Electric Vehicle
Course
Module 12
Modeling Transfer
Functions
1. Introduction to Time Domain and
Frequency Domain
2. What Is the Transfer Function?
3. Introduction to State Space Representation
Agenda 4. Example of State Space Representation
5. Basics of Laplace Transform
6. Obtaining Transfer Function of SMD System
7. Modeling SMD System Using Transfer
Function
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Introduction to Time
Domain and Frequency
Domain
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Fundamentals of Control Systems
Control systems play a crucial role in various technologies, regulating everyday devices like thermostats and
automobiles. Time domain analysis is a key technique in controlling systems, aiding in their design and
evaluation. These systems are vital across engineering, maintaining control over diverse processes, from
manufacturing to aircraft engines, highlighting their essential role in modern technology and industry.
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Components and Types of Control Systems
Polymeric Separators Types
● Sensor: Detects system output changes, ● Open-loop Control Systems: Lack
measuring physical variables or feedback, regulate input, suitable for
monitoring data through devices or simple applications without the need
software for system observation. for precise output control.
● Closed-loop Control Systems: Employ
● Controller: Processes sensor data,
feedback, and regulate input based on
issuing corrective commands to
output, ideal for applications requiring
actuators. It ranges from simple
precise control like automation and
setpoint comparison programs to
robotics.
complex algorithmic systems.
● Nonlinear Control Systems: Lack of
● Actuator: Executes controller strict mathematical models,
commands, adjusting valves, and challenging to analyze, utilized in
motors, or sending signals through complex systems like biology or finance
mechanical devices or software for due to intricate behavior.
system response and control.
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What Is Time Domain Analysis?
Time domain analysis in control systems evaluates the performance by studying output signal behavior over
time, considering input and transfer functions. Characteristics like amplitude and stability are assessed through
methods like step response analysis. This mastery is crucial for designing stable control systems capable of
handling input variations.
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Time Domain Analysis Techniques
Time Response Root Locus
Analysis Method
Time Response Analysis studies dynamic system The Root Locus Method graphically analyzes system
behavior over time, evaluating parameters like rise stability and transient response by plotting
time and settling time for performance. characteristic equation roots with varying
parameters.
State Space
Analysis
State Space Analysis represents dynamic systems
using state variables, enabling comprehensive
analysis of behavior, control, and differential
equations.
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What Is Frequency Domain Analysis?
Frequency domain analysis dissects signals into frequency components, offering insights not apparent in the
time domain. Essential for understanding time-varying signals, it proves crucial in diverse applications such as
audio processing and financial analysis, highlighting the distinction between time and frequency domain
analyses.
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Frequency Domain Analysis Techniques
Decomposes a signal into its constituent frequencies.
Fourier Transform Utilizes complex exponentials to represent signals in the frequency.
Describes how a system responds to different frequencies.
Frequency Response Often visualized through Bode plots, showcasing magnitude,
and phase characteristics.
Involves manipulating signal frequencies using filters.
Filter Design High-pass, low-pass, band-pass, and notch filters are common types.
Examines the power distribution of a signal across different frequencies.
Spectral Analysis Useful for identifying dominant frequencies and patterns in a signal.
Widely used for real-time processing of signals in various applications.
Fast Fourier Transform (FFT)
Efficient algorithm for computing the Fourier Transform.
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What Is the Transfer
Function?
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What Is the Transfer Function?
A transfer function in a linear, time-invariant, differential equation system separates input, system, and output
components, facilitating an algebraic combination of subsystems. It represents the ratio of the Laplace
transforms of the output and input, assuming zero initial conditions. This mathematical tool enables a concise
and unified representation of complex dynamic systems, enhancing analysis and understanding of their
behavior in the frequency domain.
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Transfer Function
The linear time-invariant system is defined by the following differential equation:
Where, y is the output of the system and x is the input.
The transfer function of this system is the ratio of the Laplace transformed output to the Laplace transformed
input when all initial conditions are zero.
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Introduction to State
Space Representation
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Introduction to State Space Representation
State space representation is a mathematical model that describes the behavior of a control system as a set of
equations in terms of state variables. The state variables represent the system’s internal variables, which
describe its behavior and reflect its response to changes in inputs and feedback.
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Introduction to State Space Representation
● In the context of electric vehicles, state-space
modeling is used to analyze and control the
vehicle’s powertrain system.
● The electric vehicle system consists of two
subsystems: an electric machine as the drive
system and the vehicle platform.
● The main components include electrical energy
sources, control systems as central control, and
power converters as devices that convert
electrical energy sources with variable needs of
the electric vehicle by switching devices.
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Introduction to State Space Representation
● The state space model of an electric vehicle can
be used to simulate the vehicle’s behavior under
different driving conditions and to design control
strategies for the vehicle’s powertrain system.
● The state space model can also be used to
optimize the vehicle’s energy efficiency and
improve its performance.
● A reduced state space model based on the state
space method accurately describes aggregated
electric vehicles with different connecting states
and various state-of-charge states.
