System Modeling Part 2: Rotational

Mechanical and Electromechanical

Systems
EDDIE G. SANTILLAN, JR., ECE
COLLEGE OF ENGINEERING
COLEGIO SAN AGUSTIN - BACOLOD
Topic Outline:
Rotational Mechanical System Transfer Functions
Transfer Functions for Systems with Gear
Electromechanical System Transfer Functions
Rotational Mechanical System Transfer
Functions
Example 1:
Transfer Function—Two Equations of Motion
PROBLEM: Find the transfer function, θ2(s)/T(s), for the
rotational system shown. The rod is supported by bearings at
either end and is undergoing torsion. A torque is applied at the
left, and the displacement is measured at the right.
Example 1:
Solution: (Transfer Function—Two Equations of Motion)
FBD of all torques acting on J1,

The Laplace transform of the equations of motion can be

written as
[J1s2 + D1s + K] θ1(s) – K θ2(s) = T(s)
Example 1:
Solution: (cont)
FBD of all torques acting on J2,

The Laplace transform of the equations of motion can be

written as
–K θ1(s) + [J2s2 + D2s + K] θ2(s) = 0
Example 1:
Solution: (cont)
With the two equations,
[J1s2 + D1s + K] θ1(s) – K θ2(s) = T(s)
–K θ1(s) + [J2s2 + D2s + K] θ2(s) = 0

Solving for θ2(s)/T(s),

θ2(s)/T(s) = K/[(J1s2 + D1s + K)(J2s2 + D2s + K) – K2]
Example 2:
Equations of Motion By Inspection
PROBLEM: Write, but do not solve, the Laplace transform of
the equations of motion for the system shown.
Example 2:
Solution: (Equations of Motion By Inspection)
[J1s2 + D1s + K] θ1(s) – K θ2(s) = T(s)
–K θ1(s) + [J2s2 + D2s + K] θ2(s) – D2sθ3(s) = 0
–D2sθ2(s) + [J3s2 + D3s + D2s] θ3(s) = 0
Example 3:
Find the transfer function, G(s) =θ2(s)/T(s), for the rotational
mechanical system shown.

Answer: 1
G (s)  2
2s  s  1
Transfer Functions for Systems with Gears
As the gears turn, the distance
traveled along each gear’s
circumference is the same.
r1θ1 = r2 θ2 or
θ2/ θ1 = r1/r2 = N1/N2
Relationship of input torque T1
and delivered torque T2 (inertia
and damping at gears neglected):
T1θ1 = T2θ2 or
T2/T1 = θ1/ θ2 = N2/N1
Eliminating Gears (Reflecting T1(t) t
Impedances) 
Consider the system shown. D
t
The equation of motion is
N2 J
( Js  Ds  K ) 2 ( s )  T1 ( s )
2 
N1 K

T1(t)(N2 / N1) t

D
Convert 2(s) into an equivalent 1(s).
The equation of motion becomes J

N N K
( Js  Ds  K ) 1 1 ( s )  T1 ( s ) 2
2

N2 N1 T1(t) t D(N1/N2)2

Simplifying, 

K(N1/N2)2
 N  2
 N1 
2
 N1 
2

 J  1
 s  D
2
 s  K   1 ( s )  T1 ( s )
  N 2   N2   N2  
In general:
Rotational mechanical impedances can be reflected through gear
trains by multiplying the mechanical impedance by the ratio
2
 Number of teeth of 
 
 gear on destination shaft 
 
 Number of teeth of 
 gear on source shaft 
 
Where the impedances to be reflected is attached to the source shaft
and is being reflected to the destination shaft.
Example 4:
Transfer Function—System with Lossless Gears
PROBLEM: Find the transfer function, θ2(s)/T1(s), for the
system below.
Example 4:
Solution:
Let us first reflect the impedances (J1 and D1) and torque (T1)
on the input shaft to the output,
Example 4:
Solution:
The equation of motion can be written as

Jes2  Des  Ke  2 (s)  T1(s) NN12

Where
Je = J1(N2/N1)2 + J2; De = D1(N2/N1)2 + D2; Ke = K2
Solving for θ2(s)/T1(s),

N2
 ( s) N1
G( s)  2 
T1( s ) J e s 2  De s  K e
Gear Train
To eliminate gears with large radii, gear train is used to
implement large gears ratios by cascading smaller gears ratios.

N1  N3  N5
4  1
N 2  N 4  N6
Example 5:
Transfer function – Gears with Loss
Find the transfer function, 1(s)/T1(s), for the system shown.

