Classical Modelling Techniques

▪ Electrical Systems
• Basic Building Blocks
▪ Modelling Examples
▪ Analogous Systems

Dr Faraz Kunwar,
Department of Mechatronics Engineering
NUST College of Electrical and Mechanical Engineering
Rawalpindi, Pakistan
kfaraz@gmail.com
Recommended Text:
• Modeling and Simulation of Dynamic Systems 1st Edition by Robert L Woods, Kent L. Lawrence
• Introduction to Physical System Dynamics by RC Rosenberg and D Karnopp
• Introduction to Physical System Modeling by PE Wellstead
• Introduction to MATLAB for Engineers, 3rd Edition By William J. Palm III, University of Rhode Island
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Resistors

• The time domain expression relating voltage and current for the
resistor is given by Ohm’s law i-e

v R (t ) = iR (t )R
• The Laplace transform of the above equation is

VR ( s ) = I R ( s )R

2
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Capacitors
▪ Capacitors

• The time domain expression relating voltage and current for the
Capacitor is given as:
1
vc (t ) =  ic (t )dt
C
• The Laplace transform of the above equation (assuming there is no
charge stored in the capacitor) is
1
Vc ( s ) = Ic (s)
Cs
3
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Inductors
▪ Capacitors
▪ Inductors

• The time domain expression relating voltage and current for the
inductor is given as:
di L (t )
v L (t ) = L
dt
• The Laplace transform of the above equation (assuming there is no
energy stored in inductor) is

VL ( s ) = LsI L ( s )
4
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors V-I and IV Relations
▪ Capacitors
▪ Inductors
▪ V-I and I-V Relations
Component Symbol V-I Relation I-V Relation

v R (t )
Resistor v R (t ) = iR (t )R iR (t ) =
R

1 dvc (t )
Capacitor vc (t ) =  ic (t )dt ic (t ) = C
C dt

diL (t ) 1
Inductor v L (t ) = L i L (t ) =  v L (t )dt
dt L
5 5
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Transform Impedance - Resistor
▪ apacitors
▪ Inductors
▪ V-I and I-V Relations
▪ Transform Impedance
o Resistor iR(t) IR(S)
+ +
Transformation
vR(t) ZR = R VR(S)

- -

6
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Transform Impedance - Inductor
▪ Capacitors
▪ Inductors
▪ V-I and I-V Relations
▪ Transform Impedance
o Resistor IL(S)
o Inductor iL(t)
+ +

vL(t) ZL=sL VL(S)

LiL(0)
-
-

7
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Transform Impedance - Capacitor
▪ Capacitors
▪ Inductors
ic(t) Ic(S)
▪ V-I and I-V Relations
▪ Transform Impedance + +
o Resistor
o Inductor
o Capacitor
vc(t) ZC(S)=1/sC Vc(S)

- -

8
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Equivalent Transform Impedance - Series
▪ Capacitors
▪ Inductors • Consider following arrangement, find out
equivalent transform impedance.
▪ V-I and I-V Relations
▪ Transform Impedance
o Resistor
o Inductor L
o Capacitor
o Eq. Transform ZT = Z R + Z L + Z C
Impedance
❑ Series
C

1 R
Z T = R + Ls +
Cs

9
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Equivalent Transform Impedance - Parallel
▪ Capacitors
▪ Inductors
▪ V-I and I-V Relations
▪ Transform Impedance
1 1 1 1
o Resistor
o Inductor = + +
o Capacitor ZT Z R Z L ZC L
o Eq. Transform
C
Impedance
❑ Series
❑ Parallel 1 1 1 1
= + +
ZT R Ls 1 R
Cs

10
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Equivalent Transform Impedance - Practice
› Find out equivalent transform impedance of following
▪ Capacitors
▪ Inductors
▪ V-I and I-V Relations
▪ Transform Impedance arrangement.
o Resistor
o Inductor
o Capacitor
o Eq. Transform L2
Impedance
❑ Series
❑ Parallel
❑ Example
L2
R1 R2

11
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
▪ Inductors › The two-port network shown in the following figure has vi(t)
▪ V-I and I-V Relations
▪ Transform Impedance
as the input voltage and vo(t) as the output voltage. Find
▪ Example Problems the transfer function Vo(s)/Vi(s) of the network.

vi( t) i(t) C vo(t)

1
vi ( t ) = i( t ) R +  i( t )dt
C
1
vo ( t ) =  i( t )dt
C
12
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
▪ Inductors
1 1
▪ V-I and I-V Relations
▪ Transform Impedance
vi ( t ) = i( t )R +  i(t )dt vo ( t ) =  i( t )dt
▪ Example Problems
C C
• Taking Laplace transform of both equations, considering initial
conditions to zero.

