The purpose of electromechanical modeling is to model and simulate an electromechanical system, such that its. The paper represents the results of research of electromechanical processes in an electric locomotive with an asynchronous traction drive, carried out applying a developed computer model of the electric locomotive as a controlled electromechanical system. Simulation results are given for the locomotive start as well as for its motion in sections with worsened cohesion conditions in the. Characterization and modeling of viscoelastic hysteresis in a. Dynamic modeling and control of electromechanical coupling for. Sections dealing with mechanical systems concern holonomic and nonholonomic objects with multiple degrees of freedom. Well focus on mechanical and electrical systems, but will m ention some others too.
Drive system models for electrical and mechanical terminals, power electronics for control of electrical machines, drive control objectives, dynamic examples, ac motor control methods including fieldoriented control, models of vehicle loads. The concept of an object represented by a system of connected material points and the concept of a rigid body and connected bodies are presented. Fractional order modeling of a nonlinear electromechanical system. Modeling of electromechanical systems carles batlle ii eurongeoplex summer school on modeling and control of complex dynamical systems bertinoro, italy, july 1822 2005. Modeling and simulation of dynamic behavior of physical systems 4. Now let us describe the mechanical and electrical type of systems in detail. Mathematical model of electromechanical system with variable.
Reliability modeling of electromechanical system with meta. Contents of this lecture basic ideas of electromechanical energy conversion from a network modeling point of view. Engineering sciences 22 systems electrical modeling page 4 now we turn on the power and use the third dimension to indicate voltage. Principles of electromechanical systems 8 if there is an air gap in the flux path in a core, the effective crosssectional area of the air gap will be larger than the crosssectional area of the iron core on either side. Engineering sciences 22 systems electrical modeling page 2 voltage can also be defined in terms of potential energy of a unit charge. A systematic exposition of modeling of electromechanical systems in the bond graph formalism is presented. Modeling of electromechanical systems page 5 of 54 file. For this example, we will assume that the input of the system is the voltage source applied to the motors armature, while the output is the rotational speed of the shaft. Sign conventions as in mechanical systems we must define the sense of each variable we use, and mark that on the diagram in electrical systems, a circuit diagram or schematic. Ece 568 modeling and control of electromechanical systems spring 2020.
We develop a mathematical model for this system as we did the single loop, but multiply the results by n because of the multiple loops. Yedlin the department of electrical and computer engineering, the university of british columbia. Fingered tooling, or jaws, attach to the grippers to hold an object. Understand the concepts of reluctance and magnetic circuits. The extra effective area is caused by the fringing effect of the magnetic. Course text design of electromechanical robotic systems. Electromechanical system dynamics, energy conversion, and electromechanical analogies modeling of dynamic systems modeling of dynamic systems may be done in several ways. In this chapter, let us discuss the differential equation modeling of mechanical systems. Example 1 modeling of dc motors find a set of equations for the dc motor with the armature driven by the electric circuit shown in figure 6a. The modeling and control of complex dynamic systems are the rapidly. Systematic conversion of a simple electromechanical system model into a bond graph representation 5. The state variable description of a system is not unique different state variable descriptions are obtained by state transformation new state variables are weighted sum of original state variables changes the form of the system equations, but not the behavior of the system some examples. Mathematical modelling of control system mechanical.
This book examines four basic electromechanical systems and the components needed to design and construct them. Electromechanical systems chapters 1 and 2 ch t 1 i t d ti tchapter 1. Mathematical model of electromechanical system with variable dissipativity alexsandr baykov1, boris gordeev2 1nizhny novgorod state technical university n. It merges at the nanoscale into nanoelectromechanical systems nems.
Pdf modeling of electromechanical systems based on induction. The representation of lumpedparameter electromechanical systems by means of mathematical models has been the subject of the preceding. Modeling and simulation of dynamic systems using bond. Most of the common electromechanical components, such as electric motors and solenoids are used in combination with mechanical parts to provide actuation or movement. Electromechanical systems laboratory analytical representation 1 sensor measurement z 1.
Electrical system modeling electrical system modeling. The examples anticipate the general requirements of pupils and students for. Lecture 2 refers to the following matlab files for solving odes. This paper presents a novel modeling technique for a vtol electromechanical nonlinear dynamical system, based on fractional order derivatives. Thanks to my supervisors, paul fisette and damien grenier for their time and the fruitful advices they gave to me, the members of the jury. A mathematical model of a dynamic system is defined as a set of equations that represents the dynamics of the system. We discuss methods for numerically solving the generalized master equation gme which governs the timeevolution of the reduced density matrix of a mechanically movable mesoscopic device in a dissipative environment. Mathematical modeling of a control system is the process of drawing the block diagrams for these types of systems in order to determine their performance and transfer functions. Dynamics of electromechanical systems springerlink. Mathematical modeling of systems school of electrical. The metaaction chain methodology can estimate the system reliability under different operating modes by modeling the components with varieties of failure sensitivities.
