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Example Set #1

Modeling &
Simulation
2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS
Course Outcomes
CO# CO Description POs Addressed

Appraise the Basic Control Systems


CO1 PO1
Principles and Theory.

CO2 Model Various Real-Life-Engineering Systems. PO2

Analyze the Performance and Stability of the


CO3 PO3
Systems Using Various Analysis Techniques.
Design Control Systems Using the Root
CO4 Locus Method and Frequency Response PO4
Method.

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


CONTENT

1.1 Recap

1.2 Worked Examples

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Recap

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Stages of a Dynamic System Investigation:

e.g.

EXAMPLE:
Decision
Variables

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


FIGURE-1: The Stages of a Dynamic Investigation [1]

[1] R.H. Cannon, Jr., 1967. Dynamics of Physical Systems, Dover Publications,

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


System Boundary:

Separates object of concern from environment.

System boundaries depend on the purpose of study.

An open system interacts with the environment.

Closed system doesnt interact with the environment.

Environmental Independence:

An assumption could be made saying that the system


under consideration doesnt affect the environment.

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Black-Box
A black-box is featured by its input and output

Complex systems can be described as a system of black boxes.

Block diagrams are used to describe feedback control systems

EXAMPLES:
Coal and air Generating 240 V, 50 Hz
Plant

Rain 600 kPa + fluoride


Storage/
Pumping Plant

Waste water Ocean


Sewerage
Plant

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


EXAMPLE:

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Approximations used in Physical Modelling
Approximation Mathematical Simplification
Reduces number and complexity
1. Neglect small effects
of differential equations
2. Assume environment Reduces number and complexity
independent of system motion of differential equations
3. Replace distributed Leads to ordinary differential
characteristics with appropriate equations
lumped elements
Makes equations linear
4. Assume linear relationships Allows superposition of solutions

Leads to constant coefficients in


5. Assume constant parameters
differential equations
6. Neglect uncertainty and noise Avoid statistical treatment

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Generation of Mathematical Models

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Key Equations for Dynamic Models [2]
Important Laws or Associated
System
Relationships Equation

Translational motion
Fext ma
(Newtons law)
Mechanical
Rotational motion M ext I

Motion of nonrigid bodies mx bx


kx F

Kirchhoffs current law i i


in out
0
Electrical
Kirchhoffs voltage law v 0
Law of motor F Bli
Electromechanical Law of generators e(t ) Blv
Torque developed in a rotor T K t ia

Back emf
Voltage generated as a e K em
result of rotation of a rotor
[2] Gene F. Franklin et al., 2006. Feedback Control of Dynamics Systems, Pearson Prentice Hall

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Worked Examples

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Example E1:

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Solution:

(a) Physical model

(b) Physical model

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Example E2:

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Solution:

More general case:

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Example E3:

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Solution:

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS


Thank You!

2017 Control Systems, MDB3013 Universiti Teknologi PETRONAS

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