1 1
Vi ( s ) = I ( s ) R + I (s) Vo ( s ) = I (s)
Cs Cs

• Re-arrange both equations as:

1
Vi ( s ) = I ( s )( R + ) CsVo ( s ) = I ( s )
Cs
13
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
1
▪ Inductors
▪ V-I and I-V Relations Vi ( s ) = I ( s )( R + ) CsV o ( s ) = I ( s )
▪ Transform Impedance Cs
▪ Example Problems • Substitute I(s) in equation on left
1
Vi ( s ) = CsVo ( s )( R + )
Cs
Vo ( s ) 1
=
Vi ( s ) 1
Cs( R + )
Cs
Vo ( s ) 1
=
Vi ( s ) 1 + RCs

14
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
▪ Inductors
▪ V-I and I-V Relations
• Find the transfer function G(S) of the following two port
▪ Transform Impedance
▪ Example Problems
network.

vi(t) i(t) C vo(t)

15
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
▪ Inductors
▪ V-I and I-V Relations
▪ Transform Impedance
▪ Example Problems
L Z

Vi(s) C Vo(s) 1 1 1
I(s) = +
Z ZR ZL

1 1 1
= +
Z R Ls

RLs
Z=
1 + RLs 16
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
▪ Inductors
▪ V-I and I-V Relations RLs
▪ Transform Impedance Z=
▪ Example Problems 1 + LRLs
Z

Vi(s) I(s) C Vo(s)

1 1
Vi ( s ) = I ( s )Z + I (s) Vo ( s ) = I (s)
Cs Cs

17
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
▪ Inductors • Find transfer function Vout(s)/Vin(s) of the following electrical
network
▪ V-I and I-V Relations
▪ Transform Impedance
▪ Example Problems

R
Vin C Vout
L

18
 Basic Building Blocks
• Basic Building Blocks
▪ Resistors Example Problems
▪ Capacitors
▪ Inductors • Find transfer function Vout(s)/Vin(s) of the following electrical
▪ V-I and I-V Relations
▪ Transform Impedance network
▪ Example Problems
C1

R
Vin C3 Vout
L
C2

19
 Kirchhoff’s Laws
• Basic Building Blocks Electrical System
• Kirchhoff’s Laws
• Electrical networks are controlled by two
Kirchhoff’s laws:
▪ The algebraic sum of voltages around a
closed loop equals zero

v
j
j =0

▪ The algebraic sum of currents flowing into

a circuit node equals zero

i
j
j =0

20
Mesh Analysis Where
Equating algebraic sum of voltages
around each mesh to zero gives Z11 (s)= sum of all impedances around the I1 Mesh
di1 1
t Z12 (s)= Z11 (s)=sum of all impedances common toI1
2i1 + 3 + 4(i1 − i2 ) +  (i1 − i2 )dt = 8cos 9t
dt 5 − and I2 Mesh
di2 1
t Z22 (s)= sum of all impedances around the I2 Mesh
6 + 7i2 + 4(i2 − i1 ) +  (i2 − i1 )dt = 0
dt 5 − E1 (s)= independent voltage source driving mesh I1
Collecting terms in terms of i1 and i2 E2 (s)= independent voltage source driving mesh I2
gives
di 1
t
1
t Solving these equations for I2 using the Cramer's
3 1 + 6i1 +  i1dt − 4i2 −  i2 dt = 8 cos 9t rule we get
dt 5 − 5 −
t t Z11 E1  8s    1  
1 di 1  2 2 
4 +  
− 4i1 −  i1dt + 6 2 + 11i2 +  i2 dt = 0 I 2 (s) =
Z 21 E2
=
Z11 E2 − Z 21 E1
=  ( s + 9 )    5s  
5 − dt 5 − Z11 Z12 Z11 Z 22 − Z12 Z 21   1    1    1 
2

