Chapter 2

1
MCHE 511 - Dynamic Systems, Control
Chapter 2:
Modeling in the Frequency Domain
Chapter 2: Modeling in the Frequency Domain
2
Outline
Laplace Transform Review
Electrical Network Transfer Function
Translational Mechanical Systems Transfer Function
Rotational Mechanical Systems Transfer Function
Transfer Functions for Systems with Gears
Transfer Functions for Electromechanical Systems
Linearization
MCHE 511 - Dynamic Systems, Control Fall 2017-2018 Dr. Amine Abou Moughlbay
2.5 - Transfer Functions for Systems with Gears
3
Outline
o Gears Fundamentals
o Reflecting Torques
o Reflecting Impedances
o Gear Trains
o Examples
4
Gears Fundamental Relations
T- Torque
- angular displacement
N- number of teeth
r- radius
Gears are assumed to be

lossless, namely, the
input and output power
are assumed to be equal
Reflecting Torques from one Shaft to another
5
Write the equation of motion in 2(s)
(Js2 + Ds + K) 2(s) = T2(s)
Where T2(s)=T1(s) N2 / N1
(Js2 + Ds + K) 2(s) = T1(s) N2 / N1
A torque can be reflected from one

shaft to another by multiplying by
the ratio:
Reflecting Impedances from one Shaft to another
6
(Js2 + Ds + K) 2(s) = T1(s) N2 / N1
Write the equation of motion in 1(s)
We know that 2(s) = 1(s) N1 / N2
(Js2 + Ds + K) 1(s) N1 / N2= T1(s) N2 / N1
Reflecting Impedances from one Shaft to another
7
Impedances can be reflected from one shaft to another by

multiplying by the ratio:
8
Example 21
2 (s)
Find the transfer function for the system shown
T1 (s)
9
Example 21
Procedure
o Reflect torque T1(s) from shaft 1 to shaft 2

o Reflect J1 and D1 to shaft 2
o Express the equivalent moment of inertia Je on shaft 2
o Express the equivalent damping coefficient De on shaft 2
o Express the equivalent spring constant Ke on shaft 2
o Finally, express the transfer function and draw a block diagram
10
Example 21
Solution
source shaft destination shaft
o Reflecting T1(s) from shaft 1 to shaft 2, we obtain:
N2 destination shaft
T1 (s)
N1 source shaft
11
Example 21
Solution
source shaft destination shaft
o Reflecting J1 from shaft 1 to shaft 2, we obtain

2
N destination shaft
J1 2
N1 source shaft
o Reflecting D1 from shaft 1 to shaft 2, we obtain
2
N
D1 2
N1
12
Example 21
Solution
2
N
J e = J1 2 + J 2
N1
2
N
De = D1 2 + D2
N1
Ke = K2
13
Example 21
Solution
Equation of motion:
N2
( 2
)
J e s + De s + K e 2 (s) = T1 (s)
N1
2
N2
J e
= J 1 + J 2
N
1

