3e.my State Space Models 2

State Space
representations
MEC522 Control Engineering
Modelling of Mechanical Networks
Mass
f (t ) M .a (t )
f (t ) M .
d 2 y (t ) y(t)
dt 2
dv(t )
f (t ) M .
dt
a acceleration M f(t)
v velocity
y displacement
f force
M mass
2
Linear Spring
f (t ) K . y (t ) K y(t)
f force
y displacement f(t)
K spring _ cons tan t
3
Damper
dy (t ) B y(t)
f (t ) B.
dt
f force f(t)
y displacement
B viscous _ frictional
4
Inertia
d (t ) T(t)
T (t ) J . (t )
dt
d 2 (t ) J
T (t ) J .
dt 2
T Torque
angular _ velocity
angular _ displacement
J Inertia
5
Force-velocity, force-displacement, and impedance
translational relationships
for springs, viscous dampers, and mass
6
Torque-angular velocity, torque-angular displacement, and impedance
rotational relationships for springs, viscous dampers, and inertia
7
Example 1
Determine the state space
representation of the mechanical
system below if the state variables
are y(t) and dy(t)/dt. Input system
is force f(t) and output system is
K y(t)
y(t)
B M
f(t)
8
Example 1
a. Mass, spring, and damper system;
b. block diagram
9
State variables, input and output
x1 y (t )
dy (t ) dx1
x2
dt dt
u f (t )
y y (t )
10
Mass, spring and damper system
Draw the free body diagram
y(t)
d 2 y (t )
M
dt 2
Ky (t ) M f(t)
dy (t )
B
dt
11
Mass, spring and damper
system
a. Free-body diagram of mass,
spring, and damper system;
b. transformed free-body diagram
12
The force equation of the system is
2
d y (t ) dy (t )
f (t ) M . 2
B. K . y (t )
dt dt
13
Rearranged the equation yields
2
d y (t ) B dy (t ) K 1
2
. . y (t ) . f (t )
dt M dt M M
14
State equations and output equation

x1 x2
K B 1
x 2 .x1 .x2 . f (t )
M M M
y x1
15
State space representation in vector
matrix form are

0 1 x1 0
x
1 K B . 1 . f (t )
x M M x2 M
2
x1
y 1 0.
x2
16
system
a. Two-degrees-of-freedom translational
mechanical system
b. block diagram
17
system
a. Forces on M1 due only to motion of M1
b. forces on M1 due only to motion of M2
c. all forces on M1
18
system
a. Forces on M2 due only to motion of
M2;
b. forces on M2 due only to motion of
M1;
c. all forces on M2
19
system
Three-degrees-of-freedom
translational
mechanical system
20
Example 2 : Massless cart
system
Determine the state space

representation of the massless cart
system below if the state variables
are y(t) and [dy(t)/dt-Bu/M]. Input
system is u(t) and output system is
y(t)
21
Massless cart
K
u(t)
y(t)
B M
22
Massless cart system
State variables, input and output
u(t) = displacement of the cart =
input
y(t) = displacement of the mass =
output
x1 = y(t)
x2 = dy(t)/dt Bu/M
23
Applying Newtons second law and
assume the cart is massless, we
obtain 2
d y dy du
M . 2 B. K ( y u)
dt dt dt
2
d y dy du
M . 2 B. Ky B. Ku
dt dt dt
d2y B dy K B du K
2
y u
dt M dt M M dt M
24
State equation and output equation
x1 y
dy B
x1 x2 u
dt M
dy B
x2 u
dt M
K B K B
2
x2 x1 x2 u
M M M M
y x1
25
State space representation in
vector matrix form are
B

