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Modeling
Mathematical models
-
Mechanical systems
El
Electric
i systems
Block diagram
Euler-Lagrange formalism
Mathematical model
-
Helps
p to understand the system
y
in order to design
g the
control
Input
Variables
Model
Output
Variables
Internal Variables
Parameters (constants, variants & design)
M d l classification
Model
l
ifi ti
Mechanical systems
d (mv)
F
ma
dt
Rotational motion: (Euler equation)
d ( I )
I I
dt
(4)
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
11
(8)
12
Newton's mechanics
Based on force balances along the x, y, and z coordinates, i.e.
0,
0
00,
00,
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
14
15
16
17
18
19
20
21
Inverted pendulum
22
Inverted pendulum
23
Inverted pendulum
24
Inverted pendulum
25
Inverted pendulum
26
Inverted pendulum
27
28