MECE 3350 - Control Systems

Lecture 2 – Laplace Transforms and Transfer Functions

Agenda
• Laplace Transforms

• Partial Fraction Decomposition

• Effects of Damping

• Transfer Function Examples

• Matlab Training
2
Laplace Transforms
 Equations of motion (from lecture 1)
Motivation -M1y1’’ + by1’ + k1y1 - k12(y2-y1) = f(t)

M2y2’’ + k12(y2-y1) = 0

Difficult to use, for example when

Force
f(t) computing the response y2 for an input Ft

Laplace Transforms convert differential

equations to easy-to-use algebraic equations

-M1s2Y1 + bsY1 + k1Y1 - k12(Y2-Y1) = F(s)

M2s2Y2 + k12(Y2-Y1) = 0 Assume: y’(0) = y(0) = 0

No more derivatives (or integrals) !!

4
Overview f(t)

f(t)

f(t) =

𝑂𝑢𝑡𝑝𝑢𝑡 𝑋(𝑠) 1
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = = =
𝐼𝑛𝑝𝑢𝑡 𝐹(𝑠) 𝑚𝑠 ! + 𝑏𝑠 + 𝑘
5
Laplace Transform Theory
s = 𝜎 + 𝑗𝜔
"
X 𝑠 = ℒ{𝑥 𝑡 } = ∫! 𝑥 𝑡 𝑒 #$% 𝑑𝑡
Laplace transform Model Perturbing function
x(t) 𝑒 "#$ 𝑒 "%&$ x(t) ∗𝑒 " #'%& $ x(t) ∗𝑒 " ('%( $

X 𝑠 is at its maximum when x(t) = 𝑒 #$% , s gives the system poles

when X(s) is zero, s gives the system zeros
6
Laplace Transform Theory
"
X 𝑠 = ℒ{𝑥 𝑡 } = ∫! 𝑥 𝑡 𝑒 #$% 𝑑𝑡

%
𝑑 1
𝑠= = / 𝑑𝑡
𝑑𝑡 𝑠 !

#& & *+)" +$%

x 𝑡 = ℒ 𝑋 𝑠 = ∫*#)"
𝑋(𝑠)𝑒 𝑑𝑠
'()

7
Laplace Transform Table

8
Question 1: Laplace Conversion Process
Find the Laplace Transform Y(s) and Inverse Laplace Transform y(t) for:

where y(0) = 𝛼 , y’(0) = 0

9
Partial Fraction Decomposition
Initial Form Decomposition

Quadratic roots =
−𝑏 ± 𝑏 ! − 4𝑎𝑐
2𝑎
10
Forcing Signals

11
Question 2: Partial Fraction Decomposition
Find the time response and steady state response for y(t):
,($+.!)
𝑌 𝑠 = $ ! +0!$+'!!
R(s) where R(s) is a unit step input

12
Final Value Theorem (FVT)
A fast method for finding the steady state response

Use the Final Value Theorem to find the steady state response:
,($+.!)
𝑌 𝑠 = R(s) where R(s) is a unit step input
$ ! +0!$+'!!

13
Questions?
Damped Systems
Mass Spring Damper Systems
mx’’ + bx’ + kx = f(t)
f(t)
Initial Conditions: f(t) = 0, x(0)=x0, x’(0)=0

Find Laplace Transform:

f(t)

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 f(t)

Plotting Poles and Zeros

f(t)
Laplace: Ms2Y(s) – Msy0 + bsY(s) – by0 + kY(s) = 0
?@ABC! D"
Rearrange to the form:
?# @ABC! ?@C! #

$+1/3 4" 6($) Zeros

Transfer Function: 𝑌 𝑠 = =
$ ! +(1/3)$+(5/3) 7($) Poles

Characteristic Equation: p(s) = 0 =

17
 f(t)

Plotting Poles and Zeros

f(t)
$+1/3 4" 6($) Zeros
Transfer Function: 𝑌 𝑠 = $ !+(1/3)$+(5/3) = 7($)
Poles

Plot Zeros and Poles (k/M = 2 and b/M = 3):

18
 f(t)

Plotting Poles and Zeros

f(t)
$+1/3 4" 6($) Zeros
Transfer Function: 𝑌 𝑠 = $ !+(1/3)$+(5/3) = 7($)
Poles

Plot Zeros and Poles (k/M = 13/4 and b/M = 3):

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 Effects of Damping
?@E/G D" ?@ABC! D"
𝑌 𝑠 = $ Find 𝜁 and 𝜔M by comparing with ?# @ABC #
?# @(%)?@(H/G) ! ?@C!

