineering

Properties of Transfer
Functions

Additive property
Y(s) = G1(s)U1(s)+ G2(s)U2(s)

Multiplicative property
Y2(s) = G1(s)G2(s)U(s)

ODE equivalence
Transfer function
Equivalent ODE

b1 s + b0
Y (s)
= G (s) =
U (s)
a2 s 2 + a1 s + a0
d2y
dy
du
a2 2 + a1
+ a0 y = b1
+ b0 u
dt
dt
dt
Viscous friction produces a restraining force proportional to velocity (similar to
damping effect of a damper or dashpot).

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Control
Engineering

Building Mechanical System

Control
Engineering

Building Mechanical System

What is the transfer function for this system?

b(dx/dt)

y (+ve)

x (+ve)

m(d2x/dt2)

kx
F =M

Free body diagram

d2y
dt 2

Free body diagram

Mathematical model of
system

Mathematical
system
the

Spring-mass-damper system
d2y
dy
F = 0 M 2 + c + ky = kx
with an input. Find Y(s)/X(s)?
dt
dt
2
Y
s
(
)
k
M s Y ( s ) sy ( 0 ) y ( 0 ) + c sY ( s ) y ( 0 ) + kY ( s ) = kX ( s )

=
2
2
X
s
Ms
+
cs + k
(
)
Ms + cs + k Y ( s ) = kX ( s )

Control
Engineering

Example: Transfer Function

Spring-mass-damper system
with an input. Find X(s)/F(s)?

F = 0 m

m s 2 X ( s ) sx ( 0 ) x ( 0 ) + b sX ( s ) x ( 0 ) + kX ( s ) = F ( s )
ms + bs + k X ( s ) = F ( s )
2

Control
Engineering

model

of

the

d 2x
dx
+ b + kx = F
dt 2
dt

X (s)
F (s)

1
ms 2 + bs + k

Example: Transfer Function

Find the transfer function, X2(s)/F(s) for this system?

(a) Forces on M1 due to

only motion of M1

(b) Forces on M1 due to

only motion of M2

(c) All Forces on M1

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Control
Engineering

Control
Engineering

Example: Transfer Function

(a) Forces on M2 due to

only motion of M2

(b) Forces on M2 due to

only motion of M1

Example: Transfer Function

From Force balance on M1

(K

+ K 2 ) X 1 ( s ) + ( f v1 + f v 3 ) sX 1 ( s ) + M 1 s 2 X 1 ( s ) F ( s ) K 2 X 2 ( s ) f v 3 sX 2 ( s ) = 0

M 1 s 2 + ( f v1 + f v 3 ) s + ( K1 + K 2 ) X 1 ( s ) [ f v 3 s + K 2 ] X 2 ( s ) = F ( s )

From Force balance on M2

(K

Example: Transfer Function

Find the transfer function, X2(s)/F(s) for this system?

a1 x + b1 y = c1
a2 x + b2 y = c2

x=

+ K 3 ) X 2 ( s ) + ( f v 2 + f v 3 ) sX 2 ( s ) + M 2 s 2 X 2 ( s ) K 2 X 1 ( s ) f v 3 sX 1 ( s ) = 0

[ f v 3 s + K 2 ] X 1 ( s ) + M 2 s 2 + ( f v 2 + f v 3 ) s + ( K 2 + K 3 ) X 2 ( s ) = 0

(c) All Forces on M2

Control
Engineering

b1

c1

a1

c1

b2
a1
a2

c2
a
,y= 2
b1
a1
b2
a2

c2
b1
b2

Control
Engineering

Exercise: Transfer Function

Find the transfer function X2(s)/F(s) for the system below:

Answer:

G (s) =

3s + 1
s s + 7 s 2 + 5s + 1
3

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Control
Engineering

Modeling Mechanical
System (Rotational)

Control
Engineering

Problem: Systems with Gears

Find the transfer function 2(s)/T1(s) for the system.

Control
Engineering

Problem: Systems with Gears

Find the transfer function 2(s)/T1(s) for the system.

Control
Engineering

Electromechanical System

Build a Electromechanical system and derive

the relationship between input and output.

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Control
Engineering

Modeling DC Motors

Derive the transfer function of an armature controlled D.C. motor

as shown in figure below:

(s)
Ei ( s )

Control
Engineering

Control
Engineering

Modeling DC Motors

Develop the block diagram of an armature controlled dc motor

shown in Fig. below:

Km
s ( R + Ls )( I m s + b ) + Kb K m

Modeling DC Motors

The armature-controlled DC servomotor consists of the following

components:
1. Armature: Current-carrying wire wrapped around a rotating
member called the rotor.
2. Fixed field: Permanent magnets (often augmented as
electromagnets) which create a fixed magnetic field that is
perpendicular to the surface of the rotor.

