0% found this document useful (0 votes)
94 views17 pages

ELEG 421 Chapter 03

This chapter presents the mathematical modeling of mechanical and electrical systems using fundamental laws like Newton's and Kirchhoff's laws. It analyzes the analogy between the two system types to model electromechanical systems. The objectives are to teach students how to derive transfer functions and develop models for a variety of electromechanical systems using system components and states. Key topics covered include modeling of translational, rotational, and electrical systems as well as applications like DC motors and ideal op-amps.
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
0% found this document useful (0 votes)
94 views17 pages

ELEG 421 Chapter 03

This chapter presents the mathematical modeling of mechanical and electrical systems using fundamental laws like Newton's and Kirchhoff's laws. It analyzes the analogy between the two system types to model electromechanical systems. The objectives are to teach students how to derive transfer functions and develop models for a variety of electromechanical systems using system components and states. Key topics covered include modeling of translational, rotational, and electrical systems as well as applications like DC motors and ideal op-amps.
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 17

ELEG 421

Control Systems

Modeling of Mechanical and


Electrical Systems

Dr. Ashraf A. Zaher


American University of Kuwait
College of Arts and Science
Department of Electrical and Computer Engineering
Layout
Objectives
This chapter presents mathematical modeling of both mechanical and
electrical systems. The fundamental laws of Newton and Kirchhoff,
governing the behavior of both systems are used to derive their
transfer functions. Analogy between both systems are analyzed to be
able to model electromechanical systems found in mechatronics.
Outcomes
By the end of this chapter, students will be able to:
use position, velocity, and acceleration as states for describing the
behavior of mechanical systems,
use voltage, current, and charge as states for describing the
behavior of electrical systems,
find analogous mechanical/electrical systems,
synthesize transfer functions using mechanical/electrical systems,
develop transfer function and state space models for a variety of
electromechanical systems.

Dr. Ashraf Zaher 2


Introduction
Dynamics of mechanical systems,
Basic mechanical components of mechanical systems.

Dynamics of electrical systems,


Basic mechanical components of electrical systems.

Analogy between mechanical and electrical systems,


Using Op Amps,
Electromechanical systems.

Summary of the used models:


Translational and rotational mechanical systems,
Passive electrical circuits,
Ideal Op Amp circuits,
DC Motors with gear trains.
Dr. Ashraf Zaher 3
Basic Electrical Components
Passive elements:
Resistors
Capacitors
Inductors
Generalized Ohms law
The concept of Impedance
Direct modeling in the s domain

Dr. Ashraf Zaher 4


Translational Mechanics
Basic components (Mass, Viscous Damper, and Spring)

Dr. Ashraf Zaher 5


Rotational Mechanics
Basic components (Inertia, Viscous Damper, and Spring)

Dr. Ashraf Zaher 6


Gear Trains

Dr. Ashraf Zaher 7


Force-Voltage Analogy

Dr. Ashraf Zaher 8


Force-Current Analogy

Dr. Ashraf Zaher 9


Example (2nd order mechanical)
Input = displacement (u)
Output = displacement (y)
States:
Position (?)
Velocity (?)
Method: Newtons law
b k
s +
=
Y ( s) m m
U ( s) b k b
s 2 + s + 1 x
m m x1 0 m
x = k b 1 + u
2 m x2 k b 2
1 x 0 m
x1 0 m m
x = k b 1 + u
2 m x2 1
m x
y = [1 0] 1 + [0]u
k b x1 x2
y = + [0]u
m m x2

Dr. Ashraf Zaher 10


Example (2nd order electrical)
Input = voltage (ei)
Output = voltage (e0)
States:
Current (?)
Voltage (?)
Method: KVL

1 x1 0 1 x 0
x = 1 R 1 + 1 u
LC x2
2 LC LC
E0 ( s )
= L
Ei ( s ) R 1
s 2 + s + x1

L LC y = [1 0] + [0]u
x2

Dr. Ashraf Zaher 11


Analogous Systems

b1 b
s + 1 2 s + 1
X 0 (s) k1 k 2
E0 ( s )
=
(R1C1s + 1)(R2C 2s + 1)
= Ei ( s ) (R1C1s + 1)(R2C 2s + 1) + R2C1s
X i ( s ) b1 b b
s + 1 2 s + 1 + 2 s
k1 k 2 k1

Dr. Ashraf Zaher 12


Practical Applications

Dr. Ashraf Zaher 13


Practical Applications

Dr. Ashraf Zaher 14


Ideal Op Amps

Dr. Ashraf Zaher 15


Electromechanical Systems

Dr. Ashraf Zaher 16


Summary
Mathematical modeling for mechanical and electrical
systems, and their combinations, is very important to
derive both the transfer functions and the state space
models for many practical applications. Using the
analogy between them simplifies the modeling process.
Knowledge of basic laws of physics is crucial when
developing the relationship between the input(s) and
output(s) of such systems.

What is next?
Modeling of liquid level systems,
Modeling of pneumatic systems,
Modeling of thermal systems,
Industrial processes,
First order Approximations,
Analogy to mechanical/electrical systems.
Dr. Ashraf Zaher 17

You might also like

pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy