INC 341 Feedback Control Systems:

Lecture 3 Transfer Function of Dynamic Systems

II

Asst. Prof. Dr.-Ing. Sudchai Boonto

Department of Control Systems and Instrumentation Engineering

King Mongkut’s University of Technology Thonburi
Transfer Functions for Systems with Gears

• Gears provide mechanical advantage to rotational system, e.g. a bicycle with gears.
• Gears are nonlinear. They exhibit backlash, which occurs from the loose fit between
two meshed gears.
• In this course, we consider only the linearized version of gears.

A gear system
• a small gear has radius r1 and N1
teeth is rotated through angle θ1 (t)
N2 due to a torque, τ1 (t).
θ2 (t) τ2 (t)
τ1 (t) θ1 (t) N1
• a big gear have radius r2 and N2
teeth responds by rotating through
r1 r2 angle θ2 (t) and delivering a torque,
τ2 (t).

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 2/19 I }
Transfer Functions for Systems with Gears

• The gears turn, the distance traveled along each gear’s circumference is the same. Thus

r1 θ1 = r2 θ2

or

θ2 r1 N1
= =
θ1 r2 N2
• If the gears are lossless, that is they do not absorb or store energy, the energy into Gear
1 equals the energy out of Gear 2. Since the translational energy of force times
displacement becomes the rotational energy of torque time angular displacement.

τ1 θ 1 = τ2 θ 2

or

τ2 θ1 N2
= =
τ1 θ2 N1

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 3/19 I }
 Transfer Functions for Systems with Gears
Transfer functions for lossless gears

N1 N2
θ1 θ2 τ1 τ2
N2 N1

(a) (b)

• (a) is a transfer functions for angular displacement in lossless gears

• (b) is a transfer functions for torque in lossless gears.
The first gear (lossless) generates torque (τ1 ) to
drive the second gear by τ2 , then
τ1 (t) θ1 (t)
N1 ( 2 )
Js + bs + k Θ2 (s) = τ̂2 (s)
τ2 N2 θ1
θ2 (t) = =
b τ1 N1 θ2
J ( 2 ) N1 N2
Js + bs + k Θ1 (s) = τ̂1 (s)
k N2 N1
N2 ( ( )2 ( )2 ( )2 )
N1 N1 N1
J s2 + b s+k Θ1 (s) = τ̂1 (s)
N2 N2 N2

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 4/19 I }
Transfer Functions for Systems with Gears
Transfer functions for lossless gears

τ1 (t) θ1 (t)
N1
J1

b1 θ2 (t) b2

J2
k2
N2

Find the transfer function, Θ2 (s)/τ̂1 (s). Assuming that τe (t) is the torque generates at the
first gear by the torque τ1 (t), the we have
( )
J1 s2 + b1 s Θ1 (s) + τ̂e (s) = τ̂1 (s)
( ) N2
J1 s 2 + b 1 s Θ2 (s) + τ̂e (s) = τ̂1 (s)
N1

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 5/19 I }
Transfer Functions for Systems with Gears
Transfer functions for lossless gears

At the second gear, we have

( )
J2 s2 + b2 s + k2 Θ2 (s) = τ̂2 (s)
( ) N2
J2 s2 + b2 s + k2 Θ2 (s) = τ̂e (s)
N1
( ) N1
J2 s2 + b2 s + k2 Θ2 (s) = τ̂e (s)
N2

Combining the equations of both gears, we have

[ ( ) ( ) ( ) ( ) ( )]
N2 N2 N1 N1 N1
J1 s2 + b 1 s + J2 s2 + b 2 s + k2 Θ2 (s) = τ̂1 (s)
N1 N1 N2 N2 N2
[( ( ) ) ( ( ) ) ]
N2 2 N2 2 N1
J1 + J2 s2 + b1 + b2 s + k2 Θ2 (s) = τ̂1 (s)
N1 N1 N2
Θ2 (s) N2 /N1
= [( ( )2 ) ( ( )2 ) ]
τ̂2 (s)
J1 N
N
2 N2
+ J2 s 2 + b 1 N + b2 s + k2
1 1

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 6/19 I }
Transfer Functions for Systems with Gears
Transfer functions for lossless gears

θ1
N1
N1
θ2 = θ1
N2
N3
N2 N3 N1 N3
θ3 = θ2 = θ1
N4 N2 N4

N4 N5 N5 N1 N3 N5
θ4 = θ3 = θ1
N6 N2 N4 N6

N6

A gear train can use instead of one large radii gear. This can be done by cascading smaller
gear ratios. As shown in above figure,

N1 N3 N5
θ4 = θ1
N2 N4 N6

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 7/19 I }
Transfer Functions for Systems with Gears
Transfer functions for lossless gears

τ1 θ1
N1
J1 , b 1

N2 N3
J2 , b 2 J3

N4
J5
J4

Starting from the left most of the gear, we can find the transfer function Θ1 (s)/τ̂1 (s) as
follow:
( )
J1 s2 + b1 s Θ1 (s) + τ̂e1 (s) = τ̂1 (s)
[ ]
(J2 + J3 ) s2 + b2 s Θ2 (s) + τ̂e2 (s) = τ̂2 (s)
[ ]
(J4 + J5 ) s2 Θ4 (s) = τ̂4 (s)

Transform all torques and angle to be in terms of τ̂1 (s) and Θ1 (s) respectively.

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 8/19 I }
Transfer Functions for Systems with Gears
Transfer functions for lossless gears

[ ] N3 N4
(J4 + J5 ) s2 Θ2 (s) = τ̂e2 (s)
N4 N3

Substituting τ̂e2 (s) to one above equation, we have

[ ) ( ]
2 N3 2 2
(J2 + J3 ) s + (J4 + J5 ) s + b2 s Θ2 (s) = τ̂2 (s)
N4
[ ( ) ]
2 N3 2 2 N1 N2
(J2 + J3 ) s + (J4 + J5 ) s + b2 s Θ1 (s) = τ̂e1 (s)
N4 N2 N1

Substituting τ̂e1 (s) to one above equation, we have

[( ( )2 ( )2 ) ( ( )2 ) ]
N1 N1 N3 2 N1
J1 + (J2 + J3 ) + (J4 + J5 ) s + b1 + b2 s Θ1 (s) = τ̂1 (s)
N2 N2 N4 N2
Θ1 (s) 1
= [( ( )2 ( )2 ) ( ( )2 ) ]
τ̂1 (s) N1
J1 + (J2 + J3 ) N + (J4 + J5 ) NN
1 N3
s2 + b1 + b2 N1
s
2 2 N4 N2

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 9/19 I }
Electromechanical System Transfer Functions

An electromechanical systems is a hybrid system of electrical and mechanical variables. This

system has a lot of application for examples
• an antenna azimuth position control system
• robot and robot arm controls
• sun and star trackers
• disk-drive position controls

Industrial robot arm

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 10/19 I }
Electromechanical System Transfer Functions

Fixed
Ra La field

+ τm (t) θm (t)
+
ea (t) ia (t) vb (t) = Ke θ̇ M
−

−
Rotor
Armature circuit

dθm (t)
• vb (t) = Kb , where vb (t) is the back electromotive force (back emf); Kb is a
dt
constant of proportionality called the back emf constant.
• The relationship between the armature current, ia (t) , the applied armature voltage,
ea (t), and the back emf, vb (t) is

dia (t)
Ra ia (t) + La + vb (t) = ea (t)
dt

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 11/19 I }
Electromechanical System Transfer Functions

• The torque developed by the motor is proportional to the armature current; thus

τm (t) = Kt ia (t),

where τm (t) is the torque developed by the motor, and Kt is a constant for
proportionality, called the motor torque constant.
• Taking the Laplace transform of both relationship and substituting Ia (s) into the mesh
equation, we have

(Ra + La s)τ̂m (s)

+ Kb sΘm (s) = Ea (s)
Kt

τm (t) θm (t) The figure shows a typical equivalent

bm mechanical loading on a motor. We have
Jm ( )
τ̂m (s) = Jm s2 + bm s Θm (s)

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 12/19 I }
Electromechanical System Transfer Functions

Substituting τ̂m (s) into the armature equation yields

( )
(Ra + La s) Jm s2 + bm s Θm (s)
+ Kb sΘm (s) = Ea (s)
Kt

Assuming that the armature inductance, La is small compared to the armature resistance,
Ra , the equation become
[ ]
Ra
(Jm s + bm ) + Kb sΘm (s) = Ea (s)
Kt

After simplification, the desired transfer function is

Θm (s) Kt /(Ra Jm )
= [ ( )]
Ea (s) s s + J1 bm + KR t Kb
m a

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 13/19 I }
Electromechanical System Transfer Functions
DC motor driving a rotational mechanical load

θm (t)
τ1 (t), N1
Motor
θL (t)
Ja , ba bL
JL
N2 , τ2 (t)

A motor with inertia Ja and damping ba at the armature driving a load consisting of inertia
JL and damping bL . Assuming that Ja , JL , ba , and bL are known. Then, we have
( )
Ja s2 + ba s Θm (s) + τ̂1 (s) = 0.

