Upload
others
View
6
Download
0
Embed Size (px)
Citation preview
D R . T A R E K A . T U T U N J I
P H I L A D E L P H I A U N I V E R S I T Y , J O R D A N
2 0 1 7
Modeling and Simulation Revision IV
Modeling
Modeling is the process of representing the behavior of a real system by a collection of mathematical equations and logic.
Models are cause-and-effect structures—they accept external information and process it with their logic and equations to produce one or more outputs. Parameter is a fixed-value unit of information
Signal is a changing-unit of information
Models can be text-based programming or block diagrams
Math Modelling Categories
Static vs. dynamic
Linear vs. nonlinear
Time-invariant vs. time-variant SISO vs. MIMO Continuous vs. discrete Deterministic vs. stochastic
Static vs. Dynamic
Models can be static or dynamic Static models produce no motion, fluid flow, or any other
changes.
Example: Battery connected to resistor
Dynamic models have energy transfer which results in power flow. This causes motion, or other phenomena that change in time.
Example: Battery connected to resistor, inductor, and
capacitor
4
v = 𝒊𝑹
idtC
1
dt
diLRiv
Linear vs. Nonlinear
Linear models follow the superposition principle The summation outputs from individual inputs will be equal to the
output of the combined inputs
Most systems are nonlinear in nature, but linear models can be used to approximate the nonlinear models at certain point.
Linear vs. Nonlinear Models
Linear Systems Nonlinear Systems
Time-invariant vs. Time-variant
The model parameters do not change in time-invariant models
The model parameters change in time-variant models Example: Mass in rockets vary with time as the fuel is
consumed.
If the system parameters change with time, the system is time varying.
Time-invariant vs. variant
Time-invariant
F(t) = ma(t) – g
Where m is the mass, a is the acceleration, and g is the gravity
Time-variant
F = m(t) a(t) – g
Here, the mass varies with time. Therefore the model is time-varying
Linear Time-Invariant (LTI)
LTI models are of great use in representing systems in many engineering applications.
The appeal is its simplicity and mathematical structure.
Although most actual systems are nonlinear and time varying
Linear models are used to approximate around an operating point the nonlinear behavior
Time-invariant models are used to approximate in short segments the system’s time-varying behavior.
SISO vs. MIMO
Single-Input Single-Output (SISO) models are somewhat easy to use. Transfer functions can be used to relate input to output.
Multiple-Input Multiple-Output (MIMO) models involve combinations of inputs and outputs and are difficult to represent using transfer functions. MIMO models use State-Space equations
System States
Transfer functions
Concentrates on the input-output relationship only.
Relates output-input to one-output only SISO
It hides the details of the inner workings.
State-Space Models
States are introduced to get better insight into the systems’ behavior. These states are a collection of variables that summarize the present and past of a system
Models can be used for MIMO models
SISO vs. MIMO Systems
Transfer Function U(t) Y(t)
Continuous vs. discrete
Continuous models have continuous-time as the dependent variable and therefore inputs-outputs take all possible values in a range
Discrete models have discrete-time as the dependent variable and therefore inputs-outputs take on values at specified times only in a range
Continuous vs. discrete
Continuous Models
Differential equations
Integration
Laplace transforms
Discrete Models
Difference equations
Summation
Z-transforms
Deterministic vs. Stochastic
Deterministic models are uniquely described by mathematical equations. Therefore, all past, present, and future values of the outputs are known precisely
Stochastic models cannot be described mathematically with a high degree of accuracy. These models are based on the theory of probability
Block Diagrams
Block diagram models consist of two fundamental objects: signal blocks and wires.
A block is a processing element which operates on input signals and parameters to produce output signals
A wire is to transmits a signal from its origination point (usually a block) to its termination point (usually another block).
Block diagrams are suitable to represent multi-disciplinary models that represent a physical phenomenon.
Dr. Tarek A. Tutunji
Block Diagram Example
[Ref.] Prof. Shetty
Block Diagrams Manipulation
Block Diagrams Manipulation
Block Diagrams: Direct Method Example
Consider the transfer function:
We can introduce s state variable, x(t), in order to separate the polynomials
State Equation
The differential equation is:
Put the needed integrator blocks:
Add the required multipliers to obtain the state equation:
Output Equation
Repeat the same procedure for the output equation:
Connect the two sub-blocks
Block Diagram Modeling: Analogy Approach
Physical laws are used to predict the behavior (both static and dynamic) of systems. Electrical engineering relies on Ohm’s and Kirchoff’s laws Mechanical engineering on Newton’s law Electromagnetics on Faradays and Lenz’s laws Fluids on continuity and Bernoulli’s law
Based on electrical analogies, we can derive the fundamental equations of systems in five disciplines of engineering: Electrical, Mechanical, Electromagnetic, Fluid, and Thermal.
By using this analogy method to first derive the fundamental relationships in a system, the equations then can be represented in block diagram form, allowing secondary and nonlinear effects to be added. This two-step approach is especially useful when modeling large coupled
systems using block diagrams.
