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Principles of Automatic Control

CHAPTER 3
Mathematical Models of Control
Systems
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Outline
3 . 1 D i ffe re nt i a l Eq u at i o n s o f L i n e a r
Components and Linear Systems
3.2 Complex Domain Mathematical Models
of Control Systems
3.3 Block Diagrams of Control Systems
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System model
Definition:
l Mathematical expression of dynamic
relationship between input and output of a
control system.
l Mathematical model is foundation to analyze
and design automatic control systems.
l No mathematical model of a physical system is
exact. We generally strive to develop a model
that is adequate for the problem at hand but
without making the model overly complex.
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System model
Three models
l Differential equation
l Transfer function
l Frequency characteristic
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Establishment of differential equation

Differential equation
• Linear ordinary differential equations
-- A wide range of systems in engineering are
modeled mathematically by differential equations
-- In general, the differential equation of an n-th
order system is written
d n c (t ) d n 1c (t ) dc (t )
an n
 an 1 n 1
   a1  a0c (t ) 
dt dt dt
d m r (t ) d m 1r (t ) dr (t )
bm m
 bm 1 m 1
   b1  b0r (t )
dt dt dt
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Establishment of differential equation

• How to establish differential equation
a) Determine the inputs and outputs of the
system or component;
b) List differential equations according to the
physical rules of each component;
c) Obtain the differential equation sets by
eliminating the intermediate variables;
d) Get the overall input-output differential
equation of control system.
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Establishment of differential equation

Examples 1 RC circuit
According to Kirchhoff’s voltage law
ui (t )  Ri (t )  uo (t )
duo (t )
i (t )=C
dt
duo (t )
ui (t )  RC  uo (t )
dt
It is re-written as in standard form
duo (t )
RC  uo (t )=ui (t )
dt
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Establishment of differential equation

Examples 2 RLC circuit
According to Kirchhoff’s voltage law
di (t )
ur (t )  Ri (t )  L  uc
dt
duc (t )
i (t )=C
dt

d 2uc (t ) duc (t )
LC 2
 RC +uc (t )=ur (t )
dt dt
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Establishment of differential equation

Examples 3 DC motor
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Establishment of differential equation

Examples 3 DC motor
(1) u f (t )  K t  (t ) (5) ua (t )  K 3u2 (t )

(2) ue (t )  ur (t )  u f (t ) (6) ua (t )  Kue (t )

R2
(3) u1 (t ) 
R1
ue (t )
(7) T m
d 1 (t )
dt
 1 (t )  K a ua (t )  K c M c (t )

(4) R
u2 (t )  4 u1 (t )
R3
(8)  (t ) 1

1 (t ) i

We have d (t )   i  KK K a t

  (t ) 
KK a
ur (t ) 
Kc
M c (t )
dt  iTm  iTm iTm
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Why need Laplace transform?

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Why need Laplace transform?

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Laplace transform
The Laplace transform of a
function f(t) is defined as
F ( s )  L  f (t ) 

  f (t )e dt
 st
0
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Laplace transform
• A complex number can
be visually represented as
a pair of numbers (a, b)
forming a vector on a
diagram called an Argand
diagram, representing the
complex plane. "Re" is
the real axis, "Im" is the
imaginary axis, and i
satisfies i  1 .
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Laplace transform
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Laplace transform
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Properties of Laplace transform

(1) Linearity

(2) Differentiation
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Properties of Laplace transform

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Transfer function
Differential equation:
d n c(t ) d n 1c(t ) dc(t )
an n
 an 1 n 1
   a1  a0 c (t ) 
dt dt dt
d m r (t ) d m 1r (t ) dr (t )
bm m
 bm 1 m 1
   b1  b0 r (t )
dt dt dt
Laplace Transform:
 an s n  an 1s n 1    a1s  a0  C ( s )
 bm s m  bm 1s m 1    b1s  b0  R ( s )
Transfer function:
C ( s ) bm s m  bm 1s m 1    b1s  b0
 n n 1
=G ( s )
R(s) an s  an 1s    a1s  a 0
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Transfer function of typical component

