lesson8et438a.

pptx 1

LESSON 8: MODELING PHYSICAL

SYSTEMS WITH LINEAR
DIFFERENTIAL EQUATIONS
ET 438a Automatic Control Systems Technology
 Learning Objectives
2

After this presentation you will be able to:

 Explain what a differential equation is and how it can represent

dynamics in physical systems.
 Identify linear and non-linear differential equations.
 Identify homogeneous and non-homogenous differential
equations.
 Write input/output equations using derivatives and integrals for
electrical and mechanical systems.

lesson8et438a.pptx
 Linear Dynamic Systems
3

Definition
Linear Differential Equation - a linear combination of derivatives
of an unknown function and the unknown function. Derivatives
capture how system variables change with time.

Linear systems - represented with linear differential equations

Solving a differential equation means find a function that changes

with time that satisfies the equation. The result is a function and not
a number. This function describes how a quantity changes with
respect to the independent variable, usually time in a control system.
This can be done using analytic or numerical methods.
lesson8et438a.pptx
 Linear Dynamic Systems
4

Example 8-1 Series RL circuit with a current established initially. What does
current do over time?
i(0)  1 A Write KVL equation around the circuit
+ vr(t)  di( t ) 
v R ( t )  i( t )  R L
v ( t )  L 
 dt 
i(t) R +
vL (t )  vR (t )  0
L vL(t)
 di( t ) 
L   i( t )  R  0
 dt 

To solve - find i(t) that satisfies the above

equation with initial current of 1 A. Can do
analytically or numerically.

lesson8et438a.pptx
 Linear Differential Equations
5

More Complex Differential Equations

Can have higher order d2 d

i ( t )  2  i( t )  7  i( t )  0
Derivatives 2, 3, 4… etc dt 2
dt
Above is a 2nd order linear ODE (ordinary differential equation)

d2 d Squared i makes it
Implied function of
i  2  i  i 2
0 non-linear
time. i=i(t) dt 2
dt
Above is 2nd order, non-linear ODE

 d2  2nd order, non-linear ODE

 2 v   sin( v)  v  0
Sine of unknown function v(t)
 dt 
When right-hand side (RHS) is 0, equation called homogeneous. Implies no outside stimulation
lesson8et438a.pptx
 Physical System Examples
6

The following circuit creates a homogenous differential equation.

Establish
current R=10k

No I i(0)= 5 A
source t>0 t=0
10 mH
5A

Current can not change instantaneously in inductor. Current varies in

time based in the initial value of i(0)= 5A

lesson8et438a.pptx
 Physical System Examples
7

The following circuit creates a non-homogenous differential equation.

Establish
current R=10k Initial current 0

i(-0)= 0 A
t=0
10 mH
5A

Current builds from initial value. Practical example: Energize a relay

coil with the current source. Current source drives the system.

lesson8et438a.pptx
 Identify Example Equations
8

Identify which of the following equations as linear/non-linear and

homogeneous/non-homogeneous.

d 2
3. x( t ) x( t ) 0
dt
d
L. i( t ) R. i( t ) 0
2 dt
d
v sin ( v ) 0
dt

d
6. v 2. v V m . sin ( t )
dt
t
2
. d d 
4 i 2. i 7. i I o. e 0
d t2 dt
lesson8et438a.pptx
 Differential Equations For Control Systems
9

Equations have constant coefficients and are linear.

Single input stimulation r(t)
Single output variable x(t)
General form
dn d2 d
a n  n x ( t )  ...  a 2  2 x ( t )  a1  x ( t )  a1  x ( t )  b 0  r ( t )
dt dt dt
Where an.....a2, a1 a0 and b0 are constants

What can r(t) be?

lesson8et438a.pptx
 Differential Equations For Control Systems
10

Typical input functions r(t)

Constant Ramp Sinusoid

100sin(t)
-5 3t
-5cos(t+q)
3 -10t
Where 
10 0.2t-3
and q are
constants
u(t)
1

Unit-step (square wave)

td t
u(t-td) = 1 after td
0 before
lesson8et438a.pptx
 Characteristics of Linear Systems
11

