Joint Initiative of IITs and IISc - Funded by MHRD

IIT Kanpur

Professor, Department of Mechanical Engineering

Dr. Bishakh Bhattacharya

Introduction to Dynamic System Modelling

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

PresentstwoDynamicSystemsforMathematical
Modeling namely:
Modelingnamely:
ACruiseControlSystem
ADiskReadingSystem

ModellingofaDynamicalSystem
g
y
y

IntroducesafewControlledDynamicalSystems
d
f
ll d
l

TheLectureContains

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

JointInitiativeofIITsandIISc Fundedby
MHRD

Module 1- Lecture 1

Electro-mechanical systems are ubiquitous today. Starting from an Intelligent

W hi M
Washing
Machine
hi that
th t determines
d t
i
washing
hi span off garments
t on its
it own to
t
Rockets and Un-manned Vehicles that determines its course of flight
autonomously our world is full of such autonomous dynamic systems today.
Due to the mind boggling variety of such examples that we come across a
systems approach is highly needed to understand the nature of such systems
and predict dynamic response.
In order to design and develop an autonomous system, you need to have
knowledge
g of two fundamental subjects
j
dynamical
y
systems
y
and feedback
control. While, the first helps you in terms of understanding the response of
the system under various mechanical and electrical inputs; the knowledge of
feedback control helps you to develop autonomous systems that can follow a
set of desired commands or g
generate a desired response
p
or output.
p
In this lecture, I will give you the glimpses of an array of applications in which
we have applied this concept. This will help you to understand where you can
possibly apply the knowledge that you will acquire in this field

Course Introduction

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

DeformedAntennaafter
triggeringtheMuscleWires

JointInitiativeofIITsandIISc FundedbyMHRD

Module 1- Lecture 1

Shape of an antenna could be controlled by controlling the tension in the muscle

wires. Muscle wires made of Shape Memory Alloy (SMA) gets shortened if heated
y In this p
process, an wire of diameter 350 micrometer could ggenerate
byy electricity.
force up to 10N. Using this technology, one can control the transmission pattern
from an antenna

AntennawithMuscleWire

EXAMPLE 1: Next Generation: Controllable Antenna

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

JointInitiativeofIITsandIISc Fundedby
MHRD

Note:AswepasscurrentintotheSMAwire,duetophase
Note:
As we pass current into the SMA wire due to phase
transformationitgetsshortenedwhichwillproduceacoupleon
thestiffenerbeamandbendit.Bycontrollingthecurrentinthe
SMAwire youcancontrolthisbending.

A Beam Deformation by SMA Wire

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Analog to Digital Conversion

AnalogtoDigitalConversion

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

Note:Inthissystemtherearetwosensors:(a)StrainGauge
Sensor(usedforsensingthestrainwhichcanbeconvertedto
deflectionand(b)LaserDisplacementSensor(OptoNCDT);the
,
musclewiresareFlexinolSMA,whichcanbeclassifiedas
actuators.

SchematicoftheControllableAntennaSystem

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

Satellitehasahighlysensitivepayload,whichmustbe
savedfromtremendousvibrationthatgetsgeneratedina
satellitelaunchingvehicle.Vibrationisolatorsareusedfor
t llit l
hi
hi l Vib ti i l t
df
thispurpose.

Considerthetoppartdesignedforvibrationisolation

EXAMPLE2:SatelliteUltraquietIsolationTechnologyExperiment(SUITE)

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

JointInitiativeofIITsandIISc FundedbyMHRD

Here,theisolationisachieved
,
bycontrollingtheleglengths
ofsixlinkswiththehelpof
piezoelectricactuators

Onesuchisolatorisknownas
h l
k
ActiveStewartPlatform

Detailed Description
p
of the Vibration Isolator

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

An autonomous drug infusion control system could solve a very challenging problem of
hospitals of our country where the number of nurses are too few in comparison to the
number of patients. This system is envisaged to control the flow of various drugs and
nutrients to patients body autonomously and send an warning to the nurse when the supply
gets over..

EXAMPLE3:ADrugInfusionControlSystem

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

Thisisanovelconceptinwhichessentiallyflowfromatubeiscontrolledwiththehelp
ofanmicroactuator(shownasagreencompliantsystem).Thesystemiscontrolled
f
i
(h
li
) h
i
ll d
usingwirelesscommunication.

