BMFA 3313

CONTROL SYSTEMS


TOPIC : Modeling in the
Frequency Domain
Introduction
Translational Mechanical System
Rotational Mechanical System
Systems with Gears
Electromechanical System
1
Learning Outcomes
At the end of this topic, students should be able to:

Find a mathematical model, called a transfer function for linear, time
invariant (LTI) mechanical translational & rotational systems and
electromechanical systems.
2
Mathematical Modeling for Translational
Mechanical System
A mathematical modeling for an element or system is an
equation or set of equation that define the relationship
between input and output of the system
Mechanical systems have 3 passive, linear components. Two
of them, the spring and the mass, are energy-storage
elements; and one of them, the viscous damper, dissipates
energy.
These mechanical elements are shown in next table.
In the table, K, fv and M are called spring constant,
coefficient of viscous friction and mass, respectively.
Translational
Mechanical System
Force-velocity, force-
displacement, and
impedance
translational
relationships
for springs, viscous
dampers, and mass
Translational Mechanical System
Steps:
The mechanical system requires one differential equation, called the
equation of motion.
Assume +ve direction of motion ~ to the right
- Assume ve direction of motion to the left

Draw a free body diagram, placing on the body all the forces that act on
the body
Use Newtons Law to form differential equation (setting the sum equal to
zero)
Assume zero initial condition
Take Laplace Transform
Find Transfer Function
Example (One equation of
motion)
Find the transfer function, X(s)/F(s), for the system of Figure below:
Step 1 ~ Draw the free-body diagram (using differential equation)
Place on the mass all forces felt by the mass
Mass is traveling toward the right (force points to the right)
All other forces impede the motion and act oppose it.

Step 2 ~ Write the differential equation using Newtons Law (sum
to zero all of the forces)
) ( ) (
) ( ) (
2
2
t f t Kx
dt
t dx
f
dt
t x d
M
v
= + +

Step 3 ~ Taking the Laplace Transform assuming zero initial condition





Step 4 ~ Solving the transfer function & block diagram

K s f Ms s F
s X
v
+ +
=
) (
1
) (
) (
2
) ( ) ( ) (
or
) ( ) ( ) ( ) (
2
2
s F s X K s f Ms
s F s KX s sX f s X Ms
v
v
= + +
= + +
Take the Laplace transform of force displacement column in previous Table,
we obtain:

for the spring, F(s) = KX(s)
for the viscous damper, F(s) = f
v
sX(s)
for the mass, F(s) = Ms
2
X(s)

This approach is more simple rather than to write the differentiate equation
Mechanical Translation
Components
Example (2 degrees of freedom)
Find the transfer function, X
2
(s)/F(s), for the system of figure as shown
below.












*The system is 2 degree of freedom since each mass can be moved in horizontal
direction while the other is held still ~ 2 equations
Step 1 ~ (If we hold M
2
and move M
1
to the right)
a) Draw forces on M
1
due to only motion of M
1

b) Draw forces on M
1
due only motion of M
2
c) Draw all the forces on M
1
















Example (2 degrees of freedom)
Step 2 ~ (If we hold M
1
and move M
2
to the right)
a) Draw forces on M
2
due to only motion of M
2

b) Draw forces on M
2
due only motion of M
1
c) Draw all the forces












Example (2 degrees of freedom)
Step 3 ~ Laplace transform of the equation of motion from
Step 1c and Step 2c





Step 4 ~ The transfer function X
2
(s)/F(s) is


( ) ( ) ( )
( ) ( ) | | 0 ) ( ) ( ) ( : 2
) ( ) ( ) ( ] [ : 1
2 3 2 3 2
2
2 1 2 3
2 2 3 1 2 1 3 1
2
1
= + + + + + +
= + + + + +
s X K K s f f s M s X K s f c Step
s F s X K s f s X K K s f f s M c Step
v v v
v v v
= ) (
2
s X
A
+
= =
) (
) (
) (
) (
2 3 2
K s f
s G
s F
s X
v
( ) ( ) | | ( )
( ) ( ) ( ) | |
3 2 3 2
2
2 2 3
2 3 2 1 3 1
2
1
K K s f f s M K s f
K s f K K s f f s M
v v v
v v v
+ + + + +
+ + + + +
= A
Example (2 degrees of freedom)
Solve by
Cramers
Rule
Transfer Function of Translational
Mechanical Systems
X
1
(s) X
2
(s) X
3
(s) F(s)
+ (Sum of
Impedance related to
X
1
)
- (Sum of
Impedance btw X
1

and X
2
)
Applied force
- (Sum of
Impedance btw X
1

and X
2
)
+ (Sum of
Impedance related to
X
2
)
- (Sum of
Impedance btw X
2

and X
3
)
Applied force
- (Sum of
Impedance btw X
2

and X
3
)
+ (Sum of
Impedance related to
X
3
)
Applied force
To produce the Equation of Motions
Eqn 1
Eqn 2
Eqn 3
Exercise
Write but do not solve, the Laplace transform of the equations of motion for
the system shown in Figure below.
Mathematical Modeling for Rotational Mechanical
System
Rotational mechanical systