Chapter 2 (10e)

Modeling of Dynamic
Systems

Yuang-Shung Lee
Dept. Electrical Engineering
Fu Jen Catholic University

Fall, 2023 2-0

 Class Content (Automatic Control Systems 10e)
• Chap. 1. Introduction to control systems
• Chap. 2. Modeling of dynamic systems
• Chap. 3. Solution of DE of dynamic systems
• Chap. 4. Block Diagrams and Signal-flow Graphs
• Chap. 5. Stability of control systems
• Chap. 6. Importance components of feedback control systems
Midterm
• Chap. 7. Time-domain Analysis of Control Systems
• Chap. 8. State-space analysis and controller design
• Chap. 9. Root-locus Analysis
• Chap. 10. Frequency-domain Analysis
• Chap. 11. Design of Control Systems (Tentatively)
Final
Introduction
To select the real system for meet the scenario

Modeling T(s)

Controller selected & parameters designed Gc(s)

Verification by using simulation & implementation

Vref(s) +
Gc(s) PWM T(s)
- V(s)
Controller δ(s)

Where T(s) is the mathematical model of converter

Power Electronic Lab., Institute of Electronic Engineering,
Fu Jen Catholic University, Taipei, Taiwan
2
輔仁大學電子工程學系(所) EMI電力電子研究室
 Main Objectives of This Chapter
Scenario  Real physical system  Dynamic differential
equations State equations & output equation ( dX/dt = AX(t) +
BU(t); Y(t) = CX(t) + DU(t), where A, B, C, D, are system matrix
of linear dynamic systems )Analysis & controller design
Simulation & implementation
1. To introduce modeling of mechanical systems
2. To introduce modeling of electrical systems
3. To introduce modeling thermal & fluid systems
4. To discuss sensors and actuators
5. To discuss linearization of nonlinear systems
6. To discuss analogies
2-3
 2-1 Introduction to Modeling of
Mechanical Systems
• Mass: , , Spring : K, Friction : B (or damping constant)
• Translation motion: a motion that takes places along a straight or
curved path, such as linear motor,…
⇒ displacement y, velocity v=dy/dt, acceleration a=dv/dt=d2y/dt2
• Newton’s law of motion:

• Force equation:

2-4
Linear Translation Motion
• Mass:
• Linear spring:
preload tension
or disturbance

• Friction for translation motion:

– viscous friction, static friction, Coulomb friction

2-5
Friction for Translation Motion
(a) Viscous friction (b) Static friction (c) Coulomb friction

Linear friction Nonlinear friction

Nonlinear friction

2-6
 Section 2-

Basic Translational Mechanical System

2-7
 Example : mass-spring-friction system
energy-storage elements: M,K

(FBD)

• Force equation:
Time domain force equation
s2Y(s) = (F(s)-sY(s)B-Y(s)K) / M

s2Y(s) sY(s) For a zero initial condition ʆ [ ] transformation:

 s2Y(s)+sY(s)B/M+Y(s)K/M=F(s)/M
Y(s)[Ms2+Bs+K]=F(s)
Transfer function in s-domain:
s-1 is an integrator

in s-domain 2-8
 Example 4-1-1 (cont.)
• Force equation:
• State space form:

= AX(t) + BU(t);
= CX(t) + DU(t)

sX1(s)=X2(s)X1(s)=X2(s)/s
sX2(s)=-X1(s)K/M-X2(s)B/M+F(s)/M
sX2(s)
=sX1(s)

with initial conditions 2-9

without initial conditions
Example 4-1-2: mass-spring-damper system

(FBD)

• Force equation:

 s2Y2(s) + sY2(s)B/M + Y2(s)K/M = KY1(s)/M

Y2(s)[Ms2+Bs+K] = KY1(s)

• Transfer function: 2-10

Example 4-1-2 (cont.)
• State equations:

1 Y(t) = CX(t)
Time-domain, s-1 is an integrator

KY1(s) s2Y2(s) sY2(s)

s2Y2(s)M

BsY2(s)
s-domain where s = σ±jω
KY2(s)

2-11
Example: Two degree-of-freedom (DOF) spring-mass system, free body diagram (FBD)

State variables: State equations: dX(t)/dt = A X(t) + BU(t)

y1(t) = x1(t), y2(t) = x2(t) , dy1(t)/dt = x3(t), dy2(t) = x4(t), u1=f1(t), u2=f2(t),… 2-12
 Section 2-

Rotational Motion: motor-inertia-spring-friction system

• Rotational motions: a motion about a fixed axis
⇒ angular displacement θ, angular velocity ω=dθ/dt,
angular acceleration α=dω/dt
• Newton’s law of motion for rotational motion:

• Inertia (J): a circular disk or shaft of radius r and mass M

⇒
• Torque equation: a torque T is applied to a body with inertia J

2-13
Torsional Spring & Friction
• Torsional Spring:

TP
preload torque or disturbance
• Friction for Rotational Motion:
– Viscous friction:
– Static friction:

– Coulomb friction:
T
T
T T

dθ/dt dθ/dt dθ/dt

4-14
Basic Rotational Mechanical System

2-15
 Section 2-

Example: free-body rotational system

,TP
Flywheel Energy Storage System
(High inertia rotational free-body system)

Torque or moment equation:

+TP
Preload torque

2-16
Example: motor-rotational-inertia load system
Electrical motor, pneumatic motor, hydrantic motor,….

