Mathematical Modeling of Electrical Systems
Nader Sadegh
George .W. Woodruff School of Mechanical Engineering Georgia Institute of technology
Objectives
To describe the behavior of electrical circuits involving resistors, capacitors, and inductors using mathematical equations Use the model for analysis, design and simulations Mathematical modeling of electromechanical systems
ME3015, System Dynamics & Control
Basis Terminology
Voltage: is the electromotive force needed to produce the flow of electrons (analogous to pressure). The unit of voltage is volt (V).
-------++++
Electron flow
ME3015, System Dynamics & Control
Charge: is proportional to the excess of electrons (negative charge) over protons (positive charge) in a matter. The unit of charge is coulomb. 1 coulomb = charge of 6.251018 electrons Current: is the rate of flow of electrical charge (coloumb/sec=amp):
i =
dq q = dt
i dt
Power Sources
There are two types of electrical power sources: Voltage source delivers a specified voltage regardless of the current drawn by the load
ME3015, System Dynamics & Control
Current Source delivers a specified current regardless of the voltage drop across the load
es
load
is
load
Basic Electrical Elements
Element
Symbol
iR
b
Constitutive Relationship
R eR Voltage Drop Current
Resistor
ME3015, System Dynamics & Control
eR = ea eb = Ri R
Voltage Drop Charge eC=q/C, C: Capacitance (F)
Capacitor
C eC
ic
deC 1 1 = iC eC = iC dt dt C C
iL
b
Inductor
L eL
di L 1 1 = eL i L = eL dt dt L L
Voltage Drop d(Current)/dt eL=LdiL/dt, L: Inductance (H)
Kirchoffs Current & Voltage Laws
Current Law:
i in, j =
j =1
ME3015, System Dynamics & Control
i
j =1
out , j
iin
iout
Voltage Law:
a b
eab + ebc + ecg + ega = 0
g c
Mathematical Modeling
There are 3 commonly used methods: Loop Method Node Method Complex Impedances
ME3015, System Dynamics & Control
Loop Method
1. Label each node and assign cyclic current to each loop. 2. Write the K-Voltage law for each loop.Express voltage across each element in terms of the cyclic currents assigned in step. 3. Assemble the equations into a set of differential/integral equations with an equal number equations and unknown variables. 4. If desired eliminate all the integrals using the relationship q=i dt to obtain a system of differential equations.
ME3015, System Dynamics & Control
Node Method
1. Label each node. 2. Apply the K-current law at each node.
ME3015, System Dynamics & Control
3. Express all currents in terms of nodal or elemental voltages. 4. Assemble the equations into a set of ordinary differential equations with an equal number equations and unknown variables. Eliminate integrals using iL=vLdt for all the inductors.
Loop Method Example
Example A-4-5 (Figure 4-35) Loop equations: R1i1+(1/C)(i1-i2)dt=es
ME3015, System Dynamics & Control
R1 C es i1 i2
R2
Ldi2/dt+R2i2+(1/C)(i2-i1)dt=0
How to get rid of integrals? Try using charges q1= i1dt and q2= i2dt instead of i1 and i2: R1dq1/dt+(1/C)(q1-q2)=es Ld2q2/dt2+R2dq2/dt +(1/C)(q2-q1)= 0
Method of Complex Impedances
Transforms the circuit directly into the Laplace domain by using each elements impedances Results in input-output transfer function
ME3015, System Dynamics & Control
The method is described in the text pages 153156, and will be Illustrated in class
Mixed Systems
Most systems in mechatronics are of the mixed type, e.g., electromechanical, hydromechanical, etc Each subsystem within a mixed system can be modeled as single discipline system first
ME3015, System Dynamics & Control
Power transformation among various subsystems are used to integrate them into the entire system
Overall mathematical model may be assembled into a system of equations, or a transfer function
D.C. Motor IllustratiD.C. Motor
ME3015, System Dynamics & Control
D.C. Motor Model
D.C. Motor converts electrical power to mechanical power. It can be used as a velocity or position actuator.
Motor torque is a function of armature current Motor angular velocity is proportional to its (back-emf) voltage.
ME3015, System Dynamics & Control
Schematic:
i e D.C. T
T = Kt i e = Kb
Kt: Torque Constant Kb: Velocity Constant
Ideal Motor: Kt=KbInput Power=ei=Output Power=T
Electro-Mechanical Example
Input: voltage u Output: Angular velocity
Ra u ia La dc B J
Elecrical Subsystem (loop method):
ME3015, System Dynamics & Control
u = R a i a + La
di a + e b , e b = back - emf voltage dt
& Tmotor = J + B
Mechanical Subsystem
Electro-Mechanical Example
Power Transformation: Torque-Current: Tmotor = Kt i a Voltage-Speed:
ME3015, System Dynamics & Control
Ra u ia
La B dc
e b = K b
where Kt: torque constant, Kb: velocity constant For an ideal motor Kt = K b Combing previous equations results in the following mathematical model:
di a + Ra i a + K b = u La dt J + B - K t i a = 0 &
Transfer Function of Electromechanical Example
Taking Laplace transform of the systems differential equations with zero initial conditions gives:
(La s + R a )I a ( s ) + K b ( s ) = U ( s ) (Js + B ) (s) - K t I a ( s ) = 0
Ra u ia La B Kt
ME3015, System Dynamics & Control
Eliminating Ia yields the input-output transfer function
Kt (s) = 2 U(s) La Js + (JRa + BLa ) + BRa + Kt K b
Reduced Order Model
Assuming small inductance, La 0
(Kt Ra ) (s) = U(s) Js + (B + Kt K b Ra )
which is equivalent to
ME3015, System Dynamics & Control
Kt K b Ra Kt u Ra
The D.C. motor provides an input torque and an additional damping effect known as back-emf damping
Electro-Mechanical Example
Transfer Function, La=0:
Ra u ia La B Kt
(Kt Ra ) (s) k = = U(s) Js + (B + Kt K b Ra ) Ts + 1
ME3015, System Dynamics & Control
u t
12
ku
Amplitude
10 8 6 4 2 0
k=10, T=0.1
T
0 0.1 0.2 0.3 Time (secs) 0.4 0.5
Mixed Systems
Most systems in mechatronics are of the mixed type, e.g., electromechanical, hydromechanical, etc Each subsystem within a mixed system can be modeled as single discipline system first
ME3015, System Dynamics & Control
Power transformation among various subsystems are used to integrate them into the entire system
Overall mathematical model may be assembled into a system of equations, or a transfer function