2
N
De = D1 2 + D2
N1

Ke = K2
Block diagram:
Transfer function:
2 (s) N 2 N1
G(s) = =
T1 (s) (
J e s 2 + De s + K e
MCHE 511 - Dynamic Systems, Control
)
Fall 2017-2018 Dr. Amine Abou Moughlbay
14
Gear Trains Relations
15
Example 22
For the gear train shown:
1 (s)
o Find
T1 (s)
16
Example 22 Solution
1 (s)
o Find
T1 (s)
2 2
N N N
J e = J1 + ( J 2 + J 3 ) 1 + ( J 4 + J 5 ) 3 1
N2 N4 N2
2
N
De = D1 + D2 1
N2
Ke = 0
17
Example 22 Solution
Equation of motion in 1(s):
( )
J e s 2 + De s 1 (s) = T1 (s)
2 2
N N N
J e = J1 + ( J 2 + J 3 ) 1 + ( J 4 + J 5 ) 3 1
N2 N4 N2
2
N
De = D1 + D2 1
N2
Block diagram:
Transfer function:
1 (s) 1
G(s) = =
T1 (s) (
J e s 2 + De s )
18
Example 22
3 (s)
o Find
T1 (s)
19
3 (s) Example 22 Solution
o Find
T1 (s)
Reflecting torque T1(s) from shaft 1 to
shaft 3, we obtain:
N N
T1 (s) 2 4
N1 N 3
2 2
N N N
J e = J1 2 4 + ( J 2 + J 3 ) 4 + J 4 + J 5
N1 N 3 N3
2 2
N N N
De = D1 2 4 + D2 4
N1 N 3 N3
Ke = 0
20
Example 22 Solution
N N
( 2
)
J e s + De s 3 (s) = T1 (s) 2 4
N1 N 3
Transfer function:
N2 N4
3 (s) N1 N 3
G(s) = =
T1 (s) (
J e s 2 + De s )
21
Example 22
2 (s)
o Find
T1 (s)
22
2 (s) Example 22 Solution
o Find
T1 (s)
Reflecting torque T1(s) from shaft 1 to
shaft 2, we obtain:
N
T1 (s) 2
N1
2 2
N N
J e = J1 2 + J 2 + J 3 + ( J 4 + J 5 ) 3
N1 N4
2
N
De = D1 2 + D2
N1
Ke = 0
23
Example 22 Solution
N
( 2
)
J e s + De s 3 (s) = T1 (s) 2
N1
Transfer function:
2 (s) N 2 N1
G(s) = =
T1 (s) (
J e s 2 + De s )
24
Skill-Assessment Exercise 2.10
2 (s)
For the system shown, find the transfer function
T1 (s)
Answer:
2 (s) 12
= 2
T1 (s) s + s +1
2.6 Transfer Functions for Electromechanical Systems
25
Outline
o Electromechanical Systems
o Typical Example: Motor
o Armature-controlled DC motor Transfer Function
o Mechanical and Electrical Constants
o Equivalent Inertia and Damping
o Torque-Speed Curves
o Summary
o Problems
26
Electromechanical Systems
o Systems that are hybrid of electrical and mechanical variables
o Robot controls, disk drive position control, sun and star tracker,
etc.
27
Typical Example: Motor
Electrical input Mechanical output
(voltage) (angular displacement)
Objective: Determine the transfer function relating the input

voltage to the output displacement
Stationary permanent magnets
Armature-controlled DC servomotor
28
Force within the Motor
The armature, carrying the current ia(t), is rotating in the fixed
magnetic field to generate force within the motor equal to:

F = l B ia(t) B, magnetic field strength
l, length of the conductor
The resulting torque turns the rotor.
In turn, a conductor moving at right angles to the magnetic field

generates a voltage to the terminals of the conductor equal to:
e, voltage
= v, velocity of the conductor normal to the magnetic field
29
Armature Circuit Loop Equation
Ra I a (s) + La sI a (s) +Vb (s) = Ea (s)
Voltage is proportional to velocity:
d m (t)
vb (t) = K b
dt
vb, back electromotive force emf

Vb (s) = K bs m (s) Kb, back emf constant
dm/dt angular velocity of the motor
Torque is proportional to armature current:

Tm (s)
Tm (s) = K t I a (s) I a (s) =
Kt
motor torque constant
30
Armature Circuit Loop Equation
Ra I a (s) + La sI a (s) +Vb (s) = Ea (s)

Vb (s) = K bs m (s) Tm (s)
Tm (s)
( Ra + Las) K + K bs m (s) = Ea (s)
I a (s) = t
Kt
We still need Tm(s) in terms of m(s)
Equivalent Mechanical Loading on a Motor
31
( )
Tm (s) = J ms 2 + Dms m (s)
Equivalent inertia at the armature

