CONTROL SYSTEM

EC 503
Faculty: Mr. Prasenjit Kumar Mudi
Assistant Professor,
ECE Department, BPPIMT
 Module 1 – Part II
Mathematical Modeling of Physical Systems

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 Differential Dynamics
Three idealized elements:
1. Mass

2. Spring

3. Damper

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 Translational Mass

𝑑 2 𝑥(𝑡)
𝐹 𝑡 =𝑀
𝑑𝑡

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 Translational Spring

𝐹 𝑡 = 𝑘 𝑥1 − 𝑥2
𝑡
=𝑘 −∞
𝑣1 − 𝑣2 𝑑𝑡

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 Translational Damper

𝐹 𝑡 = 𝑏𝑣2
b is the damping co-efficient

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 Moment of Inertia


J T

𝑇 = 𝐽𝜃

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 Rotational Spring

1
2

𝑇 = 𝑘(𝜃1 − 𝜃2 )

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 Rotational Damper

C
1
2 T

𝑇 = 𝐶 (𝜃1 − 𝜃2 )

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 Example-1: Mass Spring Dashpot

𝐹 = 𝑀𝑥 + 𝑓𝑥 + 𝑘𝑥
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 Example-2: Accelerometer

𝑘
𝑀𝑦 + 𝑓𝑦 + 𝑘𝑦 = 𝑀𝑥 = 𝑀𝑎 𝑎= 𝑦
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𝑀 11
 Example-3: Rotational Disc

𝑇 = 𝐽𝜃 + 𝑓𝜃 + 𝑘𝜃
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 Example-4 : Gear Train

Γ𝑀 = Γ1 + 𝑓1 𝜃1 + 𝐽1 𝜃1 for shaft 1; Γ1 is load torque on gear 1 due to rest

Γ2 = Γ𝐿 + 𝑓2 𝜃2 + 𝐽2 𝜃2 for shaft 2; Γ2 is torque transmitted to gear

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 Gear Train cont.…
Constraints:

1. Linear distance travelled along surface of

each gear is same.
2. No. of teeth on gear surface is proportional
to gear radius.
3. Ideally, the work done by gear 1 is equal to
that of gear 2.

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 Gear Train cont.…
𝜃1 𝑟1 = 𝜃2 𝑟2 … 1

𝑁1 𝑟1 𝜃2
= = … (2)
𝑁2 𝑟2 𝜃1

Γ1 𝜃1 = Γ2 𝜃2 … 3

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 Gear Train cont.…

𝑁1 2 𝑁1 2 𝑁1
Γ𝑀 = [𝐽1 +( ) 𝐽2 ] 𝜃1 + [𝑓1 +( ) 𝑓2 ]𝜃1 + Γ𝐿
𝑁2 𝑁2 𝑁2
… (4)

𝑁1 𝑁2 2 𝑁2 2
( )Γ𝑀 = [𝐽2 +( ) 𝐽1 ] 𝜃2 + [𝑓2 +( ) 𝑓1 ]𝜃2 + Γ𝐿
𝑁2 𝑁1 𝑁1
… (5)

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 Problem-1
Q. Obtain the system dynamics of the system.

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 Problem-1
Solution.

𝐹 𝑡 = 𝐾1 𝑥1 + 𝑓𝑥1 + 𝐾12 𝑥1 − 𝑥2 + 𝑀1 𝑥1 … (6)

𝐾12 𝑥2 − 𝑥1 + 𝑀2 𝑥2 = 0 … (7)

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 Problem-2
Q. Obtain the system dynamics of the system.

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 Problem-2
Solution.

𝐹 𝑡 = 𝐾1 𝑥1 + 𝑓𝑥1 + 𝑓12 𝑥1 − 𝑥2 + 𝑀1 𝑥1 … (8)

𝑓12 𝑥2 − 𝑥1 + 𝑀2 𝑥2 + 𝐾2 𝑥2 + 𝑓2 𝑥2 = 0 … (9)

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 • Thank You !!!

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