This Weeks Objectives

Establish Dynamic Models of System to be

Controlled
Second Order Systems

Obtain Solutions using LaPlace Transforms

Create Simulink Model and Generate
Simulated Results

Modeling of a Spring-MassDamper System

(Modeling of a Second Order System)

 lets start with a one car system

suppose we know:
m1
k1, L01
c

mass of the car

spring constant and free length
damping coefficient
f(t)
c
m1
k1,L01

x1

 one car system

suppose at start (initial condition):

x1 = L01
x 1 = 0

spring is applying zero force

car is at rest
there is no applied force

f(0) = 0
f(t)

c
m1
k1,L01

x1

 one car system

now we want (final condition):

x1 = L01 + 3 cm
we want to move there as fast as possible
we dont want to overshoot much
we want the system to settle down quick
f(t)
Were going to need to
properly define these
terms.

c
m1
k1,L01

x1

 one car system

we have a desired final position
we can measure the position of the car
we can set the value of f, the applied force, to
any value we want and constantly adjust it
Well pick a value for f that is
related to the difference between
the current measured position and
the desired final position.

f(t)
c
m1
k1,L01

x1

In Controls Terminology:
BLOCK DIAGRAM
f(t)

c
m1
k1,L01

x1

f(t)
c

problem statement
given:
m1
k1, L01
c
x1(0)
1(0)
x
xd

m1
k1,L01

mass of the car

x1

spring constant and free length

damping coefficient
initial position at t=0
initial velocity at t=0
desired position

generate values for the input force such that

the car reaches the desired position within 3 sec
the car will not overshoot by more than 0.25 cm
the car will settle within 0.1 cm within 5 sec

f(t)
c

how to start?
m
lets first write the equation
k ,L
of motion
x
assume the current position x1>L01 and
1 is positive
that x
1

01

f(t)
cx 1
k1 (x1- L01)

m1

f(t) cx 1 k 1(x1 L 01 ) m1 x 1

f(t)
c
m1
k1,L01

x1

m1 x 1 cx 1 k 1(x1 L 01 ) f(t)
how do you solve for x1(t) if you know f(t)
as well as x1(0) and x 1(0)?

f(t)

we must solve a second

order differential equation

c
m1
k1,L01

x1

m1 x 1 cx 1 k 1(x1 L 01 ) f(t)
we will write the equation in the Laplace
domain
Laplace transformations substitute easily
solved algebraic equations for differential
equations

Review of Laplace transforms

if f(t) is some function of time, then the
Laplace transformation of f(t) can be
written as

F(s) L f(t) f(t) e

0

st

dt

change from the time domain to the 's'

domain

 Example:
Let f(t) = 1 for t > 0. Find F(s).

F(s) e
0

st

dt

1 st
e
s

t 0

1 s 1 s0
e e
s
s

 Example:
Let f(t) = eat for t > 0 where a is a
constant. Find F(s).

F(s) e e
0

at

st

dt e
0

- t(s-a)

dt

1 t(s-a)

e
s-a
t 0

1
1 0
1

e
e
s-a
s-a
sa

 The LaPlace transform is a linear

operation.
For any functions f(t) and g(t) and for any
constants, a and b,
L{a f(t) + b g(t)} = a L {f(t)} + b L {g(t)}

 Example:
Let f(t) = cosh(at) = (eat + e-at)/2
for t > 0. Find F(s).

1
1
at
-at
F(s) L (cosh at) L (e ) L (e )
2
2
1 1 1 1

2 sa 2 sa
s
2
2
s a

 LaPlace transform of the derivative of f(t).

L(f '(t)) = sL (f) - f(0)
L (f "(t)) = s2L (f) - sf(0) - f'(0)
L (f (n)) = snL (f) - sn-1f(0) - sn-2f '(0) - ...
- f(n-1)(0)

 LaPlace transform of the integral of f(t).

f(

)
d

1
f(t)
s

 Laplace transforms have been calculated

for a large variety of functions. Sampling
of these are listed in Table 2.3 of the text
Modern Control Systems, 9th ed., R.C. Dorf
and R.H. Bishop, Prentice Hall, 2001.

 Inverse transformations are often of the form

G(s)
F(s)
H(s)
where G(s) and H(s) are polynomials in s
This ratio must be re-written in terms of its partial
fraction expansion.
Review the techniques for partial fraction
expansion when the polynomial H(s) has
repeated roots or complex roots.

 Example:
Let

1
F(s)
(s a)(s b)

ab . Find f(t)

first perform partial fraction reduction

1
A1
A2
F(s)

(s a)(s b) (s a) (s b)
Multiplying the left and right side of the above
equation by (s-a)(s-b) gives

1= A1 (s-b) + A2 (s-a)
Can pick two values for s and then solve
for A1 and A2 from the two equations in two
unknowns.
When s=a, 1= A1(a-b).
When s=b, 1=A2(b-a). Thus

1
-1
A1
, A2
(a b)
(a b)

 substituting A1 and A2 into F(s) gives

1
1
F(s)

(s a)(s b) a b

1
-1

(s a) (s b)

Using the linearity of the Laplace

transform,

1 1
1
-1
1
L

f(t)
L
a b
(s a)
(s b)

 from previous example

1 1
1
-1
1
L

f(t)
L
a b
(s a)
(s b)
1 at
bt

e e
a b

END OF REVIEW

Back to our problem.

car 1

car 2

car 3

f(t)
c
m1
k1,L01

equation of motion

x1

m1 x 1 cx 1 k 1(x1 L 01 ) f(t)
take Laplace transform of left and right side
of equation

m1 L x 1 c L x 1 k 1 L x1 k 1 L 01 L (1) F(s)

f(t)
c
m1
k1,L01

x1

m1 L x 1 c L x 1 k 1 L x1
k 1 L 01 L (1) F(s)
L x 1 sX1(s) x1(0)