Torque equation: T (t) - K[θ (t)- θ (t)] - B dθ (t)/dt = J d2θ /dt2

m m m m m m m

2-17
Example (cont.)
(2-37~2-38)
Simplified
• Three energy-storage elements: Jm, JL, K ⇒ 3 state variables
• State variables: State equations: dx(t)/dt=Ax(t)+Bu(t)

Where Tm(t) is the motor torque

=dx3/dt =dx2/dt =dx1/dt

2-18
 Conversion between Translational and
Rotational Motions
• The equivalent inertia that the motor see J: (2-40)

Figure 2-11 Rotary-to-linear motion control

system.
L: the lead of the screw Figure 2-12 Rotary-to-linear motion
(2-41) control system (rack and pinion).

Equivalent inertia:

Figure 2-13 Rotary-to-linear motion

control system (belt and pulley). 2-19
Vehicle Suspension Systems Quarter car

2-20
Modeling of a quarter-car control of vehicle suspension systems

2-21
z = x-y, x = z+y, dx/dt = dz/dt+dy/dt, d2x/dt2 = d2z/dt2+d2y/dt2. 2ζωn = c/m, ωn2 = k/m

2-22
z = x-y, x = z+y, dx/dt = dz/dt+dy/dt, d2x/dt2 = d2z/dt2+d2y/dt2. 2ζωn = c/m, ωn2 = k/m

2-23
 =[(T(t)-Jmd2θ(t)/dt2-Bmdθ(t)/dt]/r

z= θr, dz/dt=rdθ/dt, d2z/dt2=rd2θ(t)/dt2



θ =z / r, dθ/dt=(dz/dt)/r, d2θ/dt2=(d2z/dt2)/r
 where T(t)=Kf ia(t)

T(t)= Tm(t)=Kf ia(t), ia(t) ∞ ea(t)

2-24
Gear Train in Gear Box:

(2-52)

(2-53)

(2-54)

(2-55)

Figure 2-16 Gear Train (gear box) .

2-25
 (2-57)

Reflecting from gear 2 to gear 1

Figure 2-10 Gear train with friction (2-59)

and inertia.

2-26
Backlash and Dead Zone
(Nonlinear factor for two mechanical motion system)
Linear

Nonlinear
Dead Zone

Figure 2-18 Physical model of backlash Figure 2-19 Input-output characteristic of

between two mechanical elements. backlash.

2-27
2-2 Introduction to Modeling
Simple Electrical Systems
Figure 2-20 Basic passive electrical elements. (a) A resistor. (b) An inductor. (c) A capacitor.

(2-64)
(2-65)

(2-66)

2-28
Example 4-2-1
KVL: (2-67)

(2-68)

Current in C: (2-69)

Figure 2-21 RLC network.

Electrical schematics. d(2-68)/dt (2-70-c)

ωn = 1/√LC, ζ = 0.5R(C/L)1/2 2-29

Example 4-2-2

3-state variables

(2-73)

(2-74)

(2-74)

2-30
Example 4-2-3
Find the differential equation of the system.
(2-78)
(2-79)

(2-80)

(2-81)

(2-82)

(2-83)
(2-81)
(2-84)
(2-83)

Eo(s)/Ein(s) = 1/ τ/(s+1/ τ) =1/(s τ +1) 2-31

Example 4-2-4
Find the differential equation of the system
(2-86)

(2-87)

(2-88)

(2-89)

2-32
 Section 2-

Example 4-2-5
(2-90)

Node equation at e1:

2-33
Parameter Notation Units
Resistance R ohm (Ω) = volt/amp
farad (F) = amp; s/volt =
Capacitance C
s/ohm
henry (H) = volt; s/amp =
Inductance L
ohm ⋅ s
Variables
Charge: q(t) coulomb =
newton-meter/volt
Current: i(t) ampere (A)
Voltage: e(t) volt (V)
Energy: E J (joules)
1J=1N−m
1 cal = 4.184 J
1 Btu = 1055 J
Power: P W (watt); J/s
(joule/second)
1 W = 1 J/s

4-34
Table 2-2 Basic Electrical System
Properties and Their Units.
 2-4 Linearization of Nonlinear Systems

Linear Systems (ODE): NL system:

Let x1 = i(t), x2 = di(t)/dt
dx1/dt = x2
dx2/dt = -x1/CL – Rx2/L + de(t)/dt/L
2-order linear system equation.
Nonlinear Systems (NLDE):

(NLSDE):
2-35
2-order nonlinear system equation.
• Linearization Using Taylor Series:
Expand a nonlinear function f(x(t)) about a reference or
operating point x0(t)

(2-153) (2-154)

(2-155)

Let ∆(x) = x(t) − x0(t) and it is small, Eq. (2-155) converges.