At the load side, we obtain

( )
JL s2 + bL s ΘL (s) = τ̂2 (s)
( ) N1 N2
JL s2 + bL s Θm (s) = τ̂1 (s)
N2 N1

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 14/19 I }
Electromechanical System Transfer Functions
DC motor driving a rotational mechanical load

Substituting the τ̂1 (s) back to the motor side equation, the equivalent equation is
[( ( )2 ) ( ( )2 ) ]
N1 N1
Ja + JL s2 + ba + bL s Θm (s) = 0
N2 N2

Or the equivalent inertial, Jm , and the equivalent damping, bm , at the armature are
( )2 ( )2
N1 N1
Jm = Ja + JL ; bm = ba + bL
N2 N2

Next step, we going to find the electrical constants by using a dynamometer test of motor.
This can be done by measuring the torque and speed of a motor under the condition of a
constant applied voltage. Substituting Vb (s) = Kb sΘm (s) and τ̂m (s) = Kt Ia (s) in to the
Laplace transformed armature circuit, with La = 0, yields

Ra
τ̂m (s) + Kb sΘm (s) = Ea (s)
Kt

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 15/19 I }
Electromechanical System Transfer Functions
DC motor driving a rotational mechanical load
Taking the inverse Laplace transform, we get

Ra
τm (t) + Kb ωm (t) = ea (t)
Kt

If ea (t) is a DC voltage, at the steady state, the motor should turn a a constant speed, ωm ,
with a constant torque, τm . With this, we have

Ra Kt Kb Kt
τm + Kb ωm = ea ⇒ τm = − ωm + ea
Kt Ra Ra

• ωm = 0 , the value of torque is called

Torque-peed curve the stall torque, τstall . Thus
τm
Kt Kt τstall
τstall = ea ⇒ =
τstall
Ra Ra ea

• τm = 0, the angular velocity becomes

ea1 no-load speed, ωno-load . Thus
ea2
ea ea
ωno-load = ⇒ Kb =
ωm Kb ωno-load
ωno-load
INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 16/19 I }
Transfer Function–DC Motor and Load

Fixed
Ra field

τm
+ θm (t)
τ1 (t), N1 = 100
+
ea (t) ia (t) M 500
−
θL (t) bL = 800 N-m s/rad N-m
− ea = 100 V
JL
Ja = 5kg-m2 N2 = 1000, τ2 (t) JL = 700 kg-m2
ba = 2 N-m s/rad ωm
50 rad/s

Find ΘL (s)/Ea (s) from the given system and torque-speed curve. The total inertia and the
total damping at the armature of the motor are
(
) ( )2
N1 2 1
Jm = Ja + JL = 5 + 700 = 12
N2 10
( )2 ( )2
N1 1
bm = ba + bL = 2 + 800 = 10
N2 10

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 17/19 I }
Transfer Function–DC Motor and Load

Next, we find the electrical constants Kt /Ra and Kb from the torque-speed curve. Hence,

Kt τstall 500
= = =5
Ra ea 100

and

ea 100
Kb = = =2
ωno-load 50

We have

Θm (s) Kt /(Ra Jm ) 0.417

= [ ( )] = .
Ea (s) 1 Kt Kb s(s + 1.667)
s s+ bm +
Jm Ra

Using the gear ratio, N1 /N2 = 0.1

ΘL (s) 0.0417
=
Ea (s) s(s + 1.667)

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 18/19 I }
Reference

1. Norman S. Nise, ”Control Systems Engineering,6th edition, Wiley, 2011

2. Gene F. Franklin, J. David Powell, and Abbas Emami-Naeini, ”Feedback Control of
Dyanmic Systems”,4th edition, Prentice Hall, 2002

INC 341 Feedback Control Systems:, Lecture 3 Transfer Function of Dynamic Systems II J 19/19 I }