T1(t) t


J1, D1

N3
J2, D2 J3
N4
J5
J4
Example 5:
Solution:
Equivalent system at the input,
T1(t) t

Je

De
Example 5:
Solution:
The result of reflecting all impedances to θ1 is,
(Jes2 + Des) θ1(s) = T1(s)
where
Je = J1 + (J2 + J3)(N1/N2)2 + (J4 + J5)[(N1N3)/(N2N4)]2
De = D1 + D2(N1/N2)2
Solving for G(s) = θ1(s)/T1(s),
G(s) = θ1(s)/T1(s) = 1/(Jes2 + Des)
Example 6:
Find the transfer function, G(s) = θ2(s)/T(s), for the rotational
mechanical system with gears shown.
Transfer Functions of Electromechanical
System
A motor is an electromechanical component that yields a
displacement output for a voltage input, that is, a mechanical
output generated by an electrical input.
Solving for Transfer Function, θm(s)/Ea(s)
The electrical constants of the motor's transfer function,
Solving for Transfer Function, θm(s)/Ea(s)
Solving for , Tm(s), of mechanical loading on a motor,
Tm(s) = (Jms2+Dms)θm(s)
mt mt

Jm
Dm
Note:
Kb Kt Kt
Tm   m  ea
Ra Ra
Solving for Transfer Function, θm(s)/Ea(s)
Solving for the transfer function of the motor,
Fixed
Field
Ra La

+
+ Rotor

Vb(t) Tm(t)
ea(t)
mt

 Ra  La s   Tm ( s)  K
b s m ( s )  Ea ( s )
Kt
Solving for Transfer Function, θm(s)/Ea(s)
 Using the two equations,
Tm(s) = (Jms2+Dms)θm(s)
 Ra  La s   Tm ( s)  K
b s m ( s )  Ea ( s )
Kt
 Results to  Ra  La s   J m s 2  Dm s m (s)  K
b s m ( s )  Ea ( s )
Kt
 Assuming that the armature inductance, La, is small compared to the
armature resistance, Ra, which is usual for a dc motor,
 Ra 
  J m s  Dm   Kb  s m ( s)  Ea (s)
 Kt 
Solving for Transfer Function, θm(s)/Ea(s)
Therefore, the transfer function, θm(s)/Ea(s), is

Kt
 m ( s) Ra J m

Ea ( s )  1  Kt K b 
s s   Dm  
J  R 
 m a 
Where
Jm = Ja + JL(N1/N2)2; Dm = Da + DL(N1/N2)2
(if the motor is driving a rotational mechanical load)
Example 7:
m
Transfer function – DC motor and load
Find the transfer function L(s)/Ea(s). 500

ea = 100 V

Torque
Fixed

(N-m)
Field
Ra
+ m
+ 50
mt Speed (rad/s)
N1= 100
ea(t) Lt
ia(t) N = 1000
- 2
JL
Ja = 5 kg-m2
Da = 2 N-m s/rad
JL= 700 kg-m2 DL= 800N-m s/rad
Example 7:
Solution:
Begin by finding the mechanical constants, Jm and Dm,
Jm = Ja + JL(N1/N2)2 = 5 + 700(1/10)2 = 12
Dm = Da + DL(N1/N2)2 = 2 + 800(1/10)2 = 10
Determining the electrical constants, Kt/Ra and Kb,
Kt/Ra = Tstall/ea = 500/100 = 5
Kb = ea/ωno-load = 100/50 = 2
where
Tstall = 500; ωno-load = 50; ea = 100 from the graph
Example 7:
Solution:
Substituting the values of Jm, Dm, Kt/Ra and Kb,

Solving for θL(s)/Ea(s), using the gear ratio, N1/N2 = 1/10,

Example 8:
PROBLEM: Find the transfer function, G(s) = θL(s)/Ea(s), for
the motor and load shown below. The torque-speed curve is
given by Tm = –8ωm + 200 when the input voltage is 100 volts.
Assignment:
1. Find the transfer function, G(s) = 2(s)/T1(s), for the
rotational mechanical system shown.
250 N-m/rad
T1(t) 


2
3 kg-m
t
1000 N-m s/rad
200 kg-m2


Problem 1
 Assignment:
2. The motor whose torque-speed characteristics are shown
drives the load shown in the diagram. Some of the gears have
inertia. Find the transfer function, G(s) = 2(s)/Ea(s).
m (N-m)
+ N1= 10
ea(t) Motor
J1= 1 kg-m2
5 -
N2= 20 N3= 10
5V
J2= 2 kg-m2 2t
J3= 2 kg-m2 D = 32 N-m s/rad
Torque
(N-m)

J4= 16 kg-m2
RPM N4= 20
Speed (rad/s) 600/

Problem 2