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04 Dynamicmodels

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04 Dynamicmodels

Uploaded by

Shefali Keshri
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© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Cyber-Physical Systems

Modeling Physical Dynamics


IECE 553/453, ICSI 553 – Fall 2022
Prof. Dola Saha
1
Modeling Techniques
Ø Models that are abstractions of system dynamics
(how system behavior changes over time)
§ Modeling physical phenomena – differential equations
§ Feedback control systems – time-domain modeling
§ Modeling modal behavior – FSMs, hybrid automata, …
§ Modeling sensors and actuators –calibration, noise, …
§ Hardware and software – concurrency, timing, power, …
§ Networks – latencies, error rates, packet losses, …

2
Modeling of Continuous Dynamics
Ø Ordinary differential equations, Laplace
transforms, feedback control models, …

3
Example CPS System
Ø Helicopter Dynamics

4
Modeling Physical Motion
Ø Six Degrees of Freedom
§ Position: x, y, z
§ Orientation: roll (𝜃! ), yaw (𝜃" ), pitch (𝜃# )

5
Notation
Orientation can be
represented in the
same form

Ø Functions of this form are known as continuous-time signals


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Notation

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Newton’s Second Law

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Orientation

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Torque: Angular version of Force

Ty(t ) = r f (t )
angular momentum, momentum

Just as force is a push or a pull, a torque is a twist.


Units: newton-meters/radian, Joules/radian

10
Rotational Version of Newton’s Law
If the object is spherical, this
reluctance is the same around
all axes, so it reduces to a
constant scalar I (or
equivalently, to a diagonal
matrix I with equal diagonal
elements I).

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For a spherical object

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Simplified Model
Ø Model-order Reduction

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Simplified Model of Helicopter
Ø the force produced by the tail rotor must counter the
torque produced by the main rotor
Ø Assumptions:
§ helicopter position is fixed at the origin
§ helicopter remains vertical, so pitch and roll are fixed at zero
Ø the moment of inertia reduces to a scalar that
represents a torque that resists changes in yaw

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Feedback Control Problem

A helicopter without a tail rotor, like the one


below, will spin uncontrollably due to the
torque induced by friction in the rotor shaft.

Control system problem:


Apply torque using the tail
rotor to counterbalance the
torque of the top rotor.

15
Actor Model
Ø Mathematical Model of Concurrent Computation
Ø Actor is an unit of computation
Ø Actors can
§ Create more actors
§ Send messages to other actors
§ Designate what to do with the next message
Ø Multiple actors may execute at the same time

16
Actor Model of Systems
ØA system is a function that
accepts an input signal and yields
an output signal.
ØThe domain and range of the
system function are sets of signals,
which themselves are functions.
ØParameters may affect the
definition of the function S.
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Actor Model of the Helicopter
Ø Input is the net torque of the
tail rotor and the top rotor.
Output is the angular
velocity around the y-axis.

Ø Parameters of the model are


shown in the box. The input
and output relation is given
by the equation to the right.
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Composition of Actor Model

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Actor Models with Multiple Inputs

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Modern Actor Based Platforms
Ø Simulink (The MathWorks) Ø SPW, signal processing
Ø Labview (National Instruments) worksystem (Cadence)
Ø Modelica (Linkoping) Ø System studio (Synopsys)
Ø OPNET (Opnet Technologies) Ø ROOM, real-time object-oriented
modeling (Rational)
Ø Polis & Metropolis (UC Berkeley)
Ø Easy5 (Boeing)
Ø Gabriel, Ptolemy, and Ptolemy II
(UC Berkeley) Ø Port-based objects (U of
Maryland)
Ø OCP, open control platform
(Boeing) Ø I/O automata (MIT)
Ø GME, actor-oriented meta- Ø VHDL, Verilog, SystemC
modeling (Vanderbilt) (Various)
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Example LabVIEW Screenshot

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Example CPS System
Ø Artemis I
§ Space Launch System (SLS) rocket
§ Orion spacecraft
§ Designed to send humans to deep space as the
backbone for America’s Moon to Mars
exploration approach.

https://www.nasa.gov/artemis-1 23
Escape Velocity
Ø Newton’s law of universal gravitation
§ gravitational force between two massive bodies is proportional to the
product of the two masses
§ inversely proportional to the square of the distance between them
§ G is the gravitational constant

§ acceleration g = F/m when x = 0

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Escape Velocity

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Escape Velocity

Left Integral:

Substitute:

Right Integral:

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Escape Velocity
Ø Escape Velocity: minimum initial velocity such
that the mass can escape to infinity

27

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