Mathematical model with

sensor and actuator for a trans

elevator
Mohammad Zakwan Alahdab

University of Jordan
Faculty of Engineering and
technology
Mechatronics Eng. Dept.
2121354
Modelling and simulation
proj.

Table of contents:
Abstract , Introduction

Page 3
Page 4
Page 5

Preliminaries
Mathematical models for the
elements of the transelevator
State space representation
Page 11
Choosing Parameters and
Page 12
obtaining the T.F. of the system
Obtaining the outputs
References

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Page 15
Page 20

-Table of Figures :
Figure 1 : a transelevtor in a automated warehouse page 3
Figure 2 : (transelevtor ) page 5
Figure 3 : motor circuit controlled by DC page 6
Figure 4 : Actuators Circuit page 7
Figure 5 : Sensor Circuit page 8
Figure 6 : Simulink page 16
Figure 7 : output response page 17
Figure 8 : states response from X1 to X6 page 18
Figure 9 : states response from X6 to X9 page 19

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1-Abstract
in this paper, we will obtain
the mathematical models of a
transelevator with a sensor and
a actuator using some
Figure 1 ( a transelevtor in a automated warehouse )
mathematical techniques.
After obtaining the mathematical model we will find its transfer functions and
find its outputs for a given parameters . Finally, the stability analysis of the
model is studied.

2-Introduction
A transelevator is a crane similar to a
Cartesian robotic arm which is moved inside of a warehouse,
this transelevator is used to move loads from one
place to another one inside of the warehouse.(Figure 1)
the structural mathematical model is used
for control application, but in order to control a system, a sensor and an actuator
are required. So this paper is interested to the mathematical model with a sensor
and an actuator of a transelevator.
It is less expensive to obtain a
mathematical model of the system than to get the measure
of all the parameters of the system.

3-Preliminaries
the Euler Lagragian method is used to obtain the mathematical model of the
transelevator. First, we need to find the kinetic energy which is the sum of the
transportational kinetic energy and the rotational kinetic energy and is given as
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follows :

Where i=1,2,3n, n is the number of links is the speed of motion for the
joint i ,
is the center of mass f the joint i and the link i, if the joint is
rotational then in this case is its inertia, is the anguler position of the joint
i , if the angular positions have different directions

or if the angular postitons have the sam

where

direction

are the coordinates of the linear movement of the link i.
now we have to find the potential energy which is given as follows :

Where i=1,2,n , is the height of the center of mass of the joint and the link
I, g is the gravity acceleration.
now , as a third step, the Lagrangian is obtained as follows :

As the forth step, writing the euler-lagrang equation which will be used to find
each dynamic equation for the mathematical model :

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4- Mathematical model of the elements of the transelevator

4.1 Structural mathematical model
Figure 2 shows a simple transelevator with sensor and
actuator .
of
from Figure 2 ,the parameters :
Eq.(1) are :

Where is the length to the mass center of the link 1,

is bounded by
, from (1)
and (2) : the kinetic energy for joint 1 is found to be :

Figure 2 (transelevtor )

also from the figure for the parametrs :

Where

of Eq.(1) are :

is the length to the mass center of the link 2 and bounded :

and the kinetic energy for joint 2 is :

Also from figure 2 for the parametrs :

Where

of Eq.(1) are :

is the length to the mass center of link 3 and is bounded :

and the kinetic energy for joint 3 is :

and the potential energy for the three links is given as follows :
Sunstituting Eqs.(6),(8),(10), and (11) in (3) gives the Lagrangian as follows :

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Where

and

Using the Euler Lagrange method of Eq. (4) in (12) for the joint 1 gives :

Where

is the force needed to move the link 1.

Using the Euler Lagrange method of Eq. (4) in (12) for the joint 2 gives :

Where

is the force needed to move link 2.

Using the Euler Lagrange method of Eq. (4) in (12) for the joint 3 gives :

Where is the force needed to move the link 3 from the home position to
another one.
The structural mathematical model of the transelevator crane is given by Eqs.
(13), (14), and (15).
4.2 Actuator mathematical model
It is necessary to monitor and to ac
over some variables to control a
transelevator; therefor , an actuator and
a sensor are required.
Figure 3 is used to obtain the following
mathematical model of each link :

Where :

Figure 3 ( motor circuit controlled by DC)

Where i=1,2,3, ,
is the current in
the motor link i, is the inductance of
the motor for the link i,
is the resistance of the motor for the link i, is the
input voltage of the motor for link i,
is the constant back emf of the motor
for the link i, is the speed of the angle of the motor of link i.

