UNIT III

UNIT III
SYSTEM MODELS & CONTROLLERS

Dr. RM. KUPPAN CHETTY
• References:
Bolton, Mechatronics: Electronics control systems in Mechanical and Electrical
Engineering, 4th ed., Pearson
Disclaimer
Pictures and support materials used are open source information from various
references and online sources. The information in this presentation was compiled
from sources believed to be reliable for informational purposes and non
commercial use only.
References
• BOLTON, Mechatronics: Electronics control systems in
Mechanical and Electrical Engineering, 4th ed., Pearson
– Chapter 10, Basic System Models, PP.218 – 240,
– Chapter 11, System Models, PP.243- 252.
– Chapter 15, Closed Loop Controllers, PP. 309 – 329.
02-09-2018 HITS-MP-RMKP-UNIT-III 2
CONTENTS
1. Mathematical Models
2. Basic Building Blocs
1. Mechanical System Building Blocks
2. Electrical System Building Blocks
3. Fluid System Building Blocks
4. Thermal Systems Building Blocks
3. Design of Systems using Building Blocks
1. Rotational Translational Systems
2. Electro Mechanical Systems
3. Hydraulic Mechanical Systems
4. Controllers and Control Modes of Operations
OUTCOME
• Understand and Explain the importance of models and their basic building
blocks
• Devise models from basic building blocks for mechanical, electrical, fluid and
thermal systems
• Recognise analogy between Mechanical, Thermal, Electrical and Fluid Systems
• Understand and Comprehend different control modes used in mechatronic
systems
• Explain the operation of two step mode of control
• Predict the behaviour of the systems with P, PI, PID control.
• Describe how digital controller operate
Mathematical Models
• Think how systems behave with time when subject to some
disturbances.
• In order to understand the behavior of systems,

mathematical models are required.
• Mathematical models are equations which describe the

relationship between the input and output of a system.
• The basis for any mathematical model is provided by the

fundamental physical laws that govern the behaviour of the
system.
Building Blocks
• Systems can be made up from a range of building blocks.
• Each building block is considered to have a single property or
function.
• Example: an electric circuit system which is made up from
blocks which represent the behaviour of resistance,
capacitance, and inductor, respectively.
• By combining these building blocks a variety of electrical
circuit systems can be built up and the overall input-output
relationship can be obtained.
• A system built in this way is called a lumped parameter
system.
Mechanical System Building Blocks
• Basic building block: spring, dashpots, and masses.
• Springs represent the stiffness of a system
• Dashpots represent the forces opposing motion, for example
frictional or damping effects.
• Masses represent the inertia or resistance to acceleration.
• Mechanical systems does not have to be really made up of
springs, dashpots, and masses but have the properties of
stiffness, damping, and inertia.
• All these building blocks may be considered to have a force as an
input and displacement as an output.
Mechanical System Basic Building Blocks
Rotational Systems
• The mass, spring, and dashpot are the basic building blocks for mechanical
systems where forces and straight line displacements are involved without
any rotation.
• If rotation is involved, then the equivalent three building blocks are a
torsional spring, a rotary damper and the moment of inertia (i.e. the
inertia of a rotating mass).
• With a torsional spring the angle  rotated is proportional to the torque:
T = k .
• With a rotary damper a disc is rotated in a fluid and the resistive torque T is
proportional to the angular velocity . T
• The moment of inertia block exhibit the property that the greater the
moment of inertia J the greater the torque needed to produce an angular
acceleration
d
T  c  c ; T  Ja
dt
Electrical System Building Blocks
• The basic building blocks of electrical systems are resistance,
inductance and capacitance.
2
Resistor : v  iR; P  i R
1 1 2
Inductor : i   vdt; E  Li
L 2
dv 1 2
Capacitor : i  C ; E  Cv
dt 2
Resistance, R (ohm)
Appied voltage v(t )

i(t)
Current i (t )
v(t )  Ri (t ) v(t) R
1
i (t )  v(t )
R
Inductance, L (H)

Current i (t ) i(t)
di (t )
v(t )  L v(t) L
dt
t
1
i (t )   v(t )dt
L t0
Capacitance, C (F)

