MCEN 467 Control Systems

Chapter 2:
Dynamic Models
Part D: Electromechanical Systems

MCEN 467 Control Systems
Material covered in the PRESENT LECTURE
is shown in yellow
I. DYNAMIC MODELING
Deriving a dynamic model for mechanical, electrical,
electromechanical, fluid- & heat-flow systems
Linearization the dynamic model if necessary

II. DESIGN OF A CONTROLLER: Several design methods exist
1. Classical control or Root Locus Design:
Define the transfer function; Apply root locus, loop shaping,
2. Modern control or State-Space Design:
Convert ODE to state equation; Apply Pole Placement, Robust control,
3. Nonlinear control: Apply Lyapunovs stability criterion
MCEN 467 Control Systems
Dynamic Modeling
Electro - mechanical
system
x m F
ext

=

u

I M
lg a
ext
=

|
|
.
|

\
|
=

0
j lg, a
j
e
0 =

j lg, a
j
i
KCL (or KVL) Newtons law
Translation Rotation
Here voltages are denoted by e to avoid confusion with velocities
MCEN 467 Control Systems
Dynamic Model

= =
= =


) i or ( e
) I M or ( x m F
j j
ext ext
0 0
u


The dynamic model is derived from:
MCEN 467 Control Systems
A Electrical Energy can be converted
in Mechanical Work

and vice versa !
MCEN 467 Control Systems
Converting Electrical Energy into
Mechanical Work
Law of Motors
Learning Examples:
Loudspeaker & DC Motor Operation
MCEN 467 Control Systems
Loudspeaker to provide
translational motion
Overall configuration Permanent magnet
MCEN 467 Control Systems
DC Motor to provide
rotary motion
MCEN 467 Control Systems
Electric and Magnetic Fields Interact
in Two Ways
MCEN 467 Control Systems
Effect of Mechanical motion & Magnetic
Field interaction on Magnetic Field
A current-carrying wire of
length l placed at right angle in
a magnetic field B experiences
a magnetic force F,
perpendicular to the wire.
Law of motors:
BLi F
B ) t ( i L F
=
=

MCEN 467 Control Systems
Loudspeaker
Operation
MCEN 467 Control Systems
Laws of Motors Rotational Motion
Law of motors:
) t ( i K ) t ( T
t
MCEN 467 Control Systems
Example 1: DC Motor Operation
DC Motor
Operation
MCEN 467 Control Systems
DC Motor
Operation
MCEN 467 Control Systems
Converting Mechanical Work into
Electrical Energy
Mechanical Motion & Magnetic Field Interaction:
Law of Generators
Learning Examples: Loudspeaker & DC Motor Operation
&
Mechanical Motion & Electric Field Interaction.
Learning example: Capacitor Microphone Operation
MCEN 467 Control Systems
Effect of Motion & Magnetic Field Interaction
on Electrical Field
A current-carrying wire of
length L moving in a magnetic
field B at a velocity generates
a voltage e across the wire.
Law of generators:
x BL e
B ) t ( x L ) t ( e

=
=
x

MCEN 467 Control Systems

Loudspeaker
Operation
MCEN 467 Control Systems
Laws of Generators Rotational Motion
Law of generators:
) t ( K ) t ( e
e
o

=
MCEN 467 Control Systems
Magnetic & Electric Field Interaction
- Summary -
Rotational motion
Torque developed in rotor:

Back emf (= voltage
generated as a result of
rotation of a rotor):

Example: DC motor
Translational motion
Law of motors:

Law of generators:

Example: Loudspeaker
Bli F
x Bl e

i K T
t

e
K e
MCEN 467 Control Systems
Dynamic Modeling Examples
DC Motor
&
Loudspeaker
MCEN 467 Control Systems
Example 1: Loudspeaker with circuit
MCEN 467 Control Systems
Example 1: Loudspeaker (contd)
Assumptions:

The effects of the air can be modeled as if the cone had
equivalent mass M and viscous friction constant b.
The magnet establishes a uniform field B of 0.5 Tesla and
the bobbin has 20 turns at a 2 cm-diameter.

Required: Write the dynamic model

Note: the bobbin length is such as:
m .
.
L 26 1
2
02 0
2 20 ~ = t
MCEN 467 Control Systems
Example 1: Loudspeaker (contd)
Dynamic model of the loudspeaker:

Newtons law states:




i . . x b x M
BLi x b x M
x M x b BLi
= +
= +
=
26 1 5 0



i . x b x M 628 0 = +

FBD:
MCEN 467 Control Systems
Example 1: Loudspeaker (contd)
Dynamic model of the electric circuit:
KVL states:




x . . v Ri
dt
di
L
e v Ri
dt
di
L
Ri v e
dt
di
L
a
coil a
a coil

= +
= +
= + +
26 1 5 0
0
x . v Ri
dt
di
L
a

628 0 = +

MCEN 467 Control Systems

Example 1: Loudspeaker (contd)

= +
= +
x . v Ri
dt
di
L
i . x b x M
a


628 0
628 0
Dynamic Model for the loudspeaker
MCEN 467 Control Systems
Example 2: DC Motor
MCEN 467 Control Systems
Example 2: DC Motor (contd)
Dynamic model of the loudspeaker:

Newtons law states:




a t
m m
i K T where
J b T
=
= u u

FBD:

a t m m
i K b J = + u u

MCEN 467 Control Systems
Example 2: DC Motor (contd)
Dynamic model of the electric
circuit:

KVL states:




0 = + +
a a a m e
a
a
i R v K
dt
di
L u

m e a a a
a
a
K v i R
dt
di
L u

= +
MCEN 467 Control Systems
Example 2: DC Motor (contd)

= +
= +
m e a a a
a
a
t m m
K v i R
dt
di
L
i K b J
u
u u

Dynamic Model for the DC Motor
MCEN 467 Control Systems
Converting Mechanical Work into
Electrical Energy
Mechanical Motion & Magnetic Field Interaction:
Law of Generators
Learning Examples: Loudspeaker & DC Motor Operation
&
Mechanical Motion & Electric Field Interaction.
Learning example: Capacitor Microphone Operation
MCEN 467 Control Systems
Effect of Mechanical Motion of One Part of a
Capacitor on Electrical Field
Assume that:
the electric circuit includes a capacitor.
x(t) is the system variable describing the displacement of
one part of the capacitor, that has a capacitance C(x)
An mechanical external force is applied to the plant.

Reminder:
A capacitor is a circuit element that consists of
two conducting surfaces separated by
a dielectric material.
) x ( C
) t ( q
) t , x ( e ;
x
A
) x ( C = =
0
c
MCEN 467 Control Systems
Capacitor Microphone Operation

= =
= =


) i or ( e
) I M or ( x m F
j j
ext ext
0 0
u


( )
( ) x ) t , x ( e ) x ( C f
) x ( C / ) t ( q ) t , x ( e
dt
) t ( dq
) t , x ( e ) x ( C
dt
d
) t ( i
electric
2
2
=
=
= =
MCEN 467 Control Systems
Mechanical Work & Electric field
Translational motion
Mechanical external force: Force due to the electric field:


Voltage generated as a result of displacement of one plate:

Example: Capacitor microphone
) t , x ( e
x
) x ( C
A
) t ( q
) t ( f
e
2
0
2
2 2
= =
c
) t ( f
m
) x ( C / ) t ( q ) t , x ( e =
MCEN 467 Control Systems
Example 3: Capacitor Microphone to
Provide Electric Field
MCEN 467 Control Systems
Modeling Capacitor Microphone



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