4. modelling of dynamical system.doc
TRANSCRIPT
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Mathematical Modeling
Modeling of Electrical Systems
Basic Components of electrical systems are as follows.
Modeling of electrical system is based on Kirchhoff’s Law, i.e either
using Nodal Analysis or Mesh Analysis depending on which one is
easier for each case.
LRC Circuit
Consider the following LRC circuit,
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Using KVL (Kirchhoff’s Voltage Law) we get,
Assuming zero initial conditions and transform the eqns into Laplace,
Then the transfer function of the circuit is
Cascaded RLC Circuit
Using KVL (Kirchhoff’s Voltage Law) we get,
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Assuming zero initial conditions and transform the eqns into Laplace,
Subtitude eqn(3-70) into eqn(3-69) to eliminate I1 from eqn(3-69),
then the transfer function is:
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This approach becomes quite difficult as the circuit becomes more
complex. The simpler approach is by using SFG.
Modeling of Electrical Network Using SFG
Example 1
Consider the RC circuit,
Using KVL and KCL (Kirchhoff’s Current Law) we can write,
Draw SFG,
The transfer function,
Example 2
Consider the cascaded RC circuit,
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Using KVL and KCL (Kirchhoff’s Current Law) we can write,
Draw SFG and apply Mason gain formula,
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Example 3
Using KVL and KCL we can write,
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Draw SFG and apply Mason gain formula,
Active Circuit
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Active circuit consists of operational amplifier or op amps, normally
used to amplify signal in sensor circuit and also in filter or controller.
The equation that govern the op amps is,
Inverting Amplifier
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Non-Inverting Amplifier
Example 1
Consider the following circuit that could be simplified as the next
circuit.
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The second circuit is similar to the inverting amplifier, hence
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Example 2
Consider the following lead or lag controller circuit,
From Figure (a) that is similar to inverting amplifier,
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To get the non-inverting circuit, the sign inverter as in Figure (b) is
normally used, where
Modeling of Mechanical Systems
Basic elements and laws of mechanical systems are as follows:
1. Spring
where k is the spring constant .
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2. Damper and Dashpot
where c = damping coefficient
3. Mass and Inertia
where m, J = mass/ inertia
4. Lever Mechanism
without the fixed point,
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and if a = b,
5. Gear
The number of teeth on the gear surface is proportional to the
gears radii
The distance traveled along the surface of each gear is the same.
The work done by the gear is equal to that of the other,
The gear ratio,
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Example 1 – Damper-Spring-Mass system
Force equation according to Newton’s Law
In Laplace domain,
Therefore, transfer function
Example 2: Dynamic Absorber (Two-mass system)
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Mass m:
or
Mass m1
or
In Laplace Domain
or
Draw SFG
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Using Mason’s Gain formula,
Example 3 – Rotational Drive system
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Assume , then force eqns.,
and
In Laplace domain,
or
Draw SFG
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Apply Mason’s gain formula
Example 4 – System with Gears
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Force Eqns.,
In Laplace Domain,
Draw SFG
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The Transfer Functions,
Modeling of Biomedical Instruments/ DevicesMost of the biomedical instruments / devices are made of a
combination of mechanical and electrical components. Some of those
simple instruments will be considered in this section.
Example 1 – Dialysate weight measuring circuit (for Peritoneal
Dialysis)
A simple schematic diagram for Peritoneal Dialysis system is shown
bellow. To provide a mobile system, the control hardware, dialysate
supply and spent dialysate are commonly mounted on a wheeled
stand.
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It is required to measure the weight of the dialysate supply and spent
dialysate to determine the amount of fluid and waste removed from
the body. The measuring circuit consists of the following circuit
attached to a spring-loaded mechanism to change the position of a
potentiometer.
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The transfer function of circuit is given by a standard non-inverting
amplifier,
Example 2 – An Integrator for EMG signals
It is frequently of interest to quantify the amount of EMG
(Electromyogram) activity. Such quantification often assumes the
form of taking the absolute value of EMG and integrating it, as shown
in the block diagram bellow,
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The transfer function of the integrator is,
Example 3 – An ECG amplifier circuit
The block diagram of an electrocardiograph (ECG) is shown bellow.
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The transfer function of the first op amp,
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Since the second op-amp also has the same resisters so it has the same
transfer function. The third op-amp will have the transfer function of,
Therefore, the overall transfer function will be,
Example 4 – Signal conditioning, low pass filter for ECG signal
A low pass filter is part of the conditioning circuit for ECG and one of
the common filters is Sallen and Key quadratic low-pass filter as in
the following diagram.
Note that
KCF at V1
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KCF at V2
Hence the transfer function is,
Example 5 – Strain gauge to study the strength of artificial bone
A fine wire is cemented on a carrier (e.g thin paper, bakelite or teflon). The carrier is then bonded to subject being measured
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Stress tends to elongate the wire, hence increase its length and decrease cross-sectional area. Thus resistance is:
ρ = resistivity of the material in Ωm
A strain gauge is normally glued to an artificial bone to study the
effect of applying a load to the bone.
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Initially the circuit is balance (as R1 = R2), thus the output voltage is
zero. However, if the active gauge is stretched or compressed the
gauge resistance will vary and produce some voltage. The transfer
function is,
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Where r is the resistance due to the strain of the gauge,
Where k is the gauge factor and strain is the change in length divide
original length,