L x1 s X1(s) s x1(0) x 1(0)

m1 L x 1 c L x 1 k 1 L x1
k 1 L 01 L (1) F(s)
m1 s2 X1(s) s x1(0) x&1(0)

f(t)
c
m1
k1,L01

x1

1
c sX1(s) x1(0) k1X1(s) k1 L 01 F(s)
s

X1(s) m1 s c s k 1 m1 s x1(0) x 1(0)

2

1
c x1(0) k1 L 01 F(s)
s

f(t)
c

suppose
m1 = 2 kg = 2 N sec /m
2

k1 = 3 N/cm = 300 N/m

m1
k1,L01

x1

L01 = 6 cm = 0.06 m
c = 2.5 N sec/cm = 250 N sec/m
x1(0) = 4 cm = 0.04 m

x 1 (0) = -2 cm/sec = -0.02 m/sec

f(t) is a step input of 8 N starting at t=0

8
F(s)
s

f(t)

seems like s has units of 1/sec

and X(s) has units of m sec

c
m1
k1,L01

x1

X1(s)

N sec 2 2
N sec
N

s 250
2
s 300
m
m
m

N sec 2
m
s (0.04 m) (-0.02
2
)
m
sec

N sec
N
1 8N

250
(0.04 m) 300 0.06 m
m
m
s
s

are units consistent?

8
X1(s) 2 s 250 s 300 2 0.04 s 0.02
s
1
250 (0.04) 300 0.06
s

26
X1(s) 2 s 250 s 300
0.08 s 9.96
s
2

26
0.08 s 9.96
2
0.08
s
9.96 s 26
s
X1(s)
3
2
2 s 250 s 300 2 s 250 s 2 300 s

 x1(t) = 0.08667
+ 0.00667 e-62.5 t
[-7cosh(61.29 t) 7.187sinh(61.29 t)]
how do we check the results ?
check boundary conditions
check steady state final position
- final value theorem:
lim sX 1 ( s ) 0.08667
s0

How to model the system in Simulink?

f(t)
c
m1
k1,L01

x1

f(t)
c

suppose
m1 = 2 kg = 2 N sec /m
2

k1 = 3 N/cm = 300 N/m

m1
k1,L01

x1

L01 = 6 cm = 0.06 m
c = 2.5 N sec/cm = 250 N sec/m
x1(0) = 4 cm = 0.04 m

x 1 (0) = -2 cm/sec = -0.02 m/sec

f(t) is a step input of 8 N starting at t=0

f(t)

lets model this system

using Simulink

c
m1
k1,L01

x1

governing differential equation

m1 x 1 cx 1 k 1(x1 L 01 ) f(t)
for our case, f(t) = 0,
x 1 (0) = -0.02 m/sec, x1(0) = 0.04 m
thus
f(t) cx 1 k 1(x1 L 01 )

x 1

m1

f(t) cx 1 k 1(x1 L 01 )
x 1
m1

 blocks can be grouped into subsystems

f(t)
c
m1
k1,L01

x1

f1

f2
c2

c1
m1
k1, L01
x1

m2
k2, L02

d1

k3, L03
d2

x2
d3

d1 = d2 = 15 cm
d3 = 80 cm
m1 = 2.5 kg
m2 = 5.5 kg
c1 = 8 N sec/m
c2 = 10 N sec/m
k1 = 3 N/cm ; L01 = 6 cm
k2 = 5 N/cm ; L02 = 8 cm
k3 = 4 N/cm ; L03 = 10 cm

Cars 1 and 2 start at rest at their static

equilibrium position.
A constant force f1 = 20N and f2 = -5 N .
Obtain the motion response of the two cars,
i.e. obtain x1(t) and x2(t).

Determine the position of the two cars at static equilibrium when no

forces are applied.
m1
k1, L01
x1

k2, L02
d1
x2

Car 1 will be in equilibrium when

k1 (x1 L01) = k2 [x2 (x1 + d1 + L02)]

m2
k2, L02
x1

d1

k3, L03
d2

x2

Car 2 will be in equilibrium when

d3

k2 [x2 (x1 + d1 + L02)] = k3 [d3 (x2 + d2 + L03)]

Substituting the given parameters and solving for x1 and x2 gives

x1_equil = 17.06 cm
x2_equil = 46.70 cm

Now write equations of motion of the system.

c1 x 1

f1
m1

k1 (x1 L01)

k2 [x2 (x1 + d1 + L02)]

x1

m1 x 1 f1 k 2 [ x 2 ( x 1 d1 L 02 )] c1 x 1 k 1 ( x 1 L 01 )
f2

c 2 x 2
m2

k2 [x2 (x1 + d1 + L02)]

x1

d1

k3 [d3 (x2 + d2 + L03)]

d2
x2
d3

m 2 x 2 f 2 k 2 [ x 2 ( x1 d1 L 02 )] c 2 x 2 k 3 [d 3 ( x 2 d 2 L 03 )]

m1 x 1 f1 k 2 [ x 2 ( x 1 d1 L 02 )] c1 x 1 k 1 ( x 1 L 01 )
m 2 x 2 f 2 k 2 [ x 2 ( x1 d1 L 02 )] c 2 x 2 k 3 [d 3 ( x 2 d 2 L 03 )]
x1 (0) 0.1706 m, x 1 (0) 0
x 2 (0) 0.4670 m, x 2 (0) 0

position, meters

car 2

car 1

time, sec

This Weeks Objectives

Establish Dynamic Models of System to be
Controlled
Second Order Systems

Obtain Solutions using LaPlace Transforms

Create Simulink Model and Generate
Simulated Results