Control
Engineering

Modeling DC Motors

The job of the commutator is to reverse the direction of current so

that the conductor experiences the same force while the rotor
rotates.
The magnetic field imposes a total force on the armature circuit of
F = 2BLIa where B is the magnetic field strength, 2L is the total
length of the conductor that is perpendicular to the field, and Ia is
the armature current. Multiplying by the rotors radius r we obtain
a torque

Tm ( t ) = rF = r 2 BLI a ( t ) = K m I a ( t )
where

K m = r 2 BL

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Control
Engineering

Modeling DC Motors

The output torque in the motor (d-c motor with a fixed field) is

Tm ( t ) = K m I a ( t )

Tm ( s ) = K m I a ( s )

where,
Tm is the output torque in the motor
Km is the torque constant of the motor
Ia is the armature current

Control
Engineering

Modeling DC Motors

Relationship between the motor speed and the rotational

displacement,

(t ) =

d ( t )
dt

where,
is the rotational displacement

( s ) = s ( s )

Control
Engineering

Modeling DC Motors

The motor torque is equal to the torque delivered to the load,

which can be expressed as

Tm ( t ) = TL ( t ) + Td ( t )

Tm ( s ) = TL ( s ) + Td ( s )

where,
TL is the load torque
Td is the disturbance torque

Control
Engineering

Modeling DC Motors

The armature current Ia generates a torque Tm. However, any

conductor travelling through a magnetic field will induce a voltage
on the conductor. This voltage induces a current that opposes Ia.
Thus it is called the back electromotive force (back emf, Vb). It is
proportional to the motor speed,

Vb ( t ) = K b

d ( t )
dt

= K b ( t )

Vb ( s ) = K b ( s )
Kb is the voltage constant for motor

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Modeling Mechanical
System (Rotational)

Control
Engineering

Control
Engineering

Modeling DC Motors

The load torque for rotating inertia is

TL ( t ) = J

d ( t )
dt

+ b ( t ) TL ( s ) = Js ( s ) + b ( s )

where,
is the angular speed
J is the rotating inertia
b is the rotational damping coefficient

Control
Engineering

Modeling DC Motors

If the mechanical parameters of the rotor and any connected

loads are known, then Jm and Dm can be obtained,

N
Jm = Ja + JL 1
N2

N
Dm = Da + DL 1
N2

Control
Engineering

Modeling DC Motors

Applying KVL for armature circuit,

Va ( t ) = Ra I a ( t ) + La

dI a ( t )
dt

+ Vb ( t ) Va ( s ) = Ra I a ( s ) + La sI a ( s ) + Vb ( s )

where,
Va is the input voltage applied to the armature
Ra is the armature resistance
La is the armature inductance

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Control
Engineering

Modeling DC Motors

Control
Engineering

Modeling DC Motors

A dynamometer test can then be applied to estimate the electrical

parameters. This test relates torque and speed. Assume La is
negligible, the following equation becomes

Va ( t ) = Ra I a ( t ) + La

Va ( t ) =
Transfer function of the system neglecting any disturbances

(s)
Va ( s )

Modeling DC Motors

dt

+ Vb ( t )

Vb ( t ) = K b ( t )
Tm ( t ) = K m I a ( t )

Ra
KK
K
Tm ( t ) + K b ( t ) Tm ( t ) = b m ( t ) + m Va ( t )
Km
Ra
Ra

If the applied voltage is constant, then we have a linear

relationship between torque and speed:

Km
s ( Ra + La s )( Js + b ) + Kb K m

Control
Engineering

dI a ( t )

Tm ( t ) =

Control
Engineering

Kb K m
K
( t ) + m Va
Ra
Ra

Modeling DC Motors

Find the transfer function L(s)/Ea(s) of an armature controlled

D.C. motor as shown in figure below:

Tm ( t ) =

Kb K m
K
( t ) + m Va
Ra
Ra

Stall torque: Torque at which the motor is just unable to turn.

No-load speed: Angular velocity at which motor runs without an
imposed load.

Tstall =

Km
Va
Ra

no load =

Va
Kb

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Control
Engineering

Modeling DC Motors

Control
Engineering

Modeling DC Motors

K m Tstall 500
=
=
=5
Ra
Va
100
Kb =

Control
Engineering

Modeling DC Motors

m ( s )
Ea ( s )

Km
s Ra ( J m s + Dm ) + K b K m

Control
Engineering

Va

no load

100
=2
50

HomeWork: Modeling DC Motors

Find the transfer function, G(s) = L(s)/Ea(s), for the motor and
load shown in Figure below. The torque-speed curve is given by
Tm = -8m + 200 when the input voltage is 100 volts.

K m Ra
s ( J m s + Dm ) + K b K m Ra
5
=
s (12 s + 10 ) + ( 2 )( 5 )
=

0.417
s [ s + 1.667 ]

L ( s ) N1 100
=
=
= 0.1
m ( s ) N 2 1000

Answer:

L ( s )
Ea ( s )

0.0417
s [ s + 1.667 ]

G (s) =

1 / 20
s [ s + 15 / 2]

10

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Control
Engineering

Biological System

 Human body composes of a number of dynamic systems.

 Our purpose is to find a dynamic relationship between body
weight and calorie intake.
 Diet experts state that a moderately active person burns 20
calories/pound of body weight/day.
 Moreover, 4000 calories is roughly equivalent to 1 pound of
body weight.
 Number of Calories taken,
Ci = qi dt
 Number of Calories burned,

Control
Engineering

Biological System

 Change of body weight,

Ci Cb
4000
4000dW = qi dt 20Wdt

dW =

4000

dW
+ 20W = qi
dt

Cb = 20Wdt

 qi = rate of calorie intake (calories/day)

 t days
W = body weight (pounds)

Input, qi = rate of calorie

intake (calories/day)
Output, W = body weight
(pounds)

 Transfer Function,

G (s) =

W ( s)
Qi ( s )

1
4000 s + 20

11