L02prn.ppt

Ch2 Modeling and Simulation 2.1 Differential equation models 2.2 Laplacian transform 2.3 Transfer function models 2.4 Convolution models 2.5 State space models 2.6 Block diagrams 2.7 Simulation 2.8 Modeling of closed-loop systems 2.9 Summary 2.1 Differential equation models A system: 2.1 Differential equation models General ordinary differential equation model LDE model 2.1 Differential equation models Series RLC Circuits 2.1 Differential equation models Parallel RLC Circuits 2.1 Differential equation models Example denotes a voltage-controlled current source whose current is proportional to the voltage across the capacitor C1. 2.1 Differential equation models Spring-mass-damper system Two-cart system Applying Newton’s second law to the first cart, we obtain Applying Newton’s second law to the second cart, we obtain Put two equations together Armature-controlled DC motor system A DC motor has two sets of windings. One set is mounted to the stator and is used to generate the magnetic field. In an armature-controlled DC motor, the current to this set of windings is set to be constant so that the magnetic field in the motor is constant. The other set is mounted in the rotor and is used to generated the torque through the magnetic force. The current through this winding is controllable so a controlled torque can be obtained. When the motor shaft is turning, the magnetic field also generated a potential in the rotor winding due to the Faraday induction. This potential is called back electromotive force (back emf). There are two basic relations in a DC motor. One is that the torque in the motor shaft is proportional to the armature current via the torque constant Kt, i.e.  The other is that the back emf is proportional to the motor velocity via the back emf constant , i.e., The torque in the motor shaft then drives the load which consists of mass with a moment of