Power and Energy Variables: Effort & Flow
[Ref.] Raul Longoria
Transitional Mechanical Systems
Mechanical movements in a straight line (i.e. linear motion) are called “transitional”
Basic Blocks are: Dampers, Masses, and Springs
Springs represent the stiffness of the system
Dampers (or dashpots) represent the forces opposing to the motion (i.e. friction)
Masses represent the inertia
maF
cvF
kxF
Force
displacement
velocity
acceleration mass
Dr. Tarek A. Tutunji
Transitional Mechanical Systems
Equations for mechanical systems are based on Newton Laws
Free body diagram
dt
dxc-kx-Fma
Mass Force
Spring
Damper
Dr. Tarek A. Tutunji
Example: Mass-Spring-Damper
Note: D is Differentiation 1/D is Integration
Example: Two-Mass Mechanical System
[Ref.] Prof. Shetty
Example: Two-Mass Mechanical System
Example: Mechanical Model
Consider a two carriage train system
22122
12111
xc-)x-k(xxm
xc-)x-k(x-fxm
Mass 1 Force
k(x1-x2)
c v1
x1
Mass 2 k(x1-x2)
c v2
x2
Example continued
Taking the Laplace transform of the equations gives
(s)csX-(s))X-(s)k(X(s)Xsm
(s)csX-(s))X-(s)k(X-F(s)(s)Xsm
22122
2
12112
1
Note: Laplace transforms the time domain problem into s-domain (i.e. frequency)
sX(s)(t)xL
x(t)dteX(s)x(t)L0
st
Example continued
Manipulating the previous two equations, gives the following transfer function (with F as input and V1 as output)
2kcsckmkmsmmcsmm
kcssm
F(s)
(s)V2
212
213
21
221
Note: Transfer function is a frequency domain equation that gives the relationship between a specific input to a specific output
Example continued
Simulation using MATLAB
m1= 5; m2=0.7; k=0.8; c=0.05;
num=[m2 c k];
den=[m1*m2 c*m1+c*m2 k*m1+k*m2+c*c 2*k*c];
sys=tf(num,den); % constructs the transfer function
impulse(sys); % plots the impulse response
step(sys); % plots the step response
bode(sys); % plots the Bode plot
Example continued: Impulse response
Dr. Tarek A. Tutunji
Example continued: Step response
Dr. Tarek A. Tutunji
Example continued: Bode Plot
Dr. Tarek A. Tutunji
Example: Motion of Aircraft
Rotational Mechanical Systems
Consider a mechanical system that involves rotation
•The torque, T, replaces the force, F
•The angle, q, replaces the displacement x
•The angular velocity, w , replaces velocity v
•The angular acceleration, a, replaces the acceleration a
•The moment of inertia J, replaces the mass m
Torque, T
Shaft
Side View
T
q
w dq/dt
J dw/dt kq cw
Top View
Dr. Tarek A. Tutunji
Rotational Mechanical Systems
The mechanics equation becomes
2
2
dt
θdJ
dt
dθckθT
JαcωkθT
angular acceleration
moment of inertia
angular velocity
Torque
angle
damper coefficient
spring coefficient
Dr. Tarek A. Tutunji
Example: Rotational-Transitional System
Consider a rack-and-pinion system. The rotational motion of the pinion is transformed into transitional motion of the rack
ωcdt
dωJTT 1outin
For simplicity, the spring effects are ignored
Tin
w
v
r
F
pinion
rack
Dr. Tarek A. Tutunji
Example continued
The rotational equation is
The transitional equation is dt
dvmvcF 2
ωcdt
dωJTT 1outin
v/rω
rFTout
Using the equations
And manipulating the rotational and transitional equations with the input torque, Tin, as inputs and velocity, v, as output, we get
dt
dvmr
rJvrc
rc
T 21
in
Dr. Tarek A. Tutunji
Example continued
Let us take a look at the state space equations
In general, DuBxy
CuAxx
where x is the states vector, y is the output vector, and u is the input vector
In our example, we will
use the states: w and v,
the inputs: Tin and F
the output: v
Manipulating the equations in the previous slide, we get
v
ω10v
F
T
m10
Jr
J1
v
ω
mc
0
0J
c
dtdv
dtdω
in
2
1
Conversion: Transitional and Rotational
Gear Trains
Gear Trains
where
Electrical Systems: Basic Equations
Resistor
Ohm’s Law
Inductor
Capacitor
dt
dVCi
idtC
1V
dt
diLV
RiV
Voltage
current
Resistance
Inductance
Capacitance
Power = Voltage x Current
Dr. Tarek A. Tutunji
Kirchoff Laws
Equations for electrical systems are based on Kirchoff’s Laws
1. Kirchoff current law: Sum of Input currents at node = Sum of output currents
2. Kirchoff voltage law: Summation of voltage in closed loop equals zero
Example: RLC circuit
idtC
1
dt
diLRiV cV
dt
diLRiV
dt
dVCi c c2
c2
c Vdt
VdLC
dt
dVRCV
R
V + -
L C
+ VR - + VL - + Vc -