Example RLC
• Differential equation:
2
d uc ( t ) duc (t )
LC 2
 RC + uc (t )= ur (t )
dt dt
• When initial conditions are zero, the
transfer function:
U c (s) 1
G (s)   2
U r ( s ) LCs  RCs +1
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Transfer function
Transfer function:
• A transfer function is defined only for a linear
time-invariant system.
• A transfer function between an input and output
of a system is defined as the ratio of the Laplace
transform of the output to the Laplace transform
of the input. Meanwhile, all initial conditions of
the system are assumed to be zero.
• The transfer function is a property of a system
itself, independent of the magnitude and nature of
the input or driving function.
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Transfer function of typical component

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Transfer function of typical component

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Transfer function of typical component

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Regulation
resistance

Amplifier

Tachometer

DC motor

Reducer
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Transfer function of typical component

Example RC circuit obtain the uo(t)
ui (t )=U i 1(t ), uo (t )  0
Solution. Differential equation:
duo (t )
RC +uo (t )=ui (t )
dt
• Taking the Laplace transform of the both sides:
RCsU o (s)+U o ( s)=U i (s)

• Transfer function
U o (s) 1
G (s)  
U i ( s ) RCs +1
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Transfer function of typical component

Example RC circuit obtain the uo(t)
ui (t )=U i 1(t ), uo (t )  0
Solution.
U o (s) 1
• Transfer function G (s)  
U i ( s ) RCs +1
• Solving U o (s ) ,we have
Ui Ui Ui
U o (s)  = 
s  RCs +1 s s  1
RC
• Taking the inverse LT:
t t
 
uo (t)  U i  U i e RC
 U i (1  e RC
)
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Exercise1: The following differential

equations represent linear time-invariant
systems, where r(t) denotes the input and
c(t) denotes the output. Find the transfer
function of each of the systems.
(a) d 3c(t ) d 2c(t ) dc(t )
3
+6 2
+11 +6 c( t)= r( t)
dt dt dt
(b) d 3c (t ) d 2 c (t ) dc (t ) dr (t )
3
+3 2
+4 + c( t)=2  r( t)
dt dt dt dt
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Block diagram
• If the differential equations are known, by taking
the Laplace transform of sub-equation of
equations and drawing the corresponding sub-
block diagram, the block diagram of the system
can be obtained by connecting the sub-block
diagram; if the structure diagram is known, then
transfer the name of every component into its
corresponding transfer function and represent all
the variables by the Laplace form, thus the block
diagram can be obtained.
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Block diagram
Composition
Function block: input signal, output signal,
transfer function.
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Block diagram
Example. Obtain the block diagram

 dia (t )
 u a  L a  R a ia (t )  E a
dt

 Ea  Cem (t )

 M m (t )  Cm (t )ia (t )
 d m (t )
 Jm  f mm (t )  M m (t )  M c (t )
 dt
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Block diagram
Example. Obtain the block diagram
 I a (s) 1
 
U a ( s )  Ea ( s ) La s  Ra

 Ea ( s )
  Ce
 m ( s)

 M m (s)
 Cm
 I a (s)

 m ( s) 1

 M m (s)  M c ( s ) J m s  f m
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Block diagram
Example. Obtain the block diagram
 I a (s) 1
 
U a ( s )  Ea ( s ) La s  Ra

 Ea ( s )
  Ce
 m ( s)

 M m (s)
 Cm
 I a (s)

 m ( s) 1

 M m (s)  M c ( s ) J m s  f m
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Block diagram
Example. Obtain the block diagram
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Block diagram
Example. Obtain the corresponding block diagram for the
structure diagram.
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Simplification of block diagram

1. Serial blocks
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Simplification of block diagram

2. Parallel blocks
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Simplification of block diagram

3. Feedback
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Simplification of block diagram

Moving a summing junction
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Simplification of block diagram

Moving a pickoff point
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Simplification of block diagram

Example 1: Find the transfer function of the
closed-loop system below

Solution:
Use case 1 to combine the two serials blocks
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Simplification of block diagram

Example 1:

Use case 3 to obtain the transfer function

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Example 2: Find the transfer function of the

closed-loop system below

Solution:
Use case 3 to simplify the inner feedback loop
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Example 2:

Use case 1 to combine two series block into one.

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Example 2:

Use case 3 to obtain the transfer function

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Example 3: Find the transfer function

Solution:
Use case 3 to simplify the inner feedback blocks
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Example 3:
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Example 3:

Calculate the overall transfer function