Thechallengeofthisproject
istodesignasmart
intravenousdruginfusion
systemfreefromroller
clamp with high visibility
clampwithhighvisibility
medicinelevelindicatorsand
soundindicatorswhichcan
beeasilyoperatedwith
remotecontroll

ConceptDetailingofaSmartDrugInfusionSystem

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

JointInitiativeofIITsandIISc Fundedby
MHRD

11

Module 1- Lecture 1

AC
Closer
ose look
oo of
o the
t e Co
Compliant
p a t Mechanism
ec a s

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

JointInitiativeofIITsandIISc FundedbyMHRD

12

Module 1- Lecture 1

Inalltheseexamples,thestructures DynamicalSystemslikeAntenna,Isolatorand
DrugInfusionSystemarecontrolledbytheActuatorsbaseduponcommandsfrom
th C t l S t
theControlSystemwhichhastakendecisionsbasedonanarrayofSensors.
hi h h t k d i i
b d
fS

Did
d you notice
ot ce a Co
Common
o Pattern?
atte

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

A single system may have many models

Models can be run much more quickly & thus saves developmental time

Certain types of analysis (e.g., parametric variations) cant easily be done on

the
h actuall system b
but can b
be simulated
i l d through
h
h system models
d l

Models can be used in describing the ways in which a system can perform.

Models are simplified form of the system and hence are never exact!

Models allow the dynamics to be simulated and analyzed, without

physically building the system.

Models are mathematical representations of system dynamics

ModellingaDynamicalSystem

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

States: Chosen such that their values at a reference time and the
corresponding inputs are known. May or may not include Outputs.

Choice of outputs depends on what we intend to sense and what

parts of the component model interact with other component
models

Outputs: Physical variables (often states) that one can measure

Inputs in one model might be outputs of another model (e.g.,

output of an antenna controller provides input to the antenna model)

Inputs:
These are the parameters that are external to the model that you
are building

Choice of inputs and outputs depends on point of view

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Explicit assumptions are stated in the beginning of establishing a mathematical

relationship.

In this course we will explicitly assume that the dynamic systems to be

modelled are Linear and Time Invariant (LTIV) in nature. In simple terms, this
would imply that the dynamic systems will be modelled as a set of ordinary
differential equations (neglecting the non-linear effects) and also the
coefficients in such governing equations are constant.

15

Implicit assumptions are generally universally known and hence rarely stated
for example, use of continuum model , earth as inertial reference frame etc.

JointInitiativeofIITsandIISc FundedbyMHRD

There are two types of assumptions implicit and explicit assumption

Module 1- Lecture 1

Assumptions
p
in a Model

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

Where y(n)= dny/dt

/dtn, u(m)=d(m)u/dt
/dtm

any(n)+ ..+a2y(2)+a1y(1)+aoy=bmu(m)+ .+b1u(1)+bou(t)

Input-output relation is often governed by a generalized ODE

of the form

Outputs
p
are variables that are to be calculated or measured

Inputs describe the external excitation of the dynamics . Inputs are

extrinsic
t i i to
t the
th system
t
d
dynamics
i (externally
( t
ll specified)
ifi d) . C
Constant
t t
inputs are often considered to be parameters

by selecting a set of state variables

by defining the input-output characteristics or

A syste
system is
s modeled
ode ed e
either
t e

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Joint Initiative of IITs and IISc - Funded by MHRD

Can you find out the input-output relationship from the EOM?

The car above is travelling at a speed u. Neglecting excitations

due to road undulations etc. can y
you find out the g
governing
g
Equation of Motion (EOM)?

ConsideraCruiseControlModel:

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Joint Initiative of IITs and IISc - Funded by MHRD

Can you find out the Governing Equation of Motion?

Can you find out the relationship between the Torque and
Angular Displacement?

Non-collocated sensing

ConsidertheDiskReadingSystem

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 1

Module 1- Lecture 1

JointInitiativeofIITsandIISc FundedbyMHRD

HandbookofSensorsandActuators
f

Elsevier,serieseditor:P.P.Regtien

Mechatronics:ElectronicControlSystemsinMechanicalandElectrical
Mechatronics:
Electronic Control Systems in Mechanical and Electrical
Engineering W.Bolton,PrenticeHall

ModernControlEngineering K.Ogata,PrenticeHall

ControlSystemsEngineering NormanSNise,JohnWiley&Sons

AdvancedControlSystems DorfandBishop,PearsonEducationAsia

FeedbackControlofDynamicSystems Franklin,PowellandNaeini,
PearsonEducationAsia

GeneralReferenceBooks

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System