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Example of State Space
Representation
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Example of State Space Representation
Consider a simple electric vehicle powertrain system consisting of a battery, an electric motor, and a vehicle
platform. The state space model of this system can be represented by the following set of equations:
where:
● x is the state vector, which contains the state variables of the
system
● u is the input vector, which contains the inputs to the system
● y is the output vector, which contains the outputs of the system
● A, B, C, and D are matrices that describe the system
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Example of State Space Representation
The input vector u can be defined as:
where:
● Vb is the battery voltage
● Tm is the motor torque
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Basics of Laplace
Transform
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Basics of Laplace Transform
The Laplace Transform is a mathematical technique used in engineering and physics to analyze linear
time-invariant systems. It is particularly useful for solving differential equations and simplifying complex
problems in the time domain. The Laplace transform is denoted by the symbol ℒ f and is defined by the
integral:
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Basics of Laplace Transform
Here are some basics of the Laplace Transform:
1) Definition:
The Laplace transform of a function f(t) is a complex function F(s) , where s is a
complex variable.
2) Time Domain to Frequency Domain:
The Laplace transform transforms a function from the time domain to the frequency domain.
It is particularly useful for solving linear time-invariant differential equations.
3) Region of Convergence (ROC):
The Laplace transform exists only for a certain range of values of s , known as the Region of
Convergence (ROC).
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Basics of Laplace Transform
4) Common Laplace Transforms:
Certain standard transforms are frequently used, such as:
5) Linearity:
The Laplace transform is a linear operation. For constants a and b and corresponding functions
F(s) and G(s):
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Basics of Laplace Transform
6) Derivative Theorem:
General form:
7) Integration Theorem:
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Basics of Laplace Transform
8) Inverse Laplace Transform:
The inverse Laplace transform, denoted by , is used to obtain the original function from its Laplace
transform.
9) Convolution Theorem:
Convolution in the time domain corresponds to multiplication in the Laplace domain:
10) Application to Differential Equations:
The Laplace transform is widely used to solve linear ordinary differential equations with constant
coefficients.
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Obtaining Transfer
Function of SMD
System
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Obtaining Transfer Function of SMD System
The Laplace transform of this equation is:
Where:
● X(s) is the Laplace transform of the displacement
● F(s) is the Laplace transform of the force
The transfer function H(s) is given by the ratio of the Laplace transform of the output (X(s)) to the
Laplace transform of the input (F(s)):
This transfer function represents the dynamic behavior of the SMD system in the frequency domain.
The specific values of m,c, and k will depend on the characteristics of the EV's mechanical
components.
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Obtaining Transfer Function of SMD System
Obtaining the transfer function of a System of Mass and Damping (SMD) in the context of an Electric Vehicle
(EV) typically involves modeling the mechanical and electrical components of the system. The transfer function
relates the input (typically a force or voltage) to the output (typically displacement or current) in the frequency
domain.
Let's consider a simple model for the SMD system in an EV, where:
● m is the mass of the vehicle,
● c is the damping coefficient,
● k is the stiffness of the suspension, and
● F(t) is the external force applied to the system.
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Obtaining Transfer Function of SMD System
The equation of motion for the mechanical part of the system can be represented as :
where,
x(t) is the displacement of the vehicle
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Modeling SMD System
Using Transfer Function
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Modeling SMD System Using the Transfer Function
The transfer function of a control system is defined as
the ratio of the Laplace transform of the output
variable to the Laplace transform of the input variable
assuming all initial conditions to be zero. The transfer
function represents the relationship between the
output signal and the input signal of a control system
for all possible input values.
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Modeling SMD System Using the Transfer Function
To obtain the transfer function of an SMD system, we
need to form the equations for the system and take
the Laplace transform of the system equations,
assuming initial conditions as zero. We then specify
the system output and input and take the ratio of
the Laplace transform of the output and the Laplace
transform of the input, which is the required transfer
function.
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Modeling SMD System Using the Transfer Function
Here is an example of a second-order system (mass-spring-damper system) and its transfer function:
where:
● m is the mass of the system
● c is the damping coefficient
● k is the spring constant
● F is the input force
● x is the displacement of the mass from its equilibrium position
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Hands-On:
Modelling Transfer Functions
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Hands-On: Modelling Transfer Functions
1. Demonstrate the transfer function , if the input is represented by R(s) and the output is represented by
C(s) and the transfer function is represented as G(s).
2. Find the standard state-space representation for continuous linear time-invariant (LTI) systems.
3. Find the state-space representation for fundamental equation of the SMD system. Also find the following
along with their size,
● System matrix
● Input matrix
● Output matrix
● Feedforward matrix
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Hands-On: Introduction To Simulink
4. Obtain transfer function using time domain representation for the fundamental equation of the SMD
system.
5. Obtain transfer function using state space representation for the Jacobian matrices.
6. Create a mathematical model of the SMD system using its transfer function.
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