(armature inertia + reflected inertia)
Tm (s)
t
+ L s J s (
2
)
( a a ) m + Dms m (s) + K s (s) = E (s)
R
b m a
Kt
Note that for DC motors, La is negligible compared to Ra
R
( J ms + Dm ) + K b s m (s) = Ea (s)
a
Kt
32
Transfer Function
R
a ( J ms + Dm ) + K b s m (s) = Ea (s)
Kt
After simplification:

m (s) K t ( Ra J m ) K
= =
Ea (s) 1 K t K b s ( s + )
s s + Dm +
Jm Ra

Note: Kt is in N-m/A (Newton-meters/Ampere)

Kb is in V-s/rad (Volt-seconds/radian)
33
Mechanical and Electrical Constants
(s)
m
K (R J ) t a m
=
Ea (s) 1 K t K b
s s + Dm +
Jm Ra
Mechanical constants:
Obtained by reflecting impedances to the
Jm, Dm
armature
Electrical Constants:
Obtained through a dynamometer test of
the motor
Kt/Ra , Kb
Torque-speed curve for a constant
applied voltage ea
Equivalent Inertia and Damping at the Armature
34
( )
Tm (s) = J ms 2 + Dms m (s)
Equivalent inertia at the armature

(armature inertia + reflected inertia)
N
2 inertia of the
Jm = Ja + J L 1 mechanical load
N2 driven by the motor
2
N
Dm = Da + DL 1
N2
35
Torque-Speed Relationship
Back to the armature loop equation
Tm (s)
t
Since La is negligible, the equation becomes

Ra
Tm (s) + K bs m (s) = Ea (s)
Kt
L 1 d m (t)
L {s m (s)} =
1
= m (t)
dt
Ra
Tm (t) + K b m (t) = ea (t)
Kt constant applied DC voltage
K b Kt Kt
Tm = m + ea
Ra Ra
36
Torque-Speed Curves
K b Kt Kt
Tm = m + ea Equation of a straight line
Ra Ra stall torque
Kt
When m, T = Tstall = ea
Ra
ea
When T=0, m = noload =
Kb
no-load speed
K t Tstall
=
Ra ea
Finally, knowing ea, Tstall and no-load
we find the electrical constants ea
Kb =
noload
Transfer Function for Electromechanical Systems
37
Summary
m (s) K t ( Ra J m )
=
Ea (s) 1 K t K b
s s + Dm +
Jm Ra
2
N
K t Tstall Jm = Ja + J L 1
= N2
Ra ea
2
ea N
Kb = Dm = Da + DL 1
noload N2
Transfer FunctionDC Motor and Load
38
Example 23
a) Find the transfer function

L (s)
Ea (s)
b) Determine the form of the transient response.
c) Given a unit step input ea(t)=u(t), determine the total response L(t)
39
Example 23 Solution
a) First find =
Ea (s) 1 K t K b
s s + Dm +
Jm Ra
2 2
N 1
J m = J a + J L = 5+ 700 = 12
1
N2 10
2 2
N 1
Dm = Da + DL = 2 + 800 = 10
1
N2 10
40
Example 23 Solution
a) First find =
Ea (s) 1 K t K b
s s + Dm +
Jm Ra
Tstall = 500, noload = 50, ea = 100
K t Tstall 500
= = =5
Ra ea 100
ea 100
Kb = = =2
noload 50
41
Example 23 Solution
a) First find =
Ea (s) 1 K t K b
s s + Dm +
Jm Ra
K
t =5 J = 12
Ra m
Dm = 10
Kb = 2
m (s) 5 12 0.417
= =
Ea (s) 1 s ( s +1.667 )
ss +
12
(
10 + (5) ( 2) )

42
Example 23 Solution
L (s)
a) Then express
Ea (s)
100
L = m = 0.1 m
m (s) 0.417 1000 L (s) 0.0417
= =
Ea (s) s ( s +1.667 ) Ea (s) s ( s +1.667 )
43
Example 23 Solution
b) The form of the transient response depends on the roots of the
denominator of the transfer function (after simplification)
L transient (t) = A+ Be1.667t
44
Example 23 Solution
c) To determine the total solution, we first write L(s). Then, we
perform a partial fraction decomposition on L(s) and finally we
calculate its inverse Laplace transform L(t).
0.0417 ea(t) being a unit step input,

