Chapter 2 Mathematical Models of Systems

GEL 425
Chapter 2 :
Modeling in the Frequency Domain
Laplace transformation, Transfer function
GEL 425
Illustrations Dr. Mansour TAWK
Objectives
In this part we develop mathematical models from schematics of physical
systems. We will discuss the transfer functions in the frequency domain
As we proceed, we will notice that in every case the first step in developing a
mathematical model is to apply the fundamental physical laws of science and
engineering.
For example, when we model electrical networks, Ohms law and Kirchhoffs laws,
which are basic laws of electric networks, will be applied initially. We will sum
voltages in a loop or sum currents at a node.
When we study mechanical systems, we will use Newtons laws as the fundamental
guiding principles. Here we will sum forces or torques.
From these equations we will obtain the relationship between the systems output and
input.
GEL 425
Six Step Approach to Dynamic System Problems
Define the system and its components
Formulate the mathematical model and list the necessary assumptions
Write the differential equations describing the model
Solve the equations for the desired output variables
Examine the solutions and the assumptions
If necessary, reanalyze or redesign the system
GEL 425
a. Block diagram representation of a system; b. block diagram representation
of an interconnection of subsystems
Laplace transform
Temporally study to frequency study
GEL 425
The Laplace transform is defined as
where = + , a complex variable.

(), that is called the Laplace transform of ().
The inverse Laplace transform, which allows us to find () given (), is
GEL 425
GEL 425
Partial-Fraction Expansion
To find the inverse Laplace transform of a complicated function, we can convert the
function to a sum of simpler terms for which we know the Laplace transform of each
term. The result is called a partial-fraction expansion
Using partial-fraction expansion, we will be able to expand functions like 2/( + + 5) into a
sum of terms and then find the inverse Laplace transform for each term
We will now consider three cases and show for each case how an () can be
expanded into partial fractions.
GEL 425
Case 1. Roots of the Denominator of F(s) Are Real and Distinct
Ex.
ch2p1throughch2p8 in Appendix B. (1) represent polynomials, (2) find roots of polynomials, (3) multiply polynomials, and (4)
find partial-fraction expansions. Finally, Example 2.3 will be solved using MATLAB.
GEL 425
Case 1. Roots of the Denominator of F(s) Are Real and Distinct
Laplace Transform Solution of a Differential Equation

all initial conditions are zero
GEL 425
Case 2. Roots of the Denominator of F(s) Are Real and Repeated
Ex.
GEL 425
GEL 425
Case 3. Roots of the Denominator of F(s) Are Complex or Imaginary
An example of F(s) with complex roots in the denominator is
By identifying : replace K1=3/5
Using
Hence,
GEL 425
GEL 425
Case 3. Roots of the Denominator of F(s) Are Complex or Imaginary
Another method
Since
GEL 425
GEL 425
Homework
GEL 425
The Transfer Function
We are now ready to formulate the system representation by establishing a viable definition
for a function that algebraically relates a systems output to its input.
This function will allow separation of the input, system, and output into three separate and
distinct parts, unlike the differential equation.
general nth-order, linear, time-invariant differential equation,
where c(t) is the output, r(t) is the input, and the ais, bis, and the form of the differential equation represent the system.
Taking the Laplace transform of both sides,
Also, we can find the output, () by using
GEL 425
Students who are using MATLAB should now run ch2p9 through ch2p12 in Appendix B.
GEL 425
Homework
GEL 425
Homework
GEL 425
Electrical Network Transfer Functions
Simple Circuits via Mesh Analysis

PROBLEM: Find the transfer function relating the capacitor voltage, VC(s), to
the input voltage, V(s)
GEL 425
Another technique to find the transfer function
PROBLEM: Find the transfer function relating the capacitor voltage, VC(s), to
the input voltage, V(s)
First, take the Laplace transform of the equations u can use
the table in the previous slide
For the capacitor,
For the resistor,

For the inductor,
Now define the following transfer function:
GEL 425
Complex Circuits via Mesh Analysis
Given the network of the figure below , find the transfer function 2()/().
Laplace
GEL 425
Before leaving the example, we notice, The form that Eq
1
2
GEL 425
Example
GEL 425
Transfer FunctionInverting Operational Amplifier Circuit
() 0 ()
=
1 2
GEL 425
Translational Mechanical System Transfer Functions
GEL 425
Transfer FunctionOne Equation of Motion
Find the transfer function, X(s)=F(s), for the system
we assume the mass is traveling toward the right

the differential equation of motion using Newtons law to sum to zero all of the forces shown on the mass
GEL 425
Transfer FunctionOne Equation of Motion
Finally, notice that Eq.
[ ] =
We can calculate the impedance for each component and use this formula in case of one equation of motion
Replacing each by its Laplace

transform, which is in the format
GEL 425
Transfer FunctionTwo Degrees of Freedom
Find the transfer function, 2 () = (), for the system
GEL 425
The Laplace transform of the equations of motion can now be written
GEL 425
Cramer method
GEL 425
GEL 425
Homework
GEL 425
GEL 425

Chapter 2 Mathematical Models of Systems

Transféré par

Informations du document

Copyright

Formats disponibles

Partager ce document

Partager ou intégrer le document

Options de partage

Avez-vous trouvé ce document utile ?

Ce contenu est-il inapproprié ?

Droits d'auteur :

Formats disponibles

Chapter 2 Mathematical Models of Systems

Transféré par

Droits d'auteur :

Formats disponibles

GEL 425

Define the system and its components

Formulate the mathematical model and list the necessary assumptions

Write the differential equations describing the model

Solve the equations for the desired output variables

Examine the solutions and the assumptions

If necessary, reanalyze or redesign the system

where = + , a complex variable.

The inverse Laplace transform, which allows us to find () given (), is

Laplace Transform Solution of a Differential Equation

By identifying : replace K1=3/5

general nth-order, linear, time-invariant differential equation,

Also, we can find the output, () by using

Simple Circuits via Mesh Analysis

For the capacitor,

For the resistor,

Now define the following transfer function:

Find the transfer function, X(s)=F(s), for the system

we assume the mass is traveling toward the right

Finally, notice that Eq.

Replacing each by its Laplace

Vous aimerez peut-être aussi