Mathematical Modeling 1

Prepared by Mrs.
Asma Adeel 1
Dynamic System Modeling
What is virtual environment?
Time and frequency domain.
What is mathematical modeling?
Applications of mathematical modeling
Electrical Circuits
Translational Mechanical Systems
Rotational Mechanical Systems
( with or without lossless gears )
Electromechanical Systems
Prepared by Mrs. Asma Adeel 2
What is a mathematical model?

A mathematical model is an abstract
model that uses mathematical language to
describe the behavior of a system.
A mathematical model as 'a
representation of the essential aspects of
an existing system (or a system to be
constructed) which presents knowledge of
that system in usable form'.
Background of Mathematical Modeling:
Used in need of controlling and optimizing a system.
Engineers build the descriptive model of the system as a
hypothesis how a system would work or try to estimate that how
an unforeseeable event could affect the system.
Then different softwares could be used to simulate a system.
A mathematical model usually describes a system by a set of
variables and a set of equations that establish relationships between
the variables.
The values of the variables can be practically anything; real or integer
numbers, boolean values or strings,
The variables represent some properties of the system, for example,
measured system outputs often in the form of signals, timing data,
counters, event occurrence.
The actual model is the set of functions that describe the relations
between the different variables.
Building Blocks of the Mathematical Model:
There are six basic groups of variables:
Independent
Variables and
Decision
variables
Exogenous
variables or
parameters
and constants
Input
variables
State
Variables
Random
Variables
Output
Variables
Input Variable
Types
The variables are
not independent of
each other.
Both represent
objective and
constraints on the
system.
A review of Laplace Transform

Clarify the difference
between time domain and
frequency domain.
L
a
p
l
a
c
e

T
r
a
n
s
f
o
r
m

P
r
o
p
e
r
t
i
e
s

Transfer Function:
write a general nth order, linear, time invariant differential
equation,
a
n
d
n
c(t) /dt
n
+ a
n-1
d
n-1
c(t) / dt
n-1
+ .. + a
o
c(t) =
b
m
d
m
r(t) / dt
m
+ b
m-1
d
m-1
r(t) / dt
m-1
+ . + b
o
r(t)
Taking Laplace of both the sides and put all the initial conditions to
zero.
The required ration
C(s) / R(s) = G(s) = b
m
s
m
+ b
m-1
s
m-1
+. b
0

a
n
s
n
+ a
n-1
s
n-1
+ a
0

The transfer function is represented as a block

R(s)
C(s)
b
m
s
m
+ b
m-1
s
m-1
+. b
0

a
n
s
n
+ a
n-1
s
n-1
+ a
0

C(s)= R(s) G(s)
Electrical System Modeling
Electrical Networks
Impedance admittance
Example 2.6
Transfer function- single loop via differential
equation
Example 2.7
Repeat previous example using mesh analysis
and node analysis and transform methods
without writing differential equations.
Replace the circuit
elements by the
frequency domain
circuit parameters
Example 2.10
Transfer functions with the multiple loop
electrical circuits.
A quick way to write network equations
Writing Equations Via Inspection
Sum of Impedances
around Mesh 1
I
1
(s) -
Sum of Impedances
common to two
meshes
I
2
(s)
= Sum of applied voltages around Mesh 1
Sum of Impedances
common to two
meshes
-
I
1
(s) +
Sum of Impedances
around mesh 2
I
2
(s)
= Sum of applied voltages around Mesh 2
Writing Nodal Equations by inspection
(Sum of admittances to node 1) V1(s)
(Sum of admittances common to two
nodes) V
2
(s) = Sum of applied currents
at node 1

