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Introduction.-
¿What is a Model?
Description
Models Use
Optimization
Deterministic
Mathematical Degree of Randomness
Probabilistic
Specific
Degree of Specificity
General
Classes of Models
¿Why to use Mathematical Models?
Transfer Function
For any control system exists a reference input termed as excitation
or cause which operates through a transfer operation termed as
transfer function and produces an effect resulting in controlled
output or response. Thus the cause and effect relationship between
the output and input is related to each other through a transfer
function.
Transfer Function
The transfer function of a control system is defined as the ratio of the
Laplace transform of the output variable to Laplace transform of the
input variable assuming all initial conditions to be zero.
Putting the numerator of equation (ii) equal to zero, we get the value
of zero of the transfer function. For this, T.F is equal to zero.
Transfer Function
There are two types of transfer
functions :
And also we have three parameters which are active and passive
elements:
Resistance which is represented by ‘R’.
Capacitance which is represented by ‘C’.
Inductance which is represented by ‘L’.
Now comparing the above with that we have derived for the
mechanical system we find that:
Mesh analysis (or the mesh current method) is a method that is used
to solve planar circuits for the currents (and indirectly the voltages) at
any place in the circuit.
Mathematical Modeling of Electrical System
Second order low pass RC filter
i2
i1(t)
Vi(t) Vo(t)
V1 ( s) = I1 ( s) R1 + ( I1 ( s) − I 2 ( s)) ZC1
V1 ( s) = I1 ( s) ( R1 + ZC1 ) − I 2 ( s) ZC1
Mathematical Modeling of Electrical System
Second order low pass RC filter
Now, taking i2 as the second mesh current:
0 = I 2 ( s) R2 + I 2 ( s) ZC 2 + ( I 2 ( s) − I1 ( s)) ZC1
i2
0 = I 2 ( s) ( R2 + ZC1 + ZC 2 ) − I 2 ( s) ZC1 i1(t)
V1(t) Vo(t)
! V s $ ! R +Z −ZC1 $! I ( s) $
# 1( ) & = # 1 C1 &# 1 &
#" 0 &% #" −ZC1 R2 + ZC1 + ZC 2 &%# I 2 ( s) &
" %
I2(s) can be obtained applying the Cramer’s rule, that is:
ΔI 2
I 2 ( s) =
Δ
Mathematical Modeling of Electrical System
Second order low pass RC filter
i2
i1(t)
Vi(t) Vo(t)
where: and:
R1 + ZC1 −ZC1 R1 + ZC1 V1 ( s)
Δ= Δ I2 =
−ZC1 R2 + ZC1 + ZC 2 −ZC1 0
i2
i1(t)
Vi(t) Vo(t)
The difference between the input angular position r and the output
angular position c is the error signal e:
e= r−c
In voltage:
ev = er − ec
because:
then: er = K 0 r;ec = K 0 c
Finally:
ev = K 0 ( r − c)
Mathematical Modeling of Electromechanical System
The input to the “motor” is:
K1ev
A fixed voltage is applied to the field winding, then there is a constant
field current, in this case the torque developed by the motor is:
T = K 2ia
where K2 is the motor torque constant and ia is the armature current.
The transfer function between the motor shaft displacement and the
error voltage is: Θ s()= K1K 2
E v ( s) s ( La s + Ra ) ( J 0 s + b0 ) + K 2 K 3s
it is assumed that the gear ratio of the gear train is:
C ( s) = nΘ ( s)
where C(s) is the Laplace Transform of c(t) (angular displacement of
the output shaft).
Ev ( s) = K 0 "# R ( s) − C ( s)$% = K 0 E ( s)
Mathematical Modeling of Electromechanical System
C ( s ) Θ ( s ) Ev ( s ) K 0 K1K 2 n
G ( s) = =
Θ ( s) Ev ( s) E ( s) s "#( La s + Ra ) ( J 0 s + b0 ) + K 2 K 3 $%
R ( s) E ( s) Ev ( s ) Θ ( s) C ( s)
K1K 2
K0
s !"( La s + Ra ) ( J 0 s + b0 ) + K 2 K 3 #$ n
Mathematical Modeling of Electromechanical System
R ( s) E ( s) Ev ( s ) Θ ( s) C ( s)
K1K 2
K0
s !"( La s + Ra ) ( J 0 s + b0 ) + K 2 K 3 #$ n