0 1 x
x
1 K B . 1 M
2 .u
x M x2 K B
M
2
M M
x1
y 1 0.
x2
26
Example 3
Figure shows a mechanical system
consisting of mass M1 and M2,
damper constant B, spring stiffness
K1 and K2. When force f(t) acts on
mass M1, it moves to position x1 while
mass M2 moves to position x2. Find
the state space representation of the
system using x1, x2 and their first
derivatives as state variables. Let x2
27
Mechanical system consist of 2
mass, 2 spring and 1 damper
f(t) X 1 X 2
K B
1 K 2
M 1
M 2
28
State variables and their
derivatives :-
z1 x1 z1 x1 z 2

z 2 x1 z 2 x1

z 3 x2 z 3 x 2 z 4

z 4 x 2 z 4 x2
input u f (t )
output y x2
29
K1 x1

f (t )
M 1 x1

M1 B x2

B x1
K 2 x2
B x1

M 2 x2

M2
B x2
30
Differential equation in mass M1

f (t ) M 1 x1 B x1 K1 x1 B x2

f (t ) M 1 x1 B( x1 x2 ) K1 x1 (1)
31
Differential equation in mass M2

0 M 2 x2 B x2 K 2 x2 B x1

0 M 2 x2 B ( x2 x1 ) K 2 x2 (2)
32
Substitute all state variables and
their first derivatives in equation (1)
and (2)

yields
x
B
x
B
x
K
x
f (t )

1
1 1 2 1
M1 M1 M1 M1
B B K 1
z2 z2 z 4 1 z1 u (3)
M1 M1 M1 M1
B B K2
x2 x2 x1 x2
M2 M2 M2
B B K
z4 z4 z2 2 z3 (4)
M2 M2 M2

z1 z 2 (5)

z 3 z 4 ( 6)
33
Rearrange equation 3, 4, 5 and 6 in
matrix form

0 1 0 0
z1 K B B z1 0
z 1 z 1

M1 M1 M1
z 2
. 2 M 1 u
z3 0 0 0 1 z3 0
0
B

K2

B

z 4 M2 M2 M 2 z 4 0
z1
z
y 0 0 1 0. 2 0u
z3

z4
34
Example : 3M, 2K and 2B
Represent the translational
mechanical system shown in figure
in state space where x3(t) is the
output and f(t) is the input.
X1 X2 X3
K 1
B 1
K 2
B 2
M 1 M 2 M 3
f(t)
35
Represent the translational
mechanical system shown in figure
in state space where x3(t) is the
output and f(t) is the input.
36
K1 = K2 = 1 N/m
M1 = M2 = M3 = 1 kg
B1 = B2 = 1 N-s/m
Find the state space representation of
the system using x1, x2, x3 and their
first derivatives as state variables.

z1 x1 ; z 2 x1 ; z3 x2 ;

z 4 x2 ; z5 x3 ; z6 x3
37

M 1 x1 B1 x2

B1 x1 M1 f (t )
K1 x1

M 2 x2
B1 x1

B1 x2 M2
K 2 x2
K 2 x3

M 3 x3
K 2 x2

B2 x3 M3
K 2 x3
38
Writing the equations of motion

M 1 x1 B1 x1 K1 x1 B1 x2 f (t ) (1)

M 2 x2 B1 x2 K 2 x2 B1 x1 K 2 x3 (2)

M 3 x3 B2 x3 K 2 x3 K 2 x2 (3)
39
Substitute the value of K, M and B.
Rearrange equation (1), (2) and (3)

x1 x1 x1 x2 f

x2 x1 x2 x2 x3

x3 x3 x3 x2
40
From the state variables

z1 x1 z1 x1 z 2

z 2 x1 z 2 x1 z 2 z1 z 4 f

z 3 x2 z 3 x2 z 4

z 4 x2 z 4 x2 z 2 z 4 z 3 z 5

z5 x3 z5 x3 z6

z6 x3 z6 x3 z6 z5 z3
y x3 z5
41
In vector matrix
form
0 1 0 0 0 0 0
1 1 0 1 0 0 1

0 0 0 1 0 0 0
z z f (t )
0 1 1 1 1 0 0
0 0 0 0 0 1 0

0 0 1 0 1 1 0
y 0 0 0 0 1 0 z 42
Example : Translational mechanical
system
Skill-Assessment exercise
43
system
44
system
45

3e.my State Space Models 2

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