-(Sum of admittances common to two
nodes) V1(s) + ( Sum of admittances at
node 2 ) V2(s) = Sum of applied currents
at node 2
Example 2.11
Transfer Function with multiple nodes
Example 2.12
Transfer Function with multiple nodes Do it Yourself!!!!!!!
Example 2.19
Write Down the mesh equations of the system
Skill Assessment 2.6
Find the Transfer Function
Example 2.12
Translational Mechanical
System Modeling
Translational Mechanical Systems
Number of Equations of Motion= Degree of
Freedom
Example 2.16
Free Body
Diagram
Transformed Free
Body Diagram
G(s) = X(s)/ F(s) = 1 / Ms
2
+ f
v
s + K
Equations of Motion by Inspection
(Sum of impedances connected to motion at
x1) X
1
(s) (Sum of impedances between x1
and x2) X
2
(s) = (Sum of applied forces at x1)
- (Sum of impedances between x1 and x2)
X
1
(s) + (Sum of impedances connected to the
motion at x2) X
2
(s) = (Sum of applied forces
at x2)
Example 2.17
Write the motion equations but do not solve
Example 2.18
Skill Assessment 2.8
X
2
(s) / F(s) = (3s +1) / s( s
3
+ 7s
2
+ 5s + 1)
Example 2.18



Rotational Mechanical
System Modeling
Torque, angular displacement and angular
velocity relationships for rotational Mechanical
Systems
Number of Equations of Motion= Degree of
Freedom
(Sum of impedances connected to motion
at
1
)
1
(s) (Sum of impedances
between
1
and
2
)
2
(s) = (Sum of
applied torques at
1
)
- (Sum of impedances between
1
and
2
)
1
(s) + (Sum of impedances connected to
the motion at
2
)
2
(s) = (Sum of applied
torques at
2
)
Example No. 1
Example No. 2
Example No. 3
G(s) = 1 / 2s
2
+s +1
Example No. 4
Example No. 5
Gears
Give Mechanical
advantage to rotational
systems.
gears allow to match the
drive system to load for
appropriate mechanical
power coupling.
a trade between torque
and speed
example moving uphill
More torque ----- lesser
speed
A non linearity feature
with gears is Backlash
Here Lossless gears
are considered where
damping and moment
of inertia is zero
Transfer Functions for Systems
with Gears
r
1
/r
2
= N
1
/N
2
= T
1
/T
2
=
2/
1
r
1
1=
r
2
2
T
1
1 =
T
2
2
Translational energy
of force times
displacement equals
the rotational
energy times
angular
displacement
Rotational Mechanical Systems
Driven with gears
Reflection of impedances
Rotational Mechanical
Impedances can be reflected
through gear trains by multiplying
the impedances by the ratio
Number of teeth of gear on
destination shaft
Number of teeth of gear on
Source Shaft
Example No. 4
One degree of freedom
Cascading of Gear trains
Equivalent Gear Ratios is the product
of the individual gear Ratios
Electro - mechanical
system
x m F
ext

=
u

I M
lg a
ext
=
|
|
.
|
\
|
=
0
j lg, a
j
e
0 =
j lg, a
j
i
KCL (or KVL) Newtons law
Translation Rotation
Here voltages are denoted by e to avoid confusion with velocities
Electromechanical Systems
Electromechanical Systems are Hybrid of
electrical and mechanical systems.
examples are
antenna azimuth position control system
robot controls
sun and star
trackers
computer disk
drive position
controls.

Antenna Azimuth Position control System (1)
Antenna Azimuth Position control System (2)
Load
Effect of Mechanical motion and
Magnetic field interaction with the
magnetic field
A current-carrying wire of
length l placed at right angle in a
magnetic field B experiences a
magnetic force F, perpendicular
to the wire.
Law of motors:
BLi F
B ) t ( i L F

Effect of Motion & Magnetic Field
Interaction on Electrical Field
A current-carrying wire
of length L moving in a
magnetic field B at a
velocity generates a
voltage e across the
wire.
Law of generators:
x
e = B l V
Armature Controlled DC Servo Motor
DC motor Driving a rotational
mechanical load
Torque-speed curves with an
armature voltage e
a
, as a
parameter

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Prepared by Mrs.

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