Current i (t ) i(t)
1 t
v(t )   i (t )dt v(t) C
C t0
dv (t )
i (t )  C
dt
Fluid System Building Blocks
• The basic building blocks of fluid systems are the volumetric
rate of flow q and the pressure difference.
Input Output
Volumetric rate of flow Pressure difference
Fluid system can be divided into two types: hydraulic and pneumatic.
Hydraulic resistance is the resistance to flow of liquid as the liquid flow through
valves or changes in pipe diameter takes place.
p1  p2  Rq
p1 - p2 is pressure difference
R is the hydraulic resistance
q is the volumetric rate of flow
Hydraulic capacitance
• Used to describe energy storage with a liquid where it is stored in the form of
potential energy.
• A height of liquid in a container is one form of such a storage.
• For such capacitance, the rate of change of volume V in the container (dV / dt) is
equal to the difference between the volumetric rate at which liquid enters the
container q1 and the rate at which it leaves q2.
dV
q1  q2  ; V  Ah
dt
dh
q1  q2  A
dt
A dp
q1  q2 
pg dt
( p is liquid density; g is the acceleration due to gravity)
A dp
C ; q1  q2  C
pg dt
Hydraulic inertance
• is the equivalent of inductance in electrical systems or a spring in
mechanical systems. To accelerate a fluid and so increase its velocity a force
is required.
F1  F2  p1 A  p2 A  ( p1  p2 ) A
F1=p1A
( p1  p2 ) A  ma Mass m
dv dv dq F2=p2A
( p1  p2 ) A  m  ALp  Lp
dt dt dt
dq
p1  p2  I ; L
dt
Lg
I is the hydraulic inertance 
A
L is the length of the block and g is the density
Gas system Blocks
• With pneumatic systems the three basic buildings blocks are as
with hydraulic systems, resistance, capacitance, and inertance.
However, gasses differ from liquids in being compressible.
dm p1  p2
Resistance 
dt R
dm d ( p1  p2 )
Capacitance C
dt dt
dm 1
Inertance   ( p1  p2 )dt
dt L
A fluid system - Example
q1
p is the liquid density
g is the acceleration due to gravity
h q is the volumetric rate of flow
dp
q2 q1  q2  C (Capacitor)
dt
p1  p2  Rq2 (Resistance)
hpg
p1-p2  hpg ; q2 
R
hpg d (hpg ) dh pgh
q1  C A 
R dt dt R
DESIGN OF SYSTEMS USING BASIC MODELS
• How Single Building blocks can be combined to give models for

multi discipline systems
• Ex: Electric Motor -> Electrical and Mechanical Elements
• Rotational – Translational Systems
• Electromechanical Systems
• Hydraulic – Mechanical Systems
Rotational – Translational Systems
• Conversion of rotational motion to
translational motion and vice versa.
• Ex: Rack and Pinion, Lead Screws, Pulley
and Cable Systems etc.
• Rotational motion of pinion is transformed
into translational motion of the rack
• Consider the pinion element
• Torque ‘T’ = (Tin – Tout)
• Assume negligible damping and consider
Moment of Inertia
Where, I – Moment of Inertia of the pinion

 - angular velocity.
Rotational – Translational Systems
• w.k.t. rotation of the pinion results in translational velociy ‘’ of the rack
• Let ‘r’ be the radius of the pinion, then  = r
I dv
Tin  Tout  (1)
r dt
• For rack: Let T/r be the force acting due to movement of pinion and c the
frictional force
•  Net Force is Tout dv
 cv  m (2)
r dt
• Eliminating Tout in (1) and (2) gives
1  dv dv  r 
Tin  rcv    mr  And so  2 
(Tin  rcv)
r  dt dt  1  mr 
First order differential equation relating output to Input
Electro – Mechanical Systems
• Electrical signals are transformed into rotational motion and vice versa
• Ex: Potentiometers, Motors and Generators
• POTENTIOMETERS: Input of Rotation and Output of potential difference
• Motors: Input of Potential Difference and Output of rotation
• Rotary Potentiometers: - Potential divider
v0 

