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Applied Marine Control Systems and Automation

1) Electrical and mechanical systems can be analogous if they have the same differential equations despite being physically different. 2) There are two types of analogies between translational mechanical systems and electrical systems: force-voltage and force-current. 3) Rotational mechanical systems also have analogous relationships to electrical systems through torque-voltage and torque-current analogies.

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Srinivasan Prakash
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515 views15 pages

Applied Marine Control Systems and Automation

1) Electrical and mechanical systems can be analogous if they have the same differential equations despite being physically different. 2) There are two types of analogies between translational mechanical systems and electrical systems: force-voltage and force-current. 3) Rotational mechanical systems also have analogous relationships to electrical systems through torque-voltage and torque-current analogies.

Uploaded by

Srinivasan Prakash
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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APPLIED MARINE CONTROL

SYSTEMS AND AUTOMATION

Dr. S. THANGALAKSHMI
ANALOGOUS SYSTEMS
Two systems are said to be analogous to each other if the following two
conditions are satisfied.
• The two systems are physically different
• Differential equation modelling of these two systems are same

Electrical systems and mechanical systems are two physically different


systems. There are two types of electrical analogies of translational
mechanical systems. Those are force voltage analogy and force current
analogy.
FORCE - VOLTAGE ANALOGY
In force voltage analogy, the mathematical equations of translational
mechanical system are compared with mesh equations of the electrical
system.
Consider the following translational mechanical system as shown in the
following figure.

The force balanced equation for this system is

F=Fm+Fb+Fk

⇒F=Md2x/dt2+Bdx/dt+Kx (Equation 1)
Consider the following electrical system as shown in the following figure.
This circuit consists of a resistor, an inductor and a capacitor. All these
electrical elements are connected in a series. The input voltage applied to
this circuit is V volts and the current flowing through the circuit is i Amps.
Mesh equation for this circuit is

V=Ri+Ldi/dt+1/c∫idt (Equation 2)

Substitute, i=dq/dt in Equation 2.

V=Rdq/dt+Ld2q/dt2+q/C

⇒V=Ld2q/dt2+Rdq/dt+(1/C)q (Equation 3)
By comparing Equation 1 and Equation 3, we will get the analogous quantities of the
translational mechanical system and electrical system. The following table shows these
analogous quantities.

Translational Mechanical System Electrical System

Force (F) Voltage (V)

Mass (M) Inductance (L)

Frictional Coefficient (B) Resistance (R)

Spring Constant (K) Reciprocal of Capacitance (1/C)

Displacement (x) Charge (q)

Velocity (v) Current (i)


TORQUE - VOLTAGE ANALOGY
Rotational mechanical system is shown in the following figure.

The torque balanced equation is


T=Tj+Tb+Tk
⇒T=Jd2θ/dt2+Bdθ/dt+kθ (Equation 4)
In this analogy, the mathematical equations of rotational mechanical
system are compared with mesh equations of the electrical system.
By comparing Equation 4 and Equation 3, we will get the analogous quantities of
rotational mechanical system and electrical system. The following table shows these
analogous quantities.
Rotational Mechanical System Electrical System

Torque (T) Voltage (V)

Moment of Inertia (J) Inductance (L)

Rotational friction coefficient (B) Resistance (R)

Torsional spring constant (K) Reciprocal of Capacitance (1/C)

Angular Displacement (θ) Charge (q)

Angular Velocity (ω) Current (i)


FORCE - CURRENT ANALOGY
In force current analogy, the mathematical equations of the
translational mechanical system are compared with the nodal
equations of the electrical system.
Consider the following electrical system as shown in the following figure.
This circuit consists of current source, resistor, inductor and capacitor. All
these electrical elements are connected in parallel.
The nodal equation is
i=V/R+1/L∫Vdt+CdV/dt (Equation 5)
Substitute, V=dψ/dt in Equation 5.
i=1/RdΨ/dt+(1/L)Ψ+Cd2Ψ/dt2
⇒i=Cd2Ψ/dt2+(1/R)dΨ/dt+(1/L)Ψ (Equation 6)
By comparing Equation 1 and Equation 6, we will get the analogous quantities of the
translational mechanical system and electrical system. The following table shows these
analogous quantities.

Translational Mechanical System Electrical System

Force (F) Current (i)

Mass (M) Capacitance (C)

Frictional coefficient (B) Reciprocal of Resistance (1/R)

Spring constant (K) Reciprocal of Inductance (1/L)

Displacement (x) Magnetic Flux (ψ)

Velocity (v) Voltage (V)


TORQUE - CURRENT ANALOGY
In this analogy, the mathematical equations of the rotational mechanical
system are compared with the nodal mesh equations of the electrical
system.
By comparing Equation 4 and Equation 6, we will get the analogous quantities of
rotational mechanical system and electrical system. The following table shows these
analogous quantities.
Rotational Mechanical System Electrical System

Torque (T) Current (i)

Moment of inertia (J) Capacitance (C)

Rotational friction coefficient (B) Reciprocal of Resistance (1/R)

Torsional spring constant (K) Reciprocal of Inductance (1/L)

Angular displacement (θ) Magnetic flux (ψ)

Angular velocity (ω) Voltage (V)

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