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Chapter 2
1 N-m/rad

T(t)

Modeling in the Frequency Domain

2(t)

1 kg-m2
1 N-m-s /rad
1 N-m-s /rad

1 N-m-s /rad

35. Find the transfer function, Gs u4 s=Ts, for

the rotational system shown in Figure P2.21.
[Section: 2.7]
4(t)

T(t) 1(t)

26 N-m-s/rad

N1 = 26 N4 = 120

3(t)

2(t)

FIGURE P2.17

N3 = 23

N2 = 110

32. For the rotational mechanical system with gears

shown in Figure P2.18, find the transfer function,
Gs u3 s=Ts. The gears have inertia and bearing friction as shown. [Section: 2.7]

2 N-m/rad

FIGURE P2.21

36. For the rotational system shown in Figure P2.22,

find the transfer function, Gs uL s=Ts. [Section: 2.7]

T(t)
N1
J1, D1
N2

N3

2 N-m-s /rad 3 N-m /rad

J3, D3 (t)
3

J2, D2

N2 = 33
T(t)

N4
J4, D4

N3 = 50

1 kg-m2

J5, D5

L(t)

N4 = 10

N1 = 11

0.04 N-m-s /rad

FIGURE P2.18

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33. For the rotational system shown in Figure P2.19, find

the transfer function, Gs u2 s=Ts. [Section: 2.7]

FIGURE P2.22

T(t)

N1 = 4
J1 = 2 kg-m2 D = 1 N-m-s /rad
1
2(t)
N3 = 4
N2 = 12
J2 = 1 kg-m2
D2 = 2 N-m-s/rad
K = 64 N-m /rad
N4 = 16
J3 = 16 kg-m2
D3 = 32 N-m-s /rad

37. For the rotational system shown in

Figure P2.23, write the equations of
motion from which the transfer function, Gs u1 s=Ts, can be found.
[Section: 2.7]

FIGURE P2.19

34. Find the transfer function, Gs u2 s=Ts, for

the rotational mechanical system shown in Figure
P2.20. [Section: 2.7]
1000 N-m-s/rad
200 kg-m2

N3 = 25

3 N-m/rad N2 = 50

N1

Ja

J1
N2

N3

J2

J3
N4

T(t)
3 kg-m2

T(t) 1(t)

J4

N1 = 5
2(t)

250 N-m/rad

JL
DL

FIGURE P2.23

200 kg-m2

FIGURE P2.20

38. Given the rotational system shown in Figure P2.24,

find the transfer function, Gs u6 s=u1 s.
[Section: 2.7]

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Problems
1(t)

T(t)

N1
J1, D

Radius = r

J2

K1

Ideal D3
gear 1:1

J1

N2

N3

J2, D

J3

K1
T(t)

N4

J5

J4, D

J3

6(t)
M

J6

x(t)

K2

K2

fv

FIGURE P2.24

39. In the system shown in Figure P2.25, the inertia, J, of

radius, r, is constrained to move only about the stationary axis A. A viscous damping force of translational
value f v exists between the bodies J and M. If an
external force, f(t), is applied to the mass, find the
transfer function, Gs us=Fs. [Sections: 2.5; 2.6]

FIGURE P2.27

42. For the motor, load, and torque-speed curve shown

in Figure P2.28, find the transfer function,
Gs uL s=Ea s. [Section: 2.8]
Ra
+

(t)
fv

J
r

N1 = 50

J1 = 5 kg-m2

ea(t)

N2 = 150

D1 = 8 N-m-s/rad

L(t)

J2 = 18 kg-m2

D2 = 36 N-m-s/rad

K
fv

f(t)

FIGURE P2.25

T (N-m)

100
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50 V
150

40. For the combined translational and rotational system shown in Figure P2.26, find the transfer function, Gs Xs=Ts. [Sections: 2.5; 2.6; 2.7]

