[工学]控制原理Chapter 2-1-2.pdf

CHAPTER 2　 CHAPTER 2　 Mathematical Models of Systems Mathematical Models of Systems By Hui Wang 2004-9-20 Chapter 2-1 1 Review of last lecture Review of last lecture The importance of modeling dynamic system The importance of modeling dynamic system Basic concepts of modeling Basic concepts of modeling Application basic laws of electrical, thermal, Application basic laws of electrical, thermal, mechanical and Fluids to physical equipment to mechanical and Fluids to physical equipment to write system differential equation model write system differential equation model Some general characteristics of first order Some general characteristics of first order system, for example, time constant. system, for example, time constant. 2004-9-20 Chapter 2-1 2 Review of last lecture Review of last lecture An electric circuit obey Kirchhoff’s laws: A ∑I i 0 , ∑Vi 0 i i Newton’s second law: d d ∑Fi p (mv ) ma dt dt i Fluid:Conservation of mass, momentum and energy, etc. Conservation of Mass: m Qin −Qout d Conservation of Momentum: ∑Fi p i dt Conservation of Energy: de δq +δw Examples of first order systems and second order systems 2004-9-20 Chapter 2-1 3 Outline of this chapter Introduction