Analysis of electromechanical systems and devices introduction to analysis and modeling energy conversion and force production overview of electromagneticsoverview of electromagnetics. Modeling of electromechanical systems aalborg universitet. Data for model validation timeseries data generator powers, load powers, line powers, voltages, voltage phase angles, frequency, currents, etc. The chapter exclusively deals with the second choice. Magnetic circuits earnshaws theorem and electromechanical stability. Find materials for this course in the pages linked along the left. Jongeun choi department of mechanical engineering university of british columbia lecture 8 modeling of dc motors 2008 fall 2 course roadmap laplace transform transfer function models for systems electrical mechanical electromechanical block diagrams linearization modeling analysis design time response. Electromechanical systems, electric machines, and applied.
Mar 08, 2015 video supplementary lectures from modeling, analysis, and control of dynamic systems, me 360 winter 2015. Me 375 system modeling and analysis section 6 electromechanical systems spring 2009 school of mechanical engineering douglas e. Systemcams modeling of an electromechanical harvester of vibration energy. The purpose of electromechanical modeling is to model and simulate an electromechanical system, such that its physical parameters can be examined before the actual system is built. Mathematical modeling of physical systems electrical circuits i this lecture discusses the mathematical modeling of simple electrical linear circuits. Use the standard equation of motion newtons law for mechanical systems use circuits theorems ohms law and kirchhoffs laws. Electrical modeling page 1 introduction to electrical systems modeling part i. Electrical and electromechanical system transfer functions. A complete drive system consists of many different components, hence this book has been structured to present a logical discussion, on a wide range of topics relating to selection of the complete motordrive system. Principles of electromechanical systems in this chapter, we lead you through a study of the mathematics and physics of electrical machines.
The transfer function of a system is a mathematical model in that it is an opera tional method of expressing the differential equation that relates the output vari able to the input variable. Lecture 4mathematical modeling of electrical systems free download as powerpoint presentation. The proposed method evaluates the possible fractional differential equations of the electromechanical. Computer modeling of electric locomotive as controlled. This paper exp lains different kinds of system such as electrical, mechanical, and hydraulic. Introduces the modeling of electrical systems from first principles, specifically, employing kirchoffs laws. Pdf numerical models of induction machine were designed using the method of average voltage on the integration step length.
For instance, for the specification of a rigid body, we need six coordinates, three for the reference point and three for the orientation. In case of system mathematical model plays an important role to give response. Simulation results are given for the locomotive start as well as for its motion in sections with worsened. Backlash nonlinearity modeling and adaptive controller design. This page describes the development of mathematical models of electromechanical systems systems with physically coupled electrical and mechanical systems. Assume the rotor has inertia jm and friction coecient b. The chapter presents the first, rather basic, simulink model of such an emm. In this paper modeling, simulation and control of an electromechanical actuator ema system for aerofin control afc with permanent magnet brush dc motor driven by a constant current driver are. Mathematical modeling of control systems 21 introduction in studying control systems the reader must be able to model dynamic systems in mathematical terms and analyze their dynamic characteristics. Introduction realtime operation of numerical models is a necessary condition to provide.
At this stage in a model, only the interactions of multiport systems are captured in a general fashion. In the industrial application, there may be different operating modes for a multicomponent system. After completing the chapter, you should be able to describe a physical system in terms of differential equations. We may find uncertainty in the operating environment, whether it is a windy airspace, a bumpy road, or an obstaclestrewn factory floor. Dynamic modeling and control of an electromechanical control. Basic ideas of electromechanical energy conversion from a network modeling point of view port hamiltonian formulation of electromechanical systems very simple examples. Chapter 2 mathematical modeling in transfer function form file. Lecture 4mathematical modeling of electrical systems. Aug 19, 20 introduces the modeling of electrical systems from first principles, specifically, employing kirchoffs laws. System level modeling of electromechanical sigmadelta. This approach has been identified by computing some electromechanical system. Characterization and modeling of viscoelastic hysteresis in a dielectric elastomer actuator yunhua zhao, guang meng and wenming zhang state key laboratory of mechanical system and vibration, school of mechanical engineering, shanghai jiao tong university, shanghai 200240, peoples republic of china email. Modeling of mechanical systems for mechatronics applications 9. In particular a control engineer uses a model for the.
Modeling and control of an electromechanical disk brake. Summary modeling of electromechanical systems page 3 of 54 file. Modeling of electromechanical systems contents semantic scholar. Example circuit with voltage shown in the third dimension. It first discusses the system level modeling of a second order electromechanical sigma. System modeling electromagnetic forces dynamic principles for electric and. Identification and control of electromechanical systems using state. These servo electromechanical systems are said to offer a clean, fast, simple, and costeffective alternative to hydraulics and longer life compared to pneumatics. Modeling mechanical systems california state university.