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Figure 4 shows the actuator circuit, this circuit is

used to obtain the current applied for the motors
in each link
as function of the voltage of the
motor of Eq. (16).
From Fig. 4, it is obtained :
(18)
where :
is the input voltage for the link i for
the actuator circuit.

Figure 4 : Actuators Circuit

is the voltage in the resistance for link i for the actuator circuit.
is the input voltage of the motor for the link i for the actuator circuit.
It is known that :

Where i=1,2,3, ,
current in the resistance

is the resistance for the actuator circuit , is the

. Substituting the Eq.(19) in the Eq.(18) gives :

And as the circuit of Figure (4) is a series circuit, it is known that :

Where is the current in the resistance

for the link i,
is the
current in the motor for link i, and
is the source current for link i.
Substituting Eq. (21) in Eq.(20) and solving

gives :

From 18, it is know that :

Where
link I,

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is the constant torque for link i ,

is the current in the motor for
is the torque in the motor, and
.

4.3 Sensor mathematical

model
Figure 5 shows the sensor
circuit, by using voltage
division the output voltage
is time-varying depending
of the measured position in
each link; that is , this
circuit is used to obtain the
displacement of each link
in function its the motor
angle Its important to
know that :

Figure 5 ( Sensor circuit)

(24)

The derivative of Eq.(24) gives :

(25)

Where

is the maximum angle of the potentiometer (radians),

are the distance in each link (m) , and
displacements of each link. From Figure.(5) , it is obtained :

are the

Where is the angle of the motor of each link,

is the maximum angle for
the potentiometer of each link,
is the measured voltage in the potentiometer ,
is the maximum measured voltage in the potentiometer.

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4-Mathematical model with sensor and actuator for a

transelevator
Substituting Eq.(17) and Eq.(22) into Eq(16) for i=1 gives :

From Eq.(26) , the output for i=1 is obtained as follows :

Equations (27), (29) , and (30) describe the dynamic behaviour of the first link.
Substituting Eq.(23) in the Eq.(14) for the second link z gives :

Substituting Eq. (17) and Eq.(22) in the Eq.(16) for i=2 gives :

(32)

Substituting Eq.(25) in Eq(32) gives :

From Eq.(26), the output for i=2 is obtained as follows :

Equations (31), (33), and (34) describe the dynamic behaviour of the second
link z.
Substituting Eq.(23) in the Eq.(15) and analysing the mathematical model for
the third link gives :

Substituting Eq.(17) and Eq.(22) in the Eq.(16) for i=3 :

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Substituting Eq.(26), the output for i=3 is obtained as follows :

Equations (35), (37), and (38) describe the dynamic behaviour of the third link
y.
Now define that :
And let us define that the inputs of our system
as follows :

,the states

and the outputs

Where i=1,2,3 ,j is from 1 to 9.

Substituting the inputs, the states, and the outputs of Eq.(39) into Eqs. (27),
(29) (30) , (31) , (33), (34) , (35), (37), and (38) yields :

Equations from (40)-(51) describe the dynamic behaviour of the transelevator

crane with sensor and actuator.

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5-State space representation

We can write our system as
Where :

Supposing

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5-Chosing Parameters and obtaining the T.F. of the system

The following shows the chosen parameters for our system :
V1 = 5 V V2 = 5 V V3 = 5 V
Rm1= 22.8 Rm2=125.5 Rm3 =17
Rc1 = 1 Rc2 =1 Rc3 =1
L1 = 42.5 mH L2 = 96.1 mH L3 = 29.9 mH
km1 = 10 Nm/A km2 = 1 9 103 Nm/A km3 = 1 Nm/A
kb1 = 27.50 Vs/rad kb2 = 0.014 Vs/rad kb3 = 0.26 Vs/rad
Vf1 = 14 V Vf2 = 10 V Vf2 = 4 V
Vo1max = 2.36 V Vo2max = 2.3 V Vo3max = 2 V
m13 = 2.9020 kg m23 = 0.5480 kg m3 = 0.150 kg
h1max = 12.56 rad h2max = 42.4115 rad h3max = 10.9956 rad
xmax = 0.45 m zmax = 0.29 m ymax = 0.23 m

