Control Systems
Engineering
Seventh Edition
Norman S. Nise
Chapter 2
Modeling in the Frequency Domain
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Laplace Transform
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Partial Fraction Expansion
Solution of a differential equation:
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The Transfer Function
Example:
Sol:
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Electrical Network Transfer Functions
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Using Kirchhoff’s laws:
1. Sum voltages or around loops or sum currents at nodes (least effort in algebraic).
2. Write the differential equations for the cct.
3. Take Laplace transforms.
4. Solve for the transfer function.
Example:
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Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
To develop a technique for simplifying the solution for future problems, take the Laplace transform of the
equations in the voltage-current column of Table 2.3, assuming zero initial conditions.
For the capacitor
For the resistor
For the inductor
Impedance TF
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Laplace-transformed network
while,
Solve for I(s); then substitute into Eq. 2.74,
Eq. 2.66 is obtained after the simplifications.
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Operational Amplifiers:
The transfer function of the inverting operational amplifier is:
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Translation Mechanical System Transfer Functions
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Example: Find the transfer function, X(s)/F(s), for the system in Fig. (a)
- What is the relationship between the input and output acc. to (table 2.4)?
Force-displacement
1. Assume the mass is traveling toward the right.
2. Thus only the applied force points to the right.
3. All other forces act to opposite side.
4. Spring, viscous damper, and force due to acceleration point are to the left.
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Using Newton’s law: sum of forces on body equals zero
Taking the Laplace transform, assuming zero initial conditions:
or
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Notice that Eq. 2.110 is of the form:
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Skill-Assessment Exercise 2.8
We can write the equation of the motion using:
[sum of impedances] X(s) = [Sum of applied forces]
… for M1
… for M2
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Rotational Mechanical System Transfer Functions
Same way as translation mechanical systems, except:
- Torque replaces Force
- Angular displacement replaces displacement
- Same components, except which undergo rotation
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From Fig., as gears turn, because of same distance
is travelled along each gear’s circumference, thus:
or
Assuming gears are lossless:
translation energy of force F(t) x displacement X(t) = rotational energy of torque T(t) x angular displacement θ(t)
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Electromechanical System Transfer Functions
armature-controlled dc servomotor
where vb(t) is back emf, Kb is back emf constant, dθm(t)/dt=ωm(t) is the angular velocity of
motor. Taking Laplace transform:
write in a loop equation:
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Electromechanical System Transfer Functions
The developed torque by the motor:
Kt is motor torque constant which is equal to Kb in consistent set of units. By
substituting Eqs. (2.145) and Ia(s) from (2.147) into (2.146), the transfer function of
the motor is:
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Electrical Circuit Analogs
- Series Analog:
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- Parallel Analog:
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