Translational mechanical systems move along a straight line. As the name suggests, electromechanical systems or devices convert electrical energy into mechanical movement and sometimes vice versa. These systems mainly consist of three basic elements. Modeling and control of an electromechanical disk brake 980600 in the scope of a research collaboration, itt automotive europe and darmstadt university of technology are developing control strategies for a lowcost brakebywire system. In the electrical part of the system we consider the back emf of the electrical circuit. Stochastic modeling for system remaining life prognosis.
Springs and dampers are connected to wheel using a flexible cable without skip on wheel. Finally, since complex electromechanical systems involve sensors and actuators, we have to acknowledge uncertainty in measurement and feedback control. Electromechanical system dynamics, energy conversion, and. Electromechanical modeling of hybrid piezohydraulic actuator system for active vibration control electromechanical modeling of a hybrid piezohydraulic actuator system for active vibration control was developed. We further assume a viscous friction model, that is, the friction torque is proportional to shaft angular velocity. When modeling a circuit, one ends up with a set of imppylicitly formulated algebraic and differential equations daes, which in the process of horizontal and vertical sorting are. This general model includes many of the classical electrical machines, as well as linear motors and levitating systems. Specific discussion of modeling power electronics and batteries is included. The key ingredient in this course and what differentiates it from many other related courses is the uncertainty that is encountered whenever a built system is actually installed in the field. Masspulley system a mechanical system with a rotating wheel of mass m w uniform mass distribution. Dc analysis techniques dc analysis techniques are of course important for analyzing dc circuitscircuits that are not dynamic. Microelectromechanical systems mems, also written as micro electromechanical systems or microelectronic and microelectromechanical systems and the related micromechatronics and microsystems is the technology of microscopic devices, particularly those with moving parts.
Designing the controller for an electromechanical system. Pdf systemcams modeling of an electromechanical harvester. Pdf this paper presents a novel modeling technique for a vtol electromechanical nonlinear dynamical system, based on fractional order derivatives. It is suggested that you read about translating mechanical systems, rotating mechanical systems and electrical systems before starting. Sep 16, 2009 the paper represents the results of research of electromechanical processes in an electric locomotive with an asynchronous traction drive, carried out applying a developed computer model of the electric locomotive as a controlled electromechanical system. Introduction to electromechanical systems chapter 2. Parameter estimation and physical realization of the overall system is the major design objective of electromechanical modeling. Modeling and simulation of electromechanical systems. Backlash nonlinearity modeling and adaptive controller design for an electromechanical power transmission system r. This experience suggested there might be other people much like myselfoutside the power industry, but vitally concerned with it. There are two types of mechanical systems based on the type of motion.
A modern camera is a good example of a mechatronic product. Of course, such approach leads to different models for different uses of the same system. It includes models of semiconductors, motors, and components for applications such as electromechanical actuation, smart grids, and renewable energy systems. Nonlinearity characteristics, such as backlash, in various mechanisms, limit the performance of feedback systems by causing delays, undesired oscillations and inaccuracy. To analyze such systems we will always employ two diagrams, one for the mechanical system and one for the electrical system. Alexeev, nizhny novgorod, russia 2institute of machine building of russian academy of sciences, nizhny novgorod, russia 1corresponding author. Dynamic modeling and control of electromechanical coupling. In practice, many electromechanical systems, hydraulic systems, pneumatic systems, and. We use the term model to refer to a set of mathematical equations used to represent a physical system, relating the systems output signal to its input signal. But why do we discuss them in a dynamic systems class. The transfer function of piezoelectric actuator was derived from the electromechanical potential energy law. Finally, a simulation study shows how the resulting sdp model is able to facilitate nonlinear control system design using linearlike design procedures. The basic procedure of feedback and feedforward cascade control system design is presented for the. Chapter is devoted to dynamics of mechanical and electromechanical systems.
Firstly, they provide good practice and help build intuition for circuits. These are the essential skills that a controls engineer must have to operate in industry. Nonlinear system a system is nonlinear if the principle of superposition and homogeneous are not applied. Electromechanical systems, electric machines, and applied mechatronics presents a unique combination of traditional engineering topics and the latest technologies, integrated to stimulate new advances in the analysis and design of stateoftheart electromechanical systems. Researcharticle reliability modeling of electromechanical system with metaaction chain methodology genbaozhang andyangwang collegeofmechanicalengineer,chongqinguniversity,chong, china. Mathematical modeling of systems in this chapter, we lead you through a study of mathematical models of physical systems.
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