L (s) = Ea (s)
s ( s +1.667 ) Ea(s) is thus equal to 1/s
0.0417
L (s) = 2
s ( s +1.667 )
45
Example 23 Solution
0.0417 1 A B C
L (s) = 2 = 0.0417 2 = 0.0417 + 2+
s ( s +1.667 ) s ( s + 5 3) s+5 3 s s
1 9
A= 2 =
s s=
5 25
Because of 3
the double 1 3
root s=0 B= =
s + 5 3 s=0 5
d 1 1 9
C = = 2
=
ds s + 5 3
s=0 (s + 5 3) 25
s=0
46
Example 23 Solution
9 25 3 5 9 25
L (s) = 0.0417 + 2
s+5 3 s s
Inverse Laplace transform L 1
9 5t 3 9
L (t) = 0.0417 e 3 + t
25 5 25
47
Extra Problem
Find the transfer function L(s)/Ea(s), for the motor and load
shown. The Torque-speed curve is given by Tm=-8m+200 when
the input voltage is 100 volts.
48
Extra Problem - Solution
First find the transfer function relating m to Ea:
!! (!) !! /(!! !! )
=
!! ! 1 !! !!
! !+ ! +
!! ! !!
20 25 !
Mechanical constants: !! = 1 + 400 = 2 kg. m!
100 100
!
20 25
!! = 5 + 800 = 7 N. m. s/rad
100 100
49
From the torque speed equation: Tm=-8m+200 ;
Tstall=200 N.m (obtained by setting m=0 in the equation)

no-load=25 rad/s (obtained by setting Tm=0 in the equation)
Accordingly, !! = !!"#$$ = 200 = 2

!! !! 100
!! 100
!! = = =4
!!"!!"#$ 25
Therefore,
!! (!) 2/2 1
= =
!! ! 1 !(! + 15/2)
! !+ 7+8
2
50
Now find the transfer function relating L to Ea:
!! 20 25 1
= =
!! 100 100 20
Finally,
!! (!) 1 !! 1/20
= =
!! ! 20 !! (!) !(! + 15/2)

Chapter 2

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1

MCHE 511 - Dynamic Systems, Control

Electrical Network Transfer Function

Translational Mechanical Systems Transfer Function

Rotational Mechanical Systems Transfer Function

Transfer Functions for Systems with Gears

Transfer Functions for Electromechanical Systems

Gears are assumed to be

Write the equation of motion in 2(s)

(Js2 + Ds + K) 2(s) = T2(s)

A torque can be reflected from one

(Js2 + Ds + K) 2(s) = T1(s) N2 / N1

Write the equation of motion in 1(s)

We know that 2(s) = 1(s) N1 / N2

(Js2 + Ds + K) 1(s) N1 / N2= T1(s) N2 / N1

Impedances can be reflected from one shaft to another by

o Reflect torque T1(s) from shaft 1 to shaft 2

source shaft destination shaft

o Reflecting T1(s) from shaft 1 to shaft 2, we obtain:

source shaft destination shaft

o Reflecting J1 from shaft 1 to shaft 2, we obtain

Objective: Determine the transfer function relating the input

Stationary permanent magnets

The resulting torque turns the rotor.

In turn, a conductor moving at right angles to the magnetic field

vb, back electromotive force emf

Torque is proportional to armature current:

Ra I a (s) + La sI a (s) +Vb (s) = Ea (s)

Equivalent inertia at the armature

Note: Kt is in N-m/A (Newton-meters/Ampere)

Equivalent inertia at the armature

Since La is negligible, the equation becomes

a) Find the transfer function

Tstall = 500, noload = 50, ea = 100

L transient (t) = A+ Be1.667t

0.0417 ea(t) being a unit step input,

Inverse Laplace transform L 1

Tstall=200 N.m (obtained by setting m=0 in the equation)

Accordingly, !! = !!"#$$ = 200 = 2

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