me 2401 mechatronics

ME 2401 MECHATRONICS UNIT III

SYSTEM MODELS AND CONTROLLERS

Building blocks of Mechanical, Electrical, Fluid and Thermal Systems, Rotational – Transnational Systems , Electromechanical Systems – Hydraulic – Mechanical Systems. Continuous and discrete process Controllers – Control Mode – Two – Step mode –Proportional Mode – Derivative Mode – Integral Mode – PID Controllers – Digital Controllers Velocity Control – Adaptive Control – Digital Logic Control – Micro Processors Control.

System Models

Mathematical ModelsMechanical System Building Blocks

Electrical System Building BlocksFluid System Building Blocks

Thermal Systems Building Blocks

Mathematical Models

• Think how systems behave with time when subject to some disturbances.

• In order to understand the behaviour of systems, mathematical models are required.

• Mathematical models are equations which describe the relationship between the input and output of a system.

• The basis for any mathematical model is provided by the fundamental physical laws that govern the behaviour of the system.

Building Blocks• Systems can be made up from a range of building blocks.• Each building block is considered to have a single property or

function.• Example: an electric circuit system which is made up from

blocks which represent the behaviour of resistance, capacitance, and inductor, respectively.

• By combining these building blocks a variety of electrical circuit systems can be built up and the overall input-output relationship can be obtained.

• A system built in this way is called a lumped parameter system.

BUILDING BLOCKS - MECHANICAL SYSTEM

• Basic building block: spring, dashpots, and masses.

• Springs represent the stiffness of a system

• Dashpots represent the forces opposing motion, for example

frictional or damping effects.

• Masses represent the inertia or resistance to acceleration.

• Mechanical systems does not have to be really made up of

springs, dashpots, and masses but have the properties of

stiffness, damping, and inertia.

• All these building blocks may be considered to have a force

as an input and displacement as an output.

Stiffness of a Spring• Stiffness of a spring is described as the relationship between

the force F used to extend or compress a spring and the resulting extension or compression x.

• In the case of spring where the extension or compression is proportional to the force (linear spring): F = kx, where k is a constant, the bigger the value of k the greater the forces have to be to stretch or compress the spring and so the greater the stiffness.

SpringF x

Translational Spring, k (N)

Fa(t)

x(t)

t

tsa

a

s

as

sa

dttvktF

dt

tdF

kdt

tdxtv

tFk

tx

txktF

tx

tv

tF

0

)()(

)(1)()(

)(1

)(

)()(

(m) )(position Linear

(m/sec) )(ocity Linear vel

Newtonin )( force Appied a

Rotational Spring, ks (N-m-sec/rad)

Fa(t)

(t)

t

tsa

a

s

as

ma

dttktT

dt

tdT

kdt

tdt

tTk

t

tBtT

t

t

tT

0

)()(

)(1)()(

)(1

)(

)()(

(rad) )(nt displacemeAngular

(rad/sec) )(locity Angular ve

m)-(N )( torqueAppied a

(t)

ks

Dashpot• The dashpot block represents the types of forces experienced

when pushing an object through a fluid or move an object against frictional forces. The faster the object is pushed the greater becomes the opposing forces.

• The dashpot which represents these damping forces that slow down moving objects consists of a piston moving in a closed cylinder.

• Movement of the piston requires the fluid on one side of the piston to flow through or past the piston. This flow produces a resistive force. The damping or resistive force is proportional to the velocity v of the piston: F = cv or F = c dv/dt.

Translational Damper, Bv (N-sec)

Fa(t)

x(t)

t

ta

v

mma

am

ma

dttFB

tx

dt

tdxBtvBtF

tFB

tv

tvBtF

tx

tv

tF

0

)(1

)(

)()()(

)(1

)(

)()(

(m) )(position Linear

(m/sec) )(ocity Linear vel

Newtonin )( force Appied a

Bm

Rotational Damper, Bm (N-m-sec/rad)

Fa(t)

(t)

t

ta

m

mma

am

ma

dttTB

t

dt

tdBtBtT

tTB

t

tBtT

t

t

tT

0

a

)(1

)(

)()()(

)(1

)(

)()(

(rad) )(nt displacemeAngular

(rad/sec) )(locity Angular ve

m)-(N )( torqueAppied

(t)

Bm

Mass• The mass exhibits the property that the bigger the mass the

greater the force required to give it a specific acceleration.• The relationship between the force F and acceleration a is

Newton’s second law as shown below.• Energy is needed to stretch the spring, accelerate the mass and

move the piston in the dashpot. In the case of spring and mass we can get the energy back but with the dashpot we cannot.

2

2

dt

xdm

dt

dvmmaF

MassForce Acceleration

Mechanical Building BlocksBuilding Block Equation Energy representation

TranslationalSpring F = kx E = 0.5 F2/kDashpot F = c dx/dt P = cv2

Mass F = m d2x/dt2 E = 0.5 mv2

RotationalSpring T = k E = 0.5 T2/kDamper T = c d/dt P = c2

Moment of inertia T = J d2/dt2 P = 0.5 J2

Building Mechanical Blocks

• Mathematical model of a machine mounted on the ground

Mass

GroundInput, force

Output, displacement

Fkxdt

dxc

dt

xdm

2

2

Building Mechanical Blocks

• Mathematical model of a rotating a mass

Tkdt

dc

dt

dJ

2

2Torque

Moment of inertia

Torsional resistance

ShaftPhysical situationBlock model

BUILDING BLOCKS - ELECTRICAL SYSTEM

• From Newton’s law or using Lagrange equations of motions, the second-order differential equations of translational-dynamics and torsional-dynamics are found as

dynamics) (Torsional )(

dynamics) onal(Translati )(

2

2

2

2

tTkdt

dB

dt

dj

tFxkdt

dxB

dt

xdm

asm

asv

Electrical System Building Blocks

• The basic building blocks of electrical systems are resistance, inductance and capacitance.