Laplace transforming and assuming zero 3s + 6 +  5s   6 s + 11 +  5s   −  4 +  5s  

Z11 Z 22         
initial conditions
 1  1 8s
 3s + 6 +  I 1 ( s ) +  − 4 −  I 2 ( s ) = 2
 5s   5s  s + 92 3 6
4
 1  1 2 i1 i2 7
 − 4 −  I1 ( s ) +  6 s + 11 +  I 2 ( s ) = 0
 5s   5s  5
+
The above equations can be written in
the standard form as Z11 (s) I1 (s) + Z12 (s) I 2 (s ) = E1 (s ) 8 cos9t

Z 21 ( s) I1 ( s ) + Z 22 ( s ) I 2 ( s ) = E2 ( s )
 Analogous Systems
• Basic Building Blocks What is an Analogy?
• Kirchhoff’s Laws
• Analogous Systems
▪ What is an Analogy? • Equations of motions are derived similarly for all linear systems
(electrical, mechanical or rotational)
• Generally electrical analogies are used because students can more readily
understand the electrical analogue to a mechanical system
• Both mesh and nodal analogies can be constructed
• The procedure includes
▪ Write mechanical system equations
▪ Substitute electrical quantities (using electrical network constants and
variables)
▪ Interpret these equations to yield the analog network

22
 Analogous Systems
• Basic Building Blocks Mesh Analogy
• Kirchhoff’s Laws Component Analogy
• Analogous Systems
▪ What is an Analogy? Compare the operational mechanical Mass M / Inductance L
▪ Mesh Analogy admittance with the electrical Moment of Inertia J
impedance Damping Constant B Resistance R
 K ii  Spring Constant K Inverse of
 sM ii + Bii + Vi ... = Fi Capacitance 1/C
 s 
Force F/Torque T Voltage E
 K ii  Linear v/ angular Ω
 sJ ii + Bii +  i ... = Ti
Current I
 s  velocity

with
M 1 F V
 1   ~ L, B ~ R, K ~ ,  ~ E ,  ~ I
 sLii + Rii +  I i ... = Ei J C T 
 sCii 
23
 Analogous Systems
• Basic Building Blocks
• Kirchhoff’s Laws
Mesh Analogy – Example R L
• Analogous Systems
▪ What is an Analogy?
▪ Mesh Analogy
o Example
B K e C
i(t)
M

x 𝑑𝑖 1
𝑒 = 𝑅𝑖(𝑡) + 𝐿 + න 𝑖 𝑑𝑡
𝑑𝑡 𝐶
F
𝑑2 𝑥 𝑑𝑥 𝑑2 𝑞 𝑑𝑞 1
𝐹 =𝑀 2 +𝐵 + 𝑘𝑥 𝑒 =𝐿 2 +𝑅 + 𝑞
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝐶
24
 Analogous Systems
• Basic Building Blocks
• Kirchhoff’s Laws
Nodal Analogy
Component Analogy
• Analogous Systems Compare the operational
▪ What is an Analogy? Mass M / Capacitance C
▪ Mesh Analogy mechanical admittance with the Moment of Inertia J
▪ Nodal Analogy
electrical impedance
Damping Constant B Conductance 1/R
 K ii 
 sM ii + Bii + Vi ... = Fi Spring Constant K Inverse of Inductance
 s  1/L

 K ii  Force F/Torque T Current I

 sJ ii + Bii +  i ... = Ti Linear v/ angular Ω Voltage E
 s  velocity
with
 M 1 1 F V
1 1   ~ C, B ~ , K ~ ,  ~ I ,  ~ E
 sCii + +  Ei ... = I i J R L T 
 Rii sLii 
25
 Analogous Systems
• Basic Building Blocks Nodal Analogy – Example v1
• Kirchhoff’s Laws x1
• Analogous Systems
▪ What is an Analogy? m1
▪ Mesh Analogy f m1 i
▪ Nodal Analogy 𝑑𝑣
o Example 𝑓 = 𝑚1 𝑥ሷ 1 = 𝑚1 𝑣ሶ 1 𝑖=𝐶
𝑖 = 𝑚1 𝑣ሶ 1 𝑑𝑡
x1
k1
f m1 i m1 1 / k1

