Physical Modeling

Modeling and System Engineering

1.Types of System Models
1) Empirical/Experiment models where the properties of the
system can be summarized in a graph, a table or a curve fit to
observation points. Such models presume knowledge of the
fundamental quantitative trends but lack accurate
understanding.
2) Mechanistic/Analytic models (or structural models) which
use metric or count data are based on mathematical
relationships used to describe physical laws such as Newtons
laws, the laws of thermodynamics, etc

A physical model is a imaginary physical system, that is a sufficiently accurate

simplification of the original system, allowing us to still perform valid and
reliable system analysis (from and engineering point of view).
Example :
DC motor with flexible coupling

A schematical illustration of the system structure

 Model
di
La Vs Ra i kmm
dt
d m
m
dt
d m
Jm kmi d mm kc ( m l ) d c (m l )
dt
dl
l
dt
d l
Jl dll kc ( m l ) d c (m l )
dt
Tm kmi
2.Two Basic Approaches for
Building Models
There are two basic and quite different
approaches for model construction :
1. Physical (Theoretical, Analytical) Modeling
2. Identification (Experiment Based Modeling)
Physical/Theoretical
Identification
Modeling
Model structure follows from Model structure must be assumed
laws of nature Only the input/output behavior is
Modeling of the input/output identified
behavior as well as the internal Model parameters are numbers only,
behavior in general no functional dependency to
Model parameters are given as system properties known
function of system properties Model is only valid for investigated
Model is valid for the entire class system and within operating limits
of processes of a certain type and Model can only be identified for an
for different operating conditions existing system
Models can be build for non- Identification methods are independent
existing systems of the investigated system and can thus
The internal behavior of the be applied to many different systems
system must be known and must Fast process if identification methods
be describable mathematically exist already
Typically lengthy process which Model size can be adjusted according
takes up much time to the area of application of the model
Models may be rather complex
and detailed
 Different kinds of mathematical models

Physical/Theoretical
Identification
Modeling

Physical rules known

Physical rules known Model structure Input/output signal
Physical rules known
Model structure
Model structure unknown measurable
known Parameters
known
Parameters
Assumption of a
Parameters known unknown model structure
unknown
signal measurable
signal measurable

Light Gray -Box Dark Gray -Box Black -Box Model

White-Box Model
Model Model
Neuro/fuzzy models Impulse Response
Linear/non-linear Differential equations
with parameter Neural networks
differential equations with parameter
estimation estimation
3. Components of Time Based
Mathematical Model
disturbances

Inputs
System Outputs

System parameters, design

parameters, internal
variables
3. Components of Time Based
Mathematical Model
1. Constant : a quantity in the model that does not vary with time.
2. System parameter : A constant that is given by the system.
3. Design parameter : A constant that we can vary in order to give
the system different properties.
4. Variable or signal : A quantity in the model that varies with time.
5. Output : A variable whose behavior is our primary interest.
6. Internal variable : A variable in the system that is neither an output
nor an external signal.
7. External signal : A variable that effects the system without being
affected by the systems other variables.
8. Input : An external signal in the system whose time variations we
can choose.
9. Disturbance signal : An external signal in the system that we can
not influence.
 4. Physical Modeling Methodology
1) Structure the problem
Understand how the system works; Define the purpose of the model;
Structure model into subsystems.
Determine outputs and external signal for the model. Decide what
internal variables are important to describe the system.
Illustrate the interactions between external signals, internal variables,
and outputs in a block diagram
2) Define models for subsystems and interactions
a. Balance equations: Balance of mass, energy, momentum.
b. Physical or chemical equations of state: These are the so-called
constitutive equations and describe reversible events, such as e.g.
inductance or the second Newtonian postulate.
c. Interconnection equations according to e.g. Kirchhoffs node and mesh
equations, torque balance, etc.
 4. Physical Modeling Methodology
3. Organize equations :
4. Validate and simplify model
First choice: validate against real data (experiment)
Second option: soft validation
verify that equations are dimensionally correct
verify that equations describe qualitatively correct
behaviour - stationary points, static relations, linearized
dynamics
Example : Loudspeaker dynamics model
Relationship between applied voltage and resulting sound pressure?

Structuring the problem

Modeling of subsystems

Electrical subsystem

Mechanical subsystem

http://en.wikibooks.org/wiki/Acoustics/Acoustic_Loudspeaker
5. Some Mathematical Models
1. Balance/conservation equations

Inflow outflow = volume change per time unit

Power in power out = accumulated energy per tima unit

There are 5 types of conservative quantities in (classical) physics:

1. Energy
2. Mass
3. Linear momentum Most differential equations in a model come
4. Angular momentum from conservation laws (sometimes hidden as
5. Electrical charge component laws)

2. Constitutive relations (static relations between quantities)

Water tank model

3. Components Relation (Interconnection rules)
Balance equations often transformed into component models

Example (Inductance)

Example (Translational dynamics of point mass)

Electrical circuits components

Interactions between components governed by Kirchoff s laws

Currents sum to zero at interconnection points

Voltage drops around closed circuit equal zero

Example RLC circuit
Translational mechanics components

Translational mechanics interconnections

Forces sum to zero

Velocities are equal at interconnection points

Translational mechanics example
Mass-spring system
Rotational mechanics components

Rotational mechanics interconnections

Torques sum to zero

Angular velocities equal at interconnection points

Example Flexible shaft
Hydraulic systems components
Models relation between pressure p(t) and flow Q(t)

Pipes: pressure drop drives flow

Tanks store flow

Flow resistance (due to friction or constriction)

Hydraulic systems interconnections

Flows sum to zero at interconnection points

pressure drops sum to zero around closed circuit

6. Mathematical Models of direct
analogy
Modeling of physical systems analogous in many domains
two classes of variables, whose product is power
interconnection rules

System Flow variable Effort variable

Electric current voltage

Translational velocity force

Rotational angular velocity torque

Hydraulic volume flow pressure difference

Thermal entropy flow temperature

 Elements of System
1. Sources are active elements that supply or remove effort/flow

2. Effort storage

Example: Inductors

3. Flow storage

Example: Capacitors, springs,

4. Resistive elements

Examples Resistors, dampers,

References
1. Rolf Isermann : Identification of Dynamic
Systems An Introduction with Applications,
Springer
2. L.Ljung: Modelling of Dynamic Systems,
Prentice Hall
Tugas 2 :
1. Jelaskan tentang Lagrange Equation dan
hubungannya dengan pemodelan. Berikan
contoh.
2. Berikan contoh model matematika
transducer? (Structure the problem, determine
subsystems, organize equations)