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Modeling of Systems (2) : Majid Medhat Saeed Phd. Student Mechanical Engineering Department

The document discusses mathematical modeling and different modeling techniques. It defines what a mathematical model is and what it is used for. It also covers different types of mathematical models including differential equation models, transfer function models, and state space models. The document provides examples of modeling translational mechanical systems.

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ماجد مدحت سعيد
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20 views

Modeling of Systems (2) : Majid Medhat Saeed Phd. Student Mechanical Engineering Department

The document discusses mathematical modeling and different modeling techniques. It defines what a mathematical model is and what it is used for. It also covers different types of mathematical models including differential equation models, transfer function models, and state space models. The document provides examples of modeling translational mechanical systems.

Uploaded by

ماجد مدحت سعيد
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Modeling of Systems (2)

Majid Medhat Saeed


PhD. Student
Mechanical Engineering Department
Mathematical Modeling Difinision
What is Mathematical Model?
A set of mathematical equations (e.g., differential equations.) that describes
the input-output behavior of a system.

What is a model used for?


• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
General Notes of Mathematical Modeling
Mathematical modeling of any control system is the first and foremost task that a
control engineer must accomplish for design and analysis of any control engineering
problem.

A mathematical model of adynamic system is defined as a set of differential equations


that represents the dynamics of the system accurately, or at least well.

A Mathematical model is not unique to a given system . A system may be represented


in many ways and , therefore, may have many mathematical models ,depend in go
none’s perspective

A mathematical model of a system is obtained ,various analytical and


computational techniques may be used for analysis and Synthes is purposes. Because
the systems under consideration are dynamic in nature, the equations are usually
differential equations. If these equations can be linearized, then the Laplace
transform may be utilized to simplify the method of solution.
Different Mathematical Models

1. Commonly used mathematical models are


• Differential equation model (Time Domain).
• Transfer function model (S-Domain).
• State space model (Time Domain).

2. Use of the models depends on the application. For example, to find the transient or
steady state response of SISO (Single Input Single Output) LTI (Linear Time Invariant)
system transfer function model is useful. On the other hand, for optimal control
application state space model is useful.
System Representation

1. System Representation (Mathematically)


(Differential Equations of a system)
(Transfer function of A system)
(Modeling of some Analogous Systems)
(Mechanical-Electrical)
(State Space Equations)
2. System Representation (Graphically)
(Block Diagram & Block Diagram Reduction)
(Signal Flow Graph)
System Representation
1. System Representation (Mathematically)
Differential Equations Transfer Function State Space Equations
(DEs) (TF) (SS)

Models derived from TF=Laplace SS transforms n th order


basic physical laws Transform(system differential equation into n
that describe the output)/Laplace Transform set of first order differential
process. (system input) under equations.
- Ohm’s law, assumption all initial
Kirchhoff's law conditions equal zero.
- Newton’s law System Analysis requires It introduces state
transformation of DEs into variable/s that could be
TF. used to define any entity
within the system that
sometimes is not possible
to measure but affects the
system.
Laplace transform (review)
• One of most important math tools used in modeling of systems
• Definition: For a function f(t) (f(t)=0 for t<0),

(s: complex
variable)
f(t)

t
F(s)
0

• We denote Laplace transform of f(t) by F(s).


7
An advantage of Laplace transform
• We can transform an ordinary differential equation (ODE) into an algebraic equation (AE).
t-domain s-domain

ODE AE
1
2

Partial fraction
Solution to ODE
3
expansion

8
Laplace transform table

Inverse Laplace Transform 9


Example 1
ODE with initial conditions (ICs)

1. Laplace transform

10
Example 1 (cont’d)
2. Partial fraction expansion unknowns

Multiply both sides by s & let s go to zero:

Similarly,

11
Example 1 (cont’d)

3. Inverse Laplace transform

If we are interested in only the final value of y(t), apply Final


Value Theorem:

12
TRANSFER FUNCTION

• Transfer functions are commonly used to characterize the input output


relationships of components or systems that can be described by linear, time-
invariant ,differential equations

• The transfer function of a linear, time invariant, differential equation system


is defined as “the ratio of the Laplace transform of the output (response
function) to the Laplace transform of the input (driving function) under the
assumption that all initial conditions are zero”.
To derive the transfer function

1.Write the differential equation for the system.

2.Take the Laplace transform of the differential equation, assuming all


initial conditions are zero.

3.Take the ratio of the output Y(s) to the input R(s). This ratio is the
transfer function.
Block Diagram Models
• A block diagram of a system is a pictorial representation of the functions
performed by each component and of the flow of signals.

• Such diagram depicts the interrelationships that exist among the various
components. Differing from a purely abstract mathematical
representation, a block diagram has the advantage of indicating more
realistically the signal flows of the actual system.

• Transfer function can be represented as a block diagram


Procedures for drawing block diagram
1. Write the equations that describe the dynamic behavior for each
component.

2. Take Laplace transform of these equations, assuming g zero initial


conditions.

3. Represent each Laplace-transformed equation individually in block


form.

4. Assembly the elements into a complete block diagram.


Translational Mechanical System
Mechanical System
𝑓(𝑡) = 𝑘𝑥

= 𝑘 ( 𝑣(𝑡)𝑑𝑡

f 𝑡 = 𝐷𝑣(𝑡)

𝑑𝑥
𝑓(𝑡) = 𝐷
𝑑𝑡
̈
f(t)= 𝑀𝑥(𝑡)

!"($)
f(t)= 𝑀
!$
The general procedure for mechanical systems is as follows

i. Adopt a suitable co-ordinate system with an appropriate sign convention. For


linear motion, up is positive and left to right is positive.
ii. Identify any disturbing forces acting on the system (inputs to the system).
iii. Identify displacements and/or velocities (outputs from the system).
iv. Draw a free body diagram for each mass showing all the forces and moments
acting on it.
v. Apply Newton's 2nd Law to each free body diagram (F = Mass x Acceleration).
vi. Rearrange the equation(s) into a suitable form for solution by a convenient
method.
vii. Note that unless otherwise specified, ignore gravitational effects.
Thanks for Attentions

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