V  max
Electro – Mechanical Systems (contd.)
DC MOTORS:
• Force F on DC Motor is given by F  Bia L
• With N wires on Conductor F  NBia L
• Forces on armature coil results in Torque T =
Fb, where ‘b’ – breadth of the coil and thus
T  NBia Lb
• W.k.t other than B and ia , all others are
constant, hence
T  k1Bia
• Back emf b is given by
vb  k2 B
Where,  Is the shaft angular velocity
Separately excited DC Motors
•Armature and Field are separately
excited.
• In Armature controlled motor, Field
Current IF is held constant, motor is
controlled by adjusting Va
•  Constant flux density B for
armature coil. Thus, b is
vb  k3 B
• Let Va be the armature voltage
applied to the circuit, then Vb is
dia
va  vb  La  Raia
dt
Armature Controlled Separately excited DC Motors
Block diagram of armature-controlled DC Motor
dia d
va  k3  La  Raia and I  k4ia  c
dt dt
Describes the conditions for armature controlled motor

Field Controlled Separately excited DC Motors
• In Field controlled motor, Armature Current Ia is held constant, motor is controlled by
adjusting Field Voltage Vf
Block diagram of Field -controlled DC Motor
diF
vF  LF  RF iF Tnet  T  dampingTorque
dt
T  k5iF Tnet  k5iF  c
diF d
vF  LF  RF iF and I  k5iF  c
dt dt
Describes the conditions for Field controlled motor
Hydraulic – Mechanical Systems
• Transformation of hydraulic signals to rotational or translational motion or
vice versa
• Example:
• Movement of piston in a cylinder involves the transformation of hydraulic
pressure input to a translational motion output
Input xi is transformed
into a displacement xo
System Consists of
Spool valve and
Cylinder
Input xi to the left
results in fluid supply
Ps causing fluid to
flow in the LHS of the
cylinder
This pushes the piston in the cylinder to the right and expels the fluid in the
RHS of the chamber trough exit HITS-MP-RMKP-UNIT-III
02-09-2018 74
• Rate of flow of fluid to and from the chamber depends on the extent to
which the input motion uncovered the ports
• when, Input xi to the right results in fluid supply Ps causing fluid to flow in
the RHS of the cylinder and results in the motion of the piston to the Left
• The rate of flow of fluid ‘q’ through an orifice (ports in the spool valve) have
a non linear relationship depending on the Pressure difference between two
sides of the orifice and its cross sectional Area ‘A’.
q  m1A  m2
• Let (Ps-P1) be the pressure difference for the fluid entering the chamber and
the exit be (P2-P0)
• Modelling the system involves, obtaining the relationships at inlet and exit
port, considering the rate of leakage flow, pressure difference across the
piston.
At the inlet port q  m x  m (p )
1 i 2 1
At the exit port q  m1 xi  m3 (p1  p2 )

dx0
Rate at which fluid is entering the cylinder is given by q  A  qL
dt
Leakage flow qL is given by qL  m4  p1  p2 
Substituting values for q, qL and rearranging gives,
dx0
m1 xi  (m3  m4 )(p1  p2 )  A (1)
dt
dx0
netforce  (p1  p2 ) A  c (2)
dt
Net force acting on Load
• Net force causes the mass to accelerate and acceleration being dx 2/dt2
d 2 xo dx0
m 2  ( p1  p2 ) A  c (3)
dt dt
m d 2 xo c dx0
( p1  p2 )  2
 (4)
A dt A dt
• Substitute (4) for pressure difference in (1), gives
 m d 2 xo c dx0  dx0
m1 xi  (m3  m4 )  2
  A
 A dt A dt  dt
• rearranging the above and introducing constants k and 
d 2 xo dx0 Second order differential equation

 2   kxi provides the input output relationship
dt dt
THANK YOU

UNIT III - System Building Blocks, Models and Closed Loop Controllers

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UNIT III - System Building Blocks, Models and Closed Loop Controllers

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SYSTEM MODELS & CONTROLLERS

• In order to understand the behavior of systems,

• Mathematical models are equations which describe the

• The basis for any mathematical model is provided by the

Appied voltage v(t )

Appied voltage v(t )

Appied voltage v(t )

Volumetric rate of flow Pressure difference

• How Single Building blocks can be combined to give models for

Where, I – Moment of Inertia of the pinion

Block diagram of armature-controlled DC Motor

Describes the conditions for armature controlled motor

Block diagram of Field -controlled DC Motor

At the exit port q  m1 xi  m3 (p1  p2 )

d 2 xo dx0 Second order differential equation

02-09-2018 HITS-MP-RMKP-UNIT-III 122

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