i
Or
since Then
A second order differential equation
Using Kirchoff voltage law
RLC MATLAB Code
R=1000000; % R = 1MW
L=0.001; % L=1 mH
C=0.000001; % C= 1mF
num=1; den=[L*C R*C 1];
sys=tf(num,den);
bode(sys)
Impulse(sys)
Step(sys)
RLC Simulation: Bode Plot
At high frequency, Capacitor is short => Voltage = 0
At DC (i.e. frequency = 0), Capacitor is open => Voltage gain is 0dB (i.e. 1 V/V)
Dr. Tarek A. Tutunji
RLC Simulation: Impulse Response
Input voltage is pulse => Capacitor stores energy
And then releases the energy
Dr. Tarek A. Tutunji
RLC Simulation: Step Response
At about 2.3 seconds, the capacitor Voltage becomes 90% of the 1 Volts
Dr. Tarek A. Tutunji
Op Amps
PM-DC Motor Modeling
The electrical equation is emfin Vdt
diLRiV
The mechanical equation is loadTbωdt
dωJT
Vin
R L i
+ - Motor
T
w
where Vemf (Back electromagnetic voltage) = k1w
where T = k2i
DC Motor Model: Block Diagram
1/(Ls+R) 1/(Js+b) k2
k1
+ + Vin
Tload
w
-
-
T i
Simulation Result
Fluid Systems
Fluid systems can be divided into two categories: Hydraulic: fluid is a liquid and incompressible
Pneumatic: fluid is gas and can be compressed
The volumetric rate of flow, q, is equivalent to the current
The pressure difference, P1-P2, is equivalent to voltage
The basic building blocks for hydraulic systems are: Hydraulic resistance, capacitance, and inertance
Hydraulic resistance
Hydraulic resistance is the resistance to the fluid flow which occurs as a result of valves or pipe diameter changes
The relationship between the volume rate of flow, q, and pressure difference, p1-p2 ,is given by Ohm’s law
Rqpp 21
p2 p1
pipe
p1 p2
valve
Hydraulic Capacitance
Potential energy stored in a liquid such as height of a liquid in a container
dt
dhAqqAhV
dt
dVqq
21
21
Volumetric rate of change
Volume Change
Cross sectional Area
height
q1
q2
p1
p2
h A
Hydraulic Capacitance
hgρppp 21
dt
dp
gρ
A
dt
gρp
d
Aq-qdt
dhAqq 2121
gρ
AC
dt
dpCqq 21
density
gravity height pressure
By letting the hydraulic capacitance be
We get
hgpA/VgpA/mgA/Fp Note that
Hydraulic Inertance
Equivalent to inductance in electrical systems
To accelerate a fluid and increase its velocity a force is required
Avq
ALρm
dt
dvmmaFF 21
mass
Length
Cross sectional Area
F2 = p2 A F1 = p1 A
AppFF 2121
dt
dqIpp 21
A
LρI
using
Then Where the Inertance is
Hydraulic Example Modeling: an interactive 2-tank system
h1(t) A1
A2
h2(t) q2(t)
q1(t)
qin(t)
R2
R1
222
1211
2212
11in1
(t)/Rh(t)q
/R(t)h(t)h(t)q
/A(t)q(t)qdt
dh
/A(t)q(t)qdt
dh
Hydraulic Example Modeling: Block Diagram
1/A1
Sum Integrate Sum 1/R1 1/A2 Sum Integrate
1/R2 1/A2 1/A1
Input: qin
Output: q2
q1
- -
-
h1 h2 dh1/dt
Dr. Tarek A. Tutunji
Hydraulic Example: Simulation
Input, qin, is a step Output, q2, is taken to a virtual scope
Here, we assume all the Cross sectional areas and the resistances equals 1
Hydraulic Example: Simulation
Another Form of Analogies Potential and Flow Variables
When systems are in motion, the energy can be Increased by an energy-producing source outside the system
Redistributed between components within the system
Decreased by energy loss through components out of the system.
Therefore, a coupled system becomes synonymous with energy transfer between systems.
Potential Variable = PV
Flow Variable = FV
Analogies: FV and PV
Flow Variable
(FV)
Potential Variable
(PV)
Electrical Current Voltage
Mechanical Transitional Force Velocity
Mechanical Rotational Torque Angular Velocity
Hydraulic Volumetric Flow Rate Pressure
Pneumatic Mass Flow Rate Pressure
Thermal Heat Flow Rate Temperature
Which Analogies to use?
Force-Voltage makes more physical sense
Graphical Representation: Bond Graphs
Force-Current makes mathematical sense
Sum of Currents= Zero and Sum of Forces = Zero
Graphical Representation: Linear Graphs
Conclusion
Mathematical Modeling of physical systems is an essential step in the design process
Simulation should follow the modeling in order to investigate the system response
Mechatronic systems involve different disciplines and therefore an appropriate modeling technique to use is block diagrams
Analogies among disciplines can be used to simplify the
understanding of different dynamic behaviors
Dr. Tarek A. Tutunji