Lab:03 Analysis of Electro/mechanical Systems

in frequency Domain
Objective:
In this lab students will learn how to simulate a system when ODE of a system is given and how to
add/subtract transfer functions in Matlab, and simulation of mechanical systems.
Software:
Matlab
Task 1: Find by a hand calculation
a) G1(s) + G2(s),
b) G1(s) - G2(s),
c) G1(s)G2(s), where
1 s+1
G1 (s) = and G2 (s) = 2
s2
+s+2 s + 4s + 3
Verify your results using the symbolic command.

Write your answer for Task 1:

a) ___________________________________________________________

b) ___________________________________________________________

c) ___________________________________________________________

Task 2: For the rotational mechanical system given in figure 2, Plot the step response for the transfer
function 2(s)/T(s) in figure 4 where D1 = D2 = J1 = J2 = K = 1.

Figure 1: Rotational Mechanical System

Compound Pendulum
A compound pendulum is shown in figure. The ode of the compound pendulum and its parameters are
also defined:
L = bar length = 0.495 m
d = distance of CG from pivot=0.023 m
mL = mass of link = 0.43 kg
T is applied Torque, Let Jc be the moment of inertia of bar about its CG
Then,
mL L2
Jc =
12
Following parallel axis theorem, moment of inertia of bar about pivot point is

Figure 2 Graph for Task 2

Figure 3 Pendulum
 L2
J = Jc + mL d2 = mL ( + d2 )
12
The differential equation of this system can be written as
J = mL gd sin B + T
Task 3: Now students have to simulate the compound pendulum using different initial conditions given
below and write their observations about the pendulums position and T = 0.

Initial Conditions
Angular Position, Angular Velocity, B
/3 0 0
2 /3 /4 0
/3 0 0.5
2 /3 /4 1

Write your observations of Task 3:

_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________

Task 4: In last task, Pendulum is attached with DC motor which supplies the torque. The transfer
function relating angular velocity of DC motor with applied voltage is
m () K
=
Ea (s) (s + )
And relation for torque is given by
KtKb Kt
Tm = m + ea
Ra Ra
Now if applied voltage if 5v, and Torque produce can be generated from the relation of Torque, applied
voltage and angular velocity. Students have to analyze angular position and angular velocity of pendulum,
while set of initial conditions remain same that of last task.
Kt
= 5, K b = 2, K = 0.4, = 1.67
Ra
Write your observations of Task 4:

_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________
_____________________________________________________________________