we will use matlab now to obtain our transfer functions of the system :
%defining our system
A=[0 1 0 0 0 0 0 0 0 ; 0 0 3.445899 0 0 0 0 0 0 ;0 -18060.131 -560 0 0 0 0 0 0; 0 0 0 0 1 0 0 0
0;0 0 0 0 0 1824.8175 0 0 0;0 0 0 0 21.30542 1316.337 0 0 0 ;0 0 0 0 0 0 0 1 0; 0 0 0 0 0 0 0
0 6.6667;0 0 0 0 0 0 0 -415.7126654 -602.07];
B=[0 0 0 0 ; 0 0 0 0 ; 23.529 0 0 0 ; 0 0 0 0 ;0 0 0 -9.81;0 10.406 0 0 ; 0 0 0 0 ;0 0 0 0 ; 0 0 0
33.445];
C=[0.1879 0 0 0 0 0 0 0 0 ; 0 0 0 0.05423 0 0 0 0 0 ;0 0 0 0 0 0 0.18189 0 0 ];
D=0;
%for input U1
[num1,den1]=ss2tf(A,B,C,D,1);
g11=tf(num1(1,:),den1)
15.23 s^6 - 1.088e04 s^5 - 1.262e07 s^4

- 4.122e08 s^3 - 1.642e09 s^2

----------------------------------------------

s^9 - 154.3 s^8 - 1.166e06 s^7 - 5.355e08 s^6

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- 6.683e10 s^5 - 1.744e12 s^4

- 6.706e12 s^3

g21=tf(num1(2,:),den1)
g21 =
0
g31=tf(num1(3,:),den1)
g31 =
0
%for input U2
g12=tf(num1(1,:),den1)
g12 =
0
g22 =
1030 s^6 + 1.197e06 s^5 + 4.141e08 s^4 + 4.018e10 s^3 + 1.776e11 s^2

----------------------------------------------------------------------------------

s^9 - 154.3 s^8 - 1.166e06 s^7 - 5.355e08 s^6 - 6.683e10 s^5 - 1.744e12 s^4

- 6.706e12 s^3
g32=tf(num1(3,:),den1)
g32 =
0
%for input U3
[num1,den1]=ss2tf(A,B,C,D,3);
g13=tf(num1(1,:),den1)
g13 =
0
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g23=tf(num1(2,:),den1)
g23 =
0
g33=tf(num1(1,:),den1)
g33 =
0
%for the constant g
[num1,den1]=ss2tf(A,B,C,D,4);
g14=tf(num1(1,:),den1)
g14 =
0
g24=tf(num(2,:),den1)
g24 =

-0.532 s^7 + 82.07 s^6 + 5.998e05 s^5 + 2.609e08 s^4 + 2.723e10 s^3 + 1.208e11 s^2

----------------------------------------------------------------------------------

s^9 - 154.3 s^8 - 1.166e06 s^7 - 5.355e08 s^6 - 6.683e10 s^5 - 1.744e12 s^4 - 6.706e12 s^3
g34=tf(num1(3,:),den1)

g34 =

40.56 s^6 - 3.067e04 s^5 - 2.895e07 s^4 - 4.205e09 s^3 - 9.813e10 s^2 - 0.001937 s

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----------------------------------------------------------------------------------

s^9 - 154.3 s^8 - 1.166e06 s^7 - 5.355e08 s^6 - 6.683e10 s^5 - 1.744e12 s^4 - 6.706e12 s^3

so we can write the transfer function of the system as :

The poles of our system are found by finding the roots of the denominator

The roots are :

s=-337.37+285.77i,s=-337.37-285.77i,s=103.34+167.10i,s=103.34-167.10i,s=-1279,4,s=730.88,s=0 . since we have two poles located the right half plane (i.e positive real value) the
system is not guaranteed to be stable.

6-Obtaining the outputs

assuming the inputs for our system are :

We are going to find the outputs and states of the system using Simulink :

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Figure 6: Simulink

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outputs :

Figure 7 : output response

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states :

Figure 8 : states response from X1 to

X6

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Figure 9: States response from X7 to

X9

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7-Refrences
-Mathematical model with sensor and actuator for a transelevator
Jose de Jesu s Rubio Jaime Pacheco
J. Humberto Perez-Cruz Francisco Torres Springer-Verlag London 2012

-Hazewinkel, Michiel, ed. (2001), "Lagrange equations (in mechanics)", Encyclopedia of

Mathematics, Springer, ISBN 978-1-55608-010-4

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