1.) Multiplying by constant is reflected though system.

r(t) x(t) If input r(t) gives output x(t) then,

Linear
K (r(t)) gives K (x(t))
system
K (r(t)) K (x(t)) I/O proportional

2.) Superposition from circuits holds

r1(t) Linear y1(t) If input r1(t) gives y1(t) and input r2(t) gives y2(t) then
system total output y1(t)+y2(t)
r2(t) y2(t)

Total output is the sum of the individual input

responses. From circuits, transients and sine steady-state lesson8et438a.pptx
 Dynamic Equations Input/output
relationships
12

Dynamics represented by integrals and derivatives with respect to time

Electrical element: Resistance Electrical Element: Inductance

L Henrys
i(t) R Ohms iL(t)

+ v(t) + vL(t)
Defining Equations
Defining Equations
v( t )  R  i( t )
d
vL (t)  L  i L (t)
dt
1
i( t )     v( t )
R
t
or 1
i L ( t )    v L () d  i L (0)
1 L 0
i(t)  G  v( t ) Where G 
R

lesson8et438a.pptx
Initial current
at t=0
 Dynamic Equations Input/output
13
relationships
Electrical Element: Capacitance All laws from circuit theory
hold for the analysis of
C Farads circuits with dynamic
iC(t) equations . KCL, KVL, mesh
analysis, nodal
+
vC(t) analysis can all be
performed. Substitute the
Defining Equations appropriate integral or
d Initial voltage derivative into the mesh or
iC (t)  C  vC (t)
dt at t=0 nodal formulation.

t
1
v C ( t )   i C () d  v C (0)
C0

lesson8et438a.pptx
 Dynamic Electrical Equations
14

When the current or voltage in a circuit element involves two currents or voltages in
the derivative or integral, take the difference of the voltages or currents

Example 8-2: Write mesh equations for the circuit below using the lumped circuit
element representations

0.1 H Loop 1

0.5 H  v(t )  vL (t )  vR1 (t)  0

i1(t) R2
5 i2(t) 10 vL (t )  vR1 (t )  v(t )
v(t)
d
R1 L i L ( t )  R1  i1 (t)  i 2 (t)
dt
d
0 .1  i1 ( t )  5  i1 (t)  i 2 (t)  v( t )
dt
lesson8et438a.pptx
 Example 8-2 Solution (1)
15

0.1 H

0.5 H
i2(t) R2
i1(t)
5 10
v(t)
R1 Loop 2
v R1 ( t )  v C ( t )  v R 2 ( t )  0
t
1
  i 2 () d  vC (0)
C 0
t
1
5  i 2 (t)  i1 (t )    i 2 () d  vC (0)  10  i 2 (t )  0
0.5 0

lesson8et438a.pptx
 Example 8-2 Solution (2)
16

Mesh equations form a system of integral-differential

equations in unknown functionsi1(t) and i2(t).

5  i1 ( t )  i 2 ( t )   0.1
d
Loop 1 i1 ( t )  v( t ) (1)
dt
1/0.5=2
t
Loop 2 5  i 2 ( t )  i1 ( t )   2   i 2 () d  v C (0)  10  i 2 ( t )  0 (2)
0

Solution techniques: convert all equations into derivatives only. Approximate derivatives
using mathematical methods and calculate approximate derivative values for some small
increment in time. Results are a list of computed points that approximate variable over a
time interval. Graph these points to see system response
lesson8et438a.pptx
 Example 8-3 OP AMP Differentiators
17

Use rules of circuit analysis and ideal OP AMPs to find the input/output
relationship for the circuit below.
Rules of OP AMPS
1.) No current flows into OP AMP
if 2.) V- = V+
v-
iin
Use nodal analysis at OP AMP inverting node.
v+
Sum currents at inverting input
iin(t)+if(t)=0 so iin(t)=-if(t)
iin(t)=iC(t)
Define ic(t) in terms of voltage Feedback current
d
iC (t)  C  vC (t) vo (t )  v  (t )
dt if (t ) 
Rf
v C( t )  v in ( t )  v  ( t )
lesson8et438a.pptx
 Example 8-3 Solution (2)
18

