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Olson
Department of Mechanical, Industrial and Manufacturing Engineering
University of Toledo
Lumped Parameter
Systems
Models
SENSE
REAL WORLD
OBSERVATIONS
FORMULATE
TEST
EXPLANATION/
PREDICTION
INTERPRET
MATHEMATICAL
MODEL
Sketch
Can you
formulat
ea
model?
YES
Mathematical
Model
NO
NO
YES
NO
YES
Use the
Model
Do the
results
represen
t
reality?
Can you
solve the
model?
Validate
the Results
Solve
the Model
Modeling Terms
System: a functional group of interrelated things
State: A condition (which may or may not be
x {x1 (t ), x2 (t ),...}T
The number of components of the state vector is called the order
dx
Ax Bu
dt
y Cx Du
x {x1 (t ), x2 (t ),...}T
The number of components of the state vector is called the order
parameter
Analysis is at the
Lumped parameter
Analysis is at the
component level
Component properties are
self contained and
complete
ODE/Diff E based on
linking component
parameters
Equations solved
analytically or numerically
Mechanical Systems
What are the noises from wheel
speed?
2. Clutch to transmission
& k N 0
J c&
d
d
d
tf a
3. Transmission to wheel
& k N k ( ) 0
J t&
a
d
tf a
d
a
a
w
4. Wheel to ground
& b & k ( ) k 0
J w&
w
t w
a
w
a
t w
Mechanical Systems
What are the noises from wheel
& b & & J &
& T b & &
T J &
speed?
b & T b & k N
&
&
&
&
J k N 0 J k N k
& k N k ( ) 0 J &
& k k N k k
J &
c d
c d
c d
c d
t a
tf
tf
c d
tf
t a
c e
a w
tf
&
State variables are d , a ,&
a , w , w
kd N tf
kd
b
c
d
0
a
d &
k
a d
Jt
dt
w
0
&
bc
0
kd N tf ka
Jt
0
ka
Jw
d
a
y 0 0 0 0 1 &
a
w
&
ka
Jt
0
k kt
0 a
Jw
1
d
b
c
a
0
&
a
0
w
0
&
w
0
1
b
t
J w
0
T &
e
0
tf
a kd d
dia
Ra ia Vb Va
dt
d
Back Voltage: Vb K b
dt
Motor Torque: T Kia
Voltage Loop:
La
2
Rotations NSL: J d b d T
dt
dt
Ra ia K b d Va
dia
dt
La
La dt La
2
d Kia b d
dt
J
J dt
State vector ia , ia ,
dt
Input is Va Output is
d
dt
Ra
L
a
ia
y 0 1
K
J
ia
Kb
1
La ia
La Va
b
0
J
Voltage Loop:
Back Voltage:
Motor Torque:
a a
T Kia
2
Rotations NSL: J d b d T
dt
dt
Ra ia Kb d Va
dia
dt L L dt L
a
a
a
2
d Kia b d
dt
J
J dt
State vector ia , ia ,
dt
Input is Va Output is
d ia
dt
y 0 1
Ra
La
K
J
ia
K b
1
La ia
La Va
b
0
J
In a controls problem,
sometimes called
Mechatronics, this is often
necessary
dia
Ra ia Vb Va
dt
d
Back Voltage: Vb K b
dt
Motor Torque: T Kia
Voltage Loop:
La
2
Rotations NSL: J d b d T
dt
dt
Ra ia K b d Va
dia
dt L L dt L
a
a
a
2
d Kia b d
dt
J
J dt
State vector ia ,
, ia , ,
dt
Input is Va Output is
Ra
L
a
ia
d
K
dt
J
ia
y 0 0 1
Kb
La
J
1
ia
1
0 Va
Ra ia Vb Va
Back Voltage:
Vb K b
d
dt
d 2
d
Rotations
NSL:
J
b
T
dt
dt
K b d Va
a
Ra dt Ra
b KK b d KVa
d 2
dt
J
JR
dt
JRa
Ki
d
b
d
a
dt
J
J dt
d
State vector
, ,
dt
Input is Va Output is
bRa KK b
JRa
y 0 1
d
dt
0
0
JRa Va
Balance Systems
A large number of control problems are
called balance systems where an object
must be maintained in technically an
unstable position
Balance Dynamics
M ( q, q&&
, q&) C q, q& B ( q, q&&
, q&
, u)
d2
&
& m 2 ( p l sin ) bp& F
NSL in p direction: Mp
dt
&
&
& m &
Mp
p& l ( sin &2 cos &
) bp& F
& bp& F
p& ml sin &2 ml cos &
M m &
& mlp
&
&cos mgl sin & 0
NSL about pivot: J ml 2 &
ml cos &
p&
0 ml sin
F
0 b 0 p& 0
&
J ml 2 &
0
0
sin
Where b is the viscous friction at the wheels and is the viscous friction in the pin
M m
ml cos
Clearly Nonlinear
M m
ml
ml cos &
p&
0 ml sin
0
&
J ml 2 &
0
ml &
p&
0 0
& mgl
J ml 2 &
& F
p& ml&
M m &
F
0
0
&2
sin
mgl
0
F
0
2 &
&
&
&
J
ml
mlp
mgl
& mgl
&
& J ml 2 &
F ml&
F ml&
&
p&
m
ml
M m
& mgl
J ml 2 &
ml
&
&
( g ( M m ) F )
&
p&
2
J
(
M
m
)
Mml
ml
F M m &
p&
ml
F M m &
p&
( &
p& g )
&
&
ml
J
ml
ml
1
ml
2 2
2
&
&
&
p
gm
l
(
J
ml
)F )
&
&
&
(
)
2
J ( M m ) Mml
J ml 2
1
m 2 l 2 g F J ml 2
2
J ( M m ) Mml
ml
&
&
g ( M m) F
J ( M m ) Mml 2
&
p&
0 1
p
m2l 2 g
0
0
J ( M m ) Mml 2
d p&
dt
0
0 0
&
mlg ( M m )
0
0
J ( M m ) Mml 2
p
p&
y 0 0 1 0
&
1
0
p
p&
J ml
2
J ( M m ) Mml 2
F
0
&
ml
J ( M m ) Mml 2
Summary
Lumped Parameter vs. Distributed Parameter Systems
Distributed parameter systems:
Material element level
Partial differential equations describe the transfer of force