T(t)
3 kg-m2
N2 = 20

N1 = 10
N4 = 60

J = 3 kg-m2
1 N-m-s/rad
Radius = 2 m
Ideal
gear 1:1

N3 = 30

D2 = 1 N-m-s/rad

2 kg
x(t)
2 N-s/m

3 N/m

FIGURE P2.26

(rad/s)

FIGURE P2.28

43. The motor whose torque-speed characteristics are

shown in Figure P2.29 drives the load shown in the
diagram. Some of the gears have inertia. Find the
transfer function, Gs u2 s=Ea s. [Section: 2.8]
+
N1 = 10
ea(t) Motor

J1 = 1 kg-m2
N3 = 10
N2 = 20
J3 = 2 kg-m 2
J2 = 2 kg-m 2
2 (t)
N4 = 20

D = 32 N-m-s/rad
J4 = 16 kg-m 2

T(N-m)
5

41. Given the combined translational and

rotational system shown in Figure
P2.27, find the transfer function,
Gs Xs=Ts. [Sections: 2.5; 2.6]

5V
600

FIGURE P2.29

RPM

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Chapter 2

Modeling in the Frequency Domain

44. A dc motor develops 55 N-m of torque at a speed

of 600 rad/s when 12 volts are applied. It stalls out
at this voltage with 100 N-m of torque. If the
inertia and damping of the armature are 7 kg-m2
and 3 N-m-s/rad, respectively, find the transfer
function, Gs uL s=Ea s, of this motor if it
drives an inertia load of 105 kg-m2 through a gear
train, as shown in Figure P2.30. [Section: 2.8]
+
ea(t)

48. Find the series and parallel analogs for the rotational mechanical systems shown in Figure P2.16(b)
in the problems. [Section: 2.9]
49. A systems output, c, is related to the systems input,
r, by the straight-line relationship, c 5r 7. Is the
system linear? [Section: 2.10]
50. Consider the differential equation
d2 x
dx
3 2x f x
dt2
dt

m(t)
Motor

N1 = 12

N2 = 25

where f(x) is the input and is a function of the

output, x. If f x sinx, linearize the differential
equation for small excursions. [Section: 2.10]
a. x 0

N3 = 25

L(t)
Load

N4 = 72

FIGURE P2.30

45. In this chapter, we derived the

transfer function of a dc motor
relating the angular displacement output to the armature
voltage input. Often we want to control the output torque rather than the displacement. Derive
the transfer function of the motor that relates
output torque to input armature voltage.
[Section: 2.8]

b. x p
51. Consider the differential equation
d3 x
d2 x
dx

10
31 30x f x
3
2
dt
dt
dt
where f(x) is the input and is a function of the
output, x. If f x ex, linearize the differential
equation for x near 0. [Section: 2.10]
52. Many systems are piecewise linear. That is, over a

large range of variable values, the system can be

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46. Find the transfer function, Gs Xs=Ea s, for

the system shown in Figure P2.31. [Sections: 2.52.8]
+
ea(t) Motor

N1 = 10
J = 1 kg-m2

D = 1 N-m-s/rad

N2 = 20
Ideal
gear 1:1

Radius = 2 m

For the motor:

Ja = 1 kg-m2
Da = 1 N-m-s/rad
Ra = 1
Kb = 1 V-s/rad
Kt = 1 N-m/A

described linearly. A system with amplifier saturation is one such example. Given the differential
equation
d2 x
dx
17 50x f x
2
dt
dt
assume that f(x) is as shown in Figure P2.32. Write
the differential equation for each of the following
ranges of x: [Section: 2.10]
a. 1 < x < 3
b. 3 < x < 3
c. 3 < x < 1

M = 1 kg

f(x)

x(t)

fv = 1 N-s/m

FIGURE P2.31

47. Find the series and parallel analogs for the translational mechanical system shown in Figure 2.20 in the
text. [Section: 2.9]

FIGURE P2.32