UWE Bristol

Control Systems Engineering

UFMEUY-20-3
Aerospace Systems, Avionics and Control
UFMFB7-30-2
Control
UFMFV7-15-2

Lecture 2: Modelling Systems
Todays Lecture
System modelling determining
differential equations
Using the Laplace operator
Determining the transfer function
Standard forms
System Modelling
Determine differential equation that
represents the system
Mechanical or Electrical
Standard equations for both
Analogies (covered next week)
Mechanical Systems
Force (F)-displacement (x) relationships
Spring: coefficient k

Damper: coefficient c

Mass (inertia): NSL: ma


Also apply to rotational systems
Force Torque; x ; mass J (MoI)
kx F
S
=
dt
dx
c x c F
D
= =

2
2
dt
x d
m x m F
I
= =

Mechanical Example
Mass/spring/damper system
Relate F and x
m
k
c
F

x

kx
dt
dx
c
dt
x d
m F
F F F
dt
x d
m F
S D
+ + =
= =

2
2
2
2
kx F
dt
dx
c x c F
dt
x d
m x m F
S
D
I
=
= =
= =
: Spring
: Damping
: Inertia
2
2

Electronic Systems
Voltage (V) - Charge (Q) - Current (i)
relationships
Capacitor

Resistor

Inductor
dt i
C C
Q
V
C
}
= =
1
iR
dt
dQ
R V
R
= =
dt
di
L
dt
Q d
L V
L
= =
2
2
Electronic Example
LCR Circuit
Relate V
in
and i
V
in
L
C
R
i
dt i
C
V
C
}
=
1
iR V
R
=
dt
di
L V
L
=
dt i
C
iR
dt
di
L V
V V V V
in
C R L in
}
+ + =
+ + =
1
s-domain
Differential equations can be awkward to
deal with
Using Laplace operator, s, can help in
manipulation using Laplace transforms,
LDE are converted to simple algebraic
equations
Transient and Steady state components of
the solution can be obtained
Laplace Transforms
Definition of Laplace Transform of a
function f(t):


Complex variable, s, is Laplace operator
More details in your Maths notes
| | dt e t f s F t f L
st
}

= =
0
) ( ) ( ) (
Laplace transforms
Derivatives

) (
) (
) (
) (
) (
) (
3
3
3
2
2
2
s X s
dt
t x d
L
s X s
dt
t x d
L
s sX
dt
t dx
L
=
(

=
(

=
(

Multiplication by s in the Laplace

domain corresponds to differentiation in
the time domain

Replace occurrence of d/dt with s:
) (
) (
s X s
dt
t x d
L
n
n
n
=
(

Laplace Transforms
Integrals
Integral in the time domain is converted to
division in the s domain.


Second term almost always zero, hence:
} }
+

+ =
(

0
0 0
) (
1 ) (
) ( dt t f
s s
s F
dt t f L
s
s F
dt t f L
) (
) (
0
=
(

Mechanical Example
Mass/spring/damper system



When initial conditions are zero
m
k
c
f(t)

x(t)

) ( ) (
) ( ) (
2
2
t f t kx
dt
t dx
c
dt
t x d
m = + +
) ( ) ( ) ( ) (
2
s F s kX s csX s X ms = + +
( ) 0 ) 0 ( ) 0 ( = = x x
Electronic Example
LCR Circuit
v(t)

L
C
R
i(t)
dt t i
C
t v
C
) (
1
) (
}
=
R t i t v
R
) ( ) ( =
dt
t di
L t v
L
) (
) ( =
dt t i
C
R t i
dt
t di
L t v ) (
1
) (
) (
) (
}
+ + =
) (
1
) ( ) ( ) ( s I
Cs
s RI s LsI s V + + =
Transfer Function
Represent the input-output relationship for a
component
Expressed in terms of s


Transfer Function:
) (
) (
) (
input
output
s G
s R
s C
= =
G(s)
R(s) C(s)
) ( ) ( ) ( s R s G s C = Note:
Transfer Function
Single order
Flow in
q
in
(t)
h(t)
Flow out
kh(t)
( )
s
k
A
k s Q
s H
As k s Q
s H
k As
s H
s Q
s H k As s Q
s kH s AsH s Q
in
in
in
in
in
+
=
+
=
+ =
+ =
+ =
1
1 1
) (
) (
1
) (
) (
) (
) (
) ( ) (
) ( ) ( ) (
) (
) (
) ( t kh
dt
t dh
A t q
in
+ =
Transfer Function
Mass/spring damper
) ( ) ( ) ( ) (
2
s F s kX s csX s X ms = + +
( )
|
.
|

\
|
+ +
=
+ +
=
+ + =
= + +
2
2
2
2
1
1
) (
) (
1
) (
) (
) (
) (
) ( ) (
s
k
m
s
k
c
k
s F
s X
k cs ms s F
s X
k cs ms
s X
s F
s F s X k cs ms
Transfer Function
LCR Circuit
) (
1
) ( ) ( ) ( s I
Cs
s RI s LsI s V + + =
Cs
R Ls
s V
s I
Cs
R Ls
s I
s V
s I
Cs
R Ls s V
1
1
) (
) (
1
) (
) (
) (
1
) (
+ +
=
+ + =
|
.
|

\
|
+ + =
2
1 ) (
) (
1
1
) (
) (
by Multiply
LCs RCs
Cs
s V
s I
Cs
Cs
Cs
R Ls
s V
s I
Cs
Cs
+ +
=
|
.
|

\
|

+ +
=
Standard Forms
First order



e.g. Tank:
s s R
s C
t

+
=
1
1
) (
) (
Gain
Time constant
s
k
A
k s Q
s H
in
+
=
1
1 1
) (
) (
Gain = 1/k
Time constant = A/k
Standard Forms
Second order
2
2
2
1
1
) (
) (
n n
s
s
s R
s C
e e
,

+ +
=
gain
[] ratio damping
[rad/s] frequency natural undamped
=
=
=

n
Standard Forms
Second order
e.g. Mass/Spring/Damper
|
|
|
|
.
|

\
|
+ +
=
2
1
1 1
) (
) (
s
k
m
s
k
c
k s F
s X
k
m
k
k
c

m
k
n
1
2
=
=
=

e
Todays lecture
Standard equations for Mechanical and
Electrical systems these will be supplied
Use the Laplace operator, s, to simplify dealing
with LDEs
Transfer functions represent input-output
relationship (output/input)
Standard forms help predict performance
Tutorial Sheet 2: On Blackboard. Determining
transfer functions for systems.