Complete derivation
i in ( t )  i f ( t )
 (t) 
 

d  v ( t )  v V+(t)=V-(t)=0
C  v in ( t )  v ( t )    o
 Positive terminal
dt  R f  grounded
  vo (t) 
C  v in ( t )  
d

dt  R f 
 R f  C  v in ( t )  v o ( t )
d
dt

Input Output
Circuit takes derivative of input voltage
lesson8et438a.pptx
 Mechanical System Models
19

Self-regulating tank system

Need relationship for how level changes
with time. Derive differential equation.

V  (Qin  Qout )  t 1

Write level change in terms of tank volume

V
h  2
A 2

Qin>Qout h increases V (Qin  Q out )  t

h   1 2
A A
Qin<Qout h decreases

lesson8et438a.pptx
 Mechanical System Models
20

Self-regulating tank system – Find the average level change over

time interval t.
V (Q in  Q out )  t
h  
t A A t

h (Q in  Q out )

t A

Take limit as time h dh (Qin  Q out ) Write Qout in terms of

lim   system parameters
interval goes to zero t 0 t dt A

lesson8et438a.pptx
 Self-Regulating Tank
21

Assume laminar flow for simplicity. Qout determined by pressure at bottom of

tank.
p  R L  Q out Combine these two
equations and solve
p  g h for Qout
p g h
Q out  
RL RL

Bring all terms with g h

Qin 
h or derivative of h dh RL dh Qin   g  h
   
to one side dt A dt A RL A

 R L  A  dh  R L  A     g   Qin  R L  A 
     
   
  h   A    g 
   g  dt    g   L 
R  A   
lesson8et438a.pptx
 Self-Regulating Tank
22

Simplified result
 R L  A  dh  RL 
    h  Qin  
   g  dt  g 

Qin is independent of the liquid height. consider it along with density, area
and flow resistance to be constant

 R A  R 
Let    L  G   L 
 g   g 

Non-homogeneous equation that determines how height of

dh
  h  G  Qin liquid in tank varies with time.
dt Shutting off Qin finds homogeneous response of tank height

lesson8et438a.pptx
 Mechanical Models
23

Non-Self-Regulating Tank (Pumped Drainage)

Output flow is fixed by pump flow rate. It

is independent of the liquid height in tank.

V (Qin  Q out )  t
h  
A A
Define: t = t1 - t0

h(t) = h(t1) - h(t0)

h (Qin  Q out ) h dh
 lim 
t A t 0 t dt

lesson8et438a.pptx
 Mechanical Models
24

Non-Self-Regulating Tank (Pumped Drainage)

dh (Q in  Q out )

dt A Independent
of h

dh To solve this differential equation, integrate

both sides of the equation with respect to t.
t1 1 t

t dt t A Qin  Qout  dt
dh 1
dt 
0 0

t1

h(t 1 )  h ( t 0 )  
1
Qin  Qout  dt
t0
A
Note: Right hand side is not a function of t. t
It is all a constant and can be taken out of
1

h(t)  Qin  Q out  dt

1
the integral. A t0

lesson8et438a.pptx
 Non-Self-Regulating Tank (Pumped Drainage)
25

If Qin is not a constant but changes with time, the formula below models the
response of the tank system
t1

h(t 1 )  h ( t 0 )  
1
Qin (t )  Qout  dt
t0
A Definite integral
t1
from calculus
h(t 1 )  
1
Qin (t )  Qout  dt  h (t 0 )
t0
A

Initial tank height

Final tank height

For pumped tank with constant input and output flows, tank drains linearly with
time based on the difference between the flow rates. Final tank height depends
on the pump flow rate and the time the pump operates.
lesson8et438a.pptx
 Thermal Systems
26

Heating characteristic of a liquid filled thermometer

Ta = fluid temperature
Ta Tm = measured temperature
CTm = thermal capacitance of thermometer
Tm
How does measured temperature change with time? Heat
transferred to thermometer depends on T, RT and time
CTm interval