𝑓 = 𝑚1 𝑥ሷ 1 + 𝑘1 𝑥1 𝑑𝑖
𝑓 = 𝑚1 𝑣ሶ 1 + 𝑘1 න 𝑣1 𝑑𝑡 𝑖 = 𝑚1 𝑣ሶ 1 + 𝑘1 න 𝑣1 𝑑𝑡 𝑣=𝐿 → න 𝑣 𝑑𝑡 = 𝐿𝑖
𝑑𝑡
1
𝑖 = න 𝑣 𝑑𝑡
x1 𝐿
b1
f m1 i m1 1 / b1

𝑓 = 𝑚1 𝑥ሷ 1 + 𝑏1 𝑑𝑥1 /𝑑𝑡 1
𝑓 = 𝑚1 𝑣ሶ 1 + 𝑏1 𝑣1 𝑖 = 𝑚1 𝑣ሶ 1 + 𝑏1 𝑣1 𝑣 = 𝑖𝑅 → 𝑖 = 𝑣 26
𝑅
 Analogous Systems
• Basic Building Blocks
• Kirchhoff’s Laws
Example – Nodal Analogy
• Analogous Systems
▪ What is an Analogy? 𝑓 = 𝑚1 𝑣ሶ 1 + 𝑏1 + 𝑏2 𝑣1 − 𝑏2 𝑣2
▪ Mesh Analogy
▪ Nodal Analogy k 0 = 𝑚2 𝑣ሶ 2 − 𝑏1 𝑣1 + 𝑏2 𝑣2 + 𝑘 න 𝑣2 𝑑𝑡
o Example b2
m2 v2(t) Let v be the voltage and f the current
b1 f v1 (v1 – v2) b1
𝑘 න 𝑣2 𝑑𝑡
v2
m1 v1(t) b2v1 1/b1

f 1/k
f(t) m1 m2
1/b2
෍ 𝑓 = 𝑚𝑎

𝑚1 𝑣ሶ 1 = −𝑏2 𝑣1 − 𝑏1 𝑣1 − 𝑣2 + 𝑟
𝑚2 𝑣ሶ 2 = 𝑏1 𝑣1 − 𝑣2 − 𝑘 න 𝑣2 𝑑𝑡
27
 Analogous Systems
• Basic Building Blocks
• Kirchhoff’s Laws
Examples – Solution (f – v) Analogy
• Analogous Systems Find the system equation of the mechanical system shown below also find the force-
▪ What is an Analogy? voltage (f-v) and the force-current (f-i) analogies
▪ Mesh Analogy
▪ Nodal Analogy
Step 1: There are two nodes x1 and x2
o Example k2 b2 and an additional reference node
k1 b1 M2 Step 2: M1 is connected b/w x1 and
x2 ref and M2 is connected b/w x2 and ref
k12 b12
M1 Step 3: k1 is connected b/w x1 and ref
x1 k12 is connected b/w x1 and x2, and k2
f
is connected b/w x2 and ref
k12
Step 4: b1 is connected b/w x1 and ref
x1 x2
b12 is connected b/w x1 and x2, and b2
b12
is connected b/w x2 and ref
f M1 M2
k1 b1 k2 b2 Step 5: Force f is applied at x1

28
 Analogous Systems
• Basic Building Blocks
• Kirchhoff’s Laws
Examples
• Analogous Systems
▪ What is an Analogy? 21 Mesh Analogy
▪ Mesh Analogy
▪ Nodal Analogy R2 ~ B2 L2 ~ J2 R1 ~ B1 L1 ~ J1
o Example K1 = 2
θ1
3
d I2 ~ sθ2 I1 ~ sθ1
6 1
C2 ~ 1/K1
1 J1 = 3 dt V~ T C2 ~ 1/K2
5( 1-  2)
B1 = 6
Nodal Analogy
K2 = 5 5( 2-  1)
V2 ~ sθ2 V1 ~ sθ1
d
8 1 L2 ~ 1/K2
dt I~ T C2 ~ J2 C2 ~ J1
θ1
2 J2 = 4 4 L1 ~ 1/K1

B2 = 8 R2 ~ 1/B2 R1 ~ 1/B1
τ =20 20
29