Control engineering

Dr. Alejandro Rodrguez Angeles

Modeling

Mathematical models
-

Mechanical systems

El
Electric
i systems

Transfer functions and typical responses

Block diagram

Linearization of non linear systems

Euler-Lagrange formalism

Mathematical model
-

Helps
p to understand the system
y
in order to design
g the
control

Tipically, the system

Tipically
system'ss knowledge is incorporated in a
mathematical model

A mathematical model is a set of ecuations that

represent a system behavior with certain precision.

Parameters & variables of a model

Perturbations

Input
Variables

Model

Output
Variables

Internal Variables
Parameters (constants, variants & design)

M d l classification
Model
l
ifi ti

Deterministic & stochastic

Linear and non linear
Continuous and discrete
Variants and invariants
Static and dynamic

Mechanical systems

Translational mechanical systems (linear)

Rotational mechanical systems (linear)
Inverted pendulum (non linear)

Newton's and Eulers mechanics

Translational motion: (Newton equation)

d (mv)
F
ma
dt
Rotational motion: (Euler equation)

d ( I )
I I
dt

Translational mechanical systems

Most common variables in translational mechanical systems:
x displacement (m)
v velocity (m/s)
a acceleration
f force (N)
A th variable
Another
i bl off interest:
i t
t
w energy (J)
p power (w)
Power applied to a mobile robot at constant velocity v ,
(1)
Corresponds to the velocity with which energy is applied or dissipated.
(2)

Translational mechanical systems

Mass
Second Newtons law establishes that for a constant mass, the total
force acting on a body is equal to the variation in movement, i.e.
(3)
Meanwhile, the energy can be stored in kinetic energy in case the
mass is in motion, and in potential energy in case of vertical
displacement relative to the reference position.
Kinetic energy,

(4)

Potential energy for a uniform gravitate field,

(5)
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Translational mechanical systems

Damper (friction)
Forces that are algebraic functions of relative velocities between
bodies are modeled by friction phenomena,
phenomena the most common being
viscous friction
(6)
C [Ns/m] and v: relative velocity.
The sense of the resultant force is oposed to the relative motion

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Translational mechanical systems

Spring (flexibility, elasticity)
Mechanical element that deforms itself when expose
p
to force,, and
that represents an algebraic relation between the applied force and
the produced elongation.
In a spring the above mentioned relation corresponds to the
characteristic curve. For a linear spring
(7)

K spring constant (N/m).

The potential energy stored at the spring is,
is

(8)

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Newton's mechanics
Based on force balances along the x, y, and z coordinates, i.e.

0,
0

00,

00,

Forces for most typical mechanical components

dv
d 2x
Fm ma m m 2
dt
dt

mass
x
spring

Fc c( x2 x1 )

x1

x2
Fd d (v2 v1 ) d

damper
x1

x2

d
( x2 x1 )
dt

Translational mechanical systems

Example
Obtain a model for the mechanical system
y
assuming
g linear behavior of
all the elements.

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Translational mechanical systems

Solution
Considering the forces in the free body diagram and form Newton
Newtonss
law

The resulting sum of forces must be zero:

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Rotational mechanical systems

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Rotational mechanical systems

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Rotational mechanical systems

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Rotational mechanical systems

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Rotational mechanical systems

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Rotational mechanical systems

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Inverted pendulum

22

Inverted pendulum

23

Inverted pendulum

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Inverted pendulum

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Inverted pendulum

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Inverted pendulum

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Inverted Pendulum on Car

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