Q 
Ta  Tm   t Incremental conduction heat flow
RT

Definition of thermal Q Q
 CTm   Tm
capacitance Tm CTm

lesson8et438a.pptx
 Thermal Systems
27

Derive the thermal equation

Q Ta  Tm   t
 Divide both sides by CTm
CTm R T  CTm

Tm 
Ta  Tm  t
Use definition of CTm from last slide
R T  CTm

Determine the average change in temperature for a t

Tm Ta  Tm 

t R T  C Tm

Tm dTm Ta  Tm 

Take limit t approaches 0 lim  
t 0 t dt R T  C Tm

lesson8et438a.pptx
 Thermal Systems
28

Get all Tm and its derivatives on one side of the equation

dTm Ta  Tm 

dt R T  C Tm
dTm Ta Tm
 
dt R T  C Tm R T  C Tm

dTm Tm Ta
  Move Tm to same side as derivative of Tm
dt R T  CTm R T  CTm

 R T  C Tm    R T  CTm 
dTm Tm Ta
R T  C Tm  
dt R T  C Tm R T  C Tm

dTm This is similar in form to the self-regulating tank equation.

R T  C Tm   Tm  Ta
dt This is a non-homogeneous differential equation that
describes how the measured temperature changes with time
lesson8et438a.pptx
 Mechanical Systems
29

Pneumatic Control Value Position Determine how the position of a air

actuated control value changes with time
after pressure is applied.
1/K=Cm
Fa
Free body diagram- All forces must sum to zero
FCm(t)
Fa Fa = Pa(A) = input air force
FI(t)
x=0 v All forces must balance at
each instance in time so:
M
FI(t) = inertial force
B=Rm
FCm(t) = spring force
FRm(t) = viscous friction force
FRm(t)
lesson8et438a.pptx
 Mechanical Systems- Control Valves
30

All forces must sum to zero- Assume down is positive direction

FCm(t)
Fa  FRm ( t )  FI ( t )  FCm ( t )  0
Fa
Fa  FRm ( t )  FI ( t )  FCm ( t )
FI(t)
Need equation that relates position, x, to time

M Friction force
dx(t)
FRm ( t )  R m  v( t ) Remember v(t) 
dt
dx(t)
FRm(t) FRm ( t )  R m  Viscous friction is proportional
dt
to velocity. Velocity = rate of
change of position
lesson8et438a.pptx
 Mechanical Systems- Control Valves
31

Spring force
 1 
FCm ( t )     x ( t )  K  x ( t )
 Cm 

Force from spring is proportional to its length, x. Cm is spring capacitance,

K = spring constant. So 1/K=Cm.

Inertial force
d  dx(t)  d 2 x(t)
a(t)   
FI ( t )  M  a ( t ) dt  dt  dt 2
dv(t) dx(t)
a (t )  v(t)  d 2 x(t)
dt dt FI ( t )  M  a ( t )2
dt
lesson8et438a.pptx
 Control Valve Model
32

Combine individual terms

Fa  FRm (t )  FI ( t )  FCm ( t )

dx(t) d 2 x(t)  1 
Fa  Rm   M    x(t )
 Cm 
2
dt dt

Fa is constant. Equation describes how position changes with time. Second

order equation, non-homogeneous.

lesson8et438a.pptx
 Summary of Mechanical Models
33

Self-Regulating Tank Heat Transfer

dh dTm
   h  G  Qin R T  C Tm   Tm  Ta
dt dt
 RL A   RL 
    G   
 g   g  Control Valve Position
d 2 x(t) dx(t)  1 
Non-Self-Regulating Tank Fa  M  2
 Rm      x ( t )
(Pumped Drainage) dt dt  Cm 

t1

h(t 1 )   Qin ( t )  Qout  dt  h ( t 0 )

1
t0
A
lesson8et438a.pptx
34 ET 438a Automatic Control Systems Technology

End Lesson 8: Modeling Physical Systems

With Linear Differential Equations

lesson8et438a.pptx