2

2

2

2

1 ; :Capacitor

2

1 ;

1 :Inductor

; :Resistor

CvEdt

dvCi

LiEvdtL

i

RiPiRv

Resistance, R (ohm)

v(t) R

i(t)

)(1

)(

)()(

)(Current

)( voltageAppied

tvR

ti

tRitv

ti

tv

Inductance, L (H)

v(t) L

i(t)

t

t

dttvL

ti

dt

tdiLtv

ti

tv

0

)(1

)(

)()(

)(Current

)( voltageAppied

Capacitance, C (F)

v(t) C

i(t)

dt

tdvCti

dttiC

tv

ti

tv

t

t

)()(

)(1

)(

)(Current

)( voltageAppied

0

For a series RLC circuit, find the characteristic equation and define the analytical relationships between the characteristic roots and circuitry parameters.

LCL

R

L

Rs

LCL

R

L

Rs

LCs

L

Rs

dt

dv

Li

LCdt

di

L

R

dt

id a

1

22

1

22

are roots sticcharacteri The

01

11

2

2

2

1

2

2

2

BUILDING BLOCKS – FLUID SYSTEM• The basic building blocks of fluid systems are the volumetric rate of flow q and

the pressure difference.

Input Output

Volumetric rate of flow Pressure difference

Fluid system can be divided into two types: hydraulic and pneumatic.Hydraulic resistance is the resistance to flow of liquid as the liquid flow through valves or changes in pipe diameter takes place.

qRpp 21

p1 - p2 is pressure differenceR is the hydraulic resistance

q is the volumetric rate of flow

Hydraulic capacitance is the term used to describe energy storage with a liquid where it is stored in the form of potential energy. A height of liquid in a container is one form of such a storage. For such capacitance, the rate of change of volume V in the container (dV / dt) is equal to the difference between the volumetric rate at which liquid enters the container q1 and the rate at which it leaves q2.

dt

dpCqq

pg

AC

gp

dt

dp

pg

Aqq

dt

dhAqq

AhV dt

dVqq

21

21

21

21

;

gravity) todueon accelerati theis density; liquid is (

;

Hydraulic inertance is the equivalent of inductance in electrical systems or a spring in mechanical systems. To accelerate a fluid and so increase its velocity a force is required.

Mass mF1=p1A

F2=p2A

L

density theis g andblock theoflength theis

inertance hydraulic theis ;

)(

)(

)(

21

21

21

212121

LA

LgI

dt

dqIpp

dt

dqLp

dt

dvALp

dt

dvmApp

maApp

AppApApFF

With pneumatic systems the three basic buildings blocks are as with hydraulic systems, resistance, capacitance, and inertance. However, gasses differ from liquids in being compressible.

dtppLdt

dmdt

ppdC

dt

dmR

pp

dt

dm

)(1

Inertance

)( eCapacitanc

Resistance

21

21

21

A fluid system

R

pgh

dt

dhA

dt

hpgdC

R

hpgq

R

hpgqhpg-pp

Rqppdt

dpCqq

)(

;

e)(Resistanc

)(Capacitor

1

221

221

21

q1

h

q2

flow of rate c volumetri theis

gravity todueon accelerati theis

density liquid theis

q

g

p

BUILDING BLOCKS - THERMAL SYSTEM

• There are only two basic building blocks for thermal systems: resistance and capacitance.

• There is a net flow of heat between two points if there is a temperature difference between them.

• The value of the resistance depends on the mode of heat transfer.

tyconductivi thermal theis

. and are re temperatuheat which t points ebetween th material oflength theis

conducted being isheat hich the through wmaterial theof area sectional Cross:

21

1212

k

TTL

AL

TTAk

R

TTq

Thermal System

L

L

L

TTdt

dTRC

R

TT

dt

dTC

dt

dTCq

dt

dTCqq

R

TTq

;21

qT

TL

resistance thermal theis

ecapacitanc theis

flowheat of ratenet theis

R

C

q

Rotational Systems• The mass, spring, and dashpot are the basic building blocks for mechanical

systems where forces and straight line displacements are involved without any rotation.

• If rotation is involved, then the equivalent three building blocks are a torsional spring, a rotary damper and the moment of inertia (i.e. the inertia of a rotating mass).

• With a torsional spring the angle rotated is proportional to the torque: T = k.

• With a rotary damper a disc is rotated in a fluid and the resistive torque T is proportional to the angular velocity .

• The moment of inertia block exhibit the property that the greater the moment of inertia J the greater the torque needed to produce an angular acceleration

JaTdt

dccT ;

TRANSNATIONAL SYSTEM

ELECTROMECHANICAL SYSTEM

HYDRAULIC SYSTEM

MECHANICAL SYSTEM

CONTINUOUS PROCESS CONTROLLERS

DISCRETE PROCESSCONTROLLERS

CONTROL MODE

TWOSTEP MODE

PROPORTIONAL MODE

DERIVATIVE MODE

INTEGRAL MODE

PIDCONTROLLERS

DIGITALCONTROLLERS

VELOCITY CONTROL

ADAPTIVE CONTROL

DIGITAL LOGIC CONTROL

MICROPROCESSORS CONTROL.