H 𝑏
𝜔M = 2𝜁𝜔M = b/M 𝜁=
G 2 𝑘𝑀

IE ± E# IJKL
s1,2 = AK
= −𝜁𝜔M ± 𝜔M 𝜁 A − 1

𝜁 > 1: overdamped, no complex roots

𝜁 = 1: critically damped, no complex roots
0 ≤ 𝜁 ≤ 1: underdamped
𝜁 = 0: undamped
𝜁 < 0: unstable
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Effects of Damping
𝜁 > 1: overdamped, no complex roots
𝜁 = 1: critically damped, no complex roots s1,2 = −𝜻𝝎𝒏 ± 𝜔M 𝜁 A − 1
0 ≤ 𝜁 ≤ 1: underdamped
𝜁 = 0: undamped
𝜁 < 0: unstable

21
Mass Spring Damper System: Exercise
𝑠 + 3 𝑦O
Inverse Laplace of: 𝑌 𝑠 = f(t)
(𝑠 + 1)(𝑠 + 2)

f(t)

Find the steady state response:

Check using FVT:

22
Transfer Functions
Low Pass Filter
Create equations for v1 and v2 (use current laws):

Write the Laplace Transforms for V1 and V2:

Find Transfer Function V2 / V1:

Find the Poles and Zeros: 24

DC Motor
Finding the relationship between input voltage and output speed

va(t) +

+ vb
vf(t)
-

25
Armature Voltage-Controlled DC Motor: Example
Motor torque for Armature Voltage-Controlled DC motor:
(Assume 𝜃 0 = 𝜃̇ 0 = 𝑖) (0) = 𝑇* = 0; Vb = Kb𝜃;̇ La << Ra)
𝑇 = 𝐾𝑚𝐼
𝑚 𝑓
(𝑇* =Disturbance torque, va=Armature voltage, vb=Back EMF voltage, TL = TLoad, Tm = Tmotor)
S
Find the Transfer Function T&
𝑇𝑚 = 𝑇𝐿 + 𝑇𝑑
Kirchhoff Voltage Law: 𝑅𝑎𝑖𝑎 + 𝐿𝑎𝑖 𝑎 ! + vb – va = 0
Laplace Transform: 𝑅𝑎𝐼𝑎 + 𝐿𝑎𝑠𝐼𝑎 + Vb – Va = 0
Rearrange: 𝐼𝑎 = (Va – Vb ) / (𝑅𝑎 + 𝐿𝑎𝑠)
Replace Tm: 𝑇𝑚 = Km (Va – Vb )/ (𝑅𝑎 + 𝐿𝑎𝑠)
Replace Vb, ℒ Kb𝜃̇ = Kbs𝜃, La<<Ra: 𝑇𝑚 = Km (Va – Kbs𝜃) / 𝑅𝑎

Replace TL: 𝑇𝐿 = ℒ 𝐽𝜃̈ + 𝑏𝜃̇ = 𝐽𝑠 " 𝜃 + 𝑏𝑠𝜃;

Equate Tm and TL: Km (Va – Kbs𝜃) / 𝑅𝑎 = 𝐽𝑠 " 𝜃 + 𝑏𝑠𝜃
Rearrange: KmVa/𝑅𝑎 = 𝐽𝑠 " 𝜃 + 𝑏𝑠𝜃 + (KmKbs𝜃/𝑅𝑎) = s(𝐽𝑠 + 𝑏 + KmKb/𝑅𝑎)𝜃
#
Rearrange: = Km / 𝑠[𝑅𝑎 (𝐽𝑠 + 𝑏) + KmKb]
$!
Divide both sides by 𝑅𝑎𝑏 + KmKb to find the time constant 𝑅𝑎 𝐽/(𝑅𝑎𝑏 + KmKb) 26
Field Voltage-Controlled DC Motor: Exercise
Motor torque for Field Voltage-Controlled DC motor: 𝑇𝑚 = 𝐾𝑚𝐼𝑓
(Assume 𝜃 0 = 𝜃̇ 0 = 𝑖. (0) = 𝑇* = 0)
(𝑇* =Disturbance torque, vf=Field voltage, vb=0, TL = TLoad, Tm = Tmotor)
Hint: 𝑉. = (Rf + Lfs)If
S
Find the Transfer Function T
'
𝑇𝑚 = 𝑇𝐿 + 𝑇𝑑

27
Questions?