(2-156)

2-36
Linearization Using State Space Approach
• Expand the nonlinear state equations into a Taylor series
about a nominal operating point or trajectory.
• nominal operating trajectory: x0(t), nominal input: r0(t)
f [x(t), r(t)] = [f1(x, r); f2(x, r),…; fn(x, r)]T
Where x(t) ϵ x1, x2,…,xn, r(t) ϵ r1, r2,…,rp

4-37
Example 2-4-1
Find the equation of motion:

(2-157)
FT cos θ
(2-162)

(2-158)
FT sin θ (2-163)

(2-160)

(2-161)

(2-164)
(2-166)
(2-165)
Nonlinear function (2-169)
2-38
Example 2-4-1 (cont.)
• Static equilibrium position θ = 0 ⇒ operating point
Linearization: ∆θ = θ ≈ sinθ

• State space form:

x1 = θ , x2 = θ
= f1(x1,x2)

= f2(x1,x2)

2-39
Example 2-4-2 (Simple-Pendulum)
Re-derive the differential equation
using the moment equation
(2-171)

l l cos θ
(2-172)

l sin θ (Nonlinear)(2-173)

(Linear) (2-175)

2-40
 2-10 Analogies
Example analogies: Fig. 2-2 ⇔ Example 2-2-1(Fig. 2-21)

Fig. 2-2 Example 2-2-1(Fig. 2-21)

(2-179) (2-178)

M ⇔ L, K ⇔ 1/C, B ⇔ R

M (2-177)

2-41
Example

x1 (t ) = y2 (t ), x2 (t ) = dy2 (t ) / dt

diL di R 1
RiL + L = e ⇒ L = − iL + e
dt dt L L

M ⇔ L, K ⇔ 1/C, B ⇔ R

2-42
Table 2-6

2-43
Table 2-6 (cont.)

2-44
Case studies for real dynamic systems
Example C2-1: Attitude control system of aircraft

Control
surface

2-45
Example C2-1 (cont.)

2-46
Example C2-1 (cont.)
Seen by motor: total inertia

viscous-friction coefficient
• Electrical time constant of the amplifier-motor system:

• Mechanical time constant of the motor-load system:

2-47
Example C2-2 Sun-seeker system

2-48
Example C2-2 (cont.)
• DC motor:

2-49
Example C2-3 Modeling of buck dc-dc converter

VO(t)= d(t) Vin , d(t) = D+ᵭ(t)

Q1 on; D1 off Q1 off; D1 on where Q1 & D1 are nonlinear switch devices

Power Electronic Lab., Institute of Electronic Engineering,
Fu Jen Catholic University, Taipei, Taiwan
輔仁大學電子工程學系(所) EMI電力電子研究室
2-50
(Nonlinear equations with switching function, d(t))

Power Electronic Lab., Institute of Electronic Engineering,

Fu Jen Catholic University, Taipei, Taiwan
輔仁大學電子工程學系(所) EMI電力電子研究室
2-51
Linearized
equations:

Power Electronic Lab., Institute of Electronic Engineering,

Fu Jen Catholic University, Taipei, Taiwan
輔仁大學電子工程學系(所) EMI電力電子研究室
2-52
Power Electronic Lab., Institute of Electronic Engineering,
Fu Jen Catholic University, Taipei, Taiwan
輔仁大學電子工程學系(所) EMI電力電子研究室
2-53
 D
Gvin ( s ) =
sL 2
2nd order transfer function model of 1 + + s LC
R
SISO system with vin(s) disturbance: Vin
Gvd ( s ) =
sL 2
1 + + s LC
R
2-54
 State Space Equations Modeling:

State Space Model of Buck Converter(2nd order model):

 diˆL (t ) 
•  L 0   dt   0 −1   iˆL (t )  Vin D   dˆ (t ) 
0 C  ˆ
EX = =1 −1/ R   ˆ +   =FX + GU
   dvo (t )     vo (t )   0 0   vˆin 
 dt 
•
E −1 FX + E −1GU =
X = E −1 F , B =
AX + BU , whereA = E −1G
 iˆL (t ) 
Y=
CX + DU , whereY is the output vector , X =
 
 o 
vˆ (t )

Power Electronic Lab., Institute of Electronic Engineering,

Fu Jen Catholic University, Taipei, Taiwan
輔仁大學電子工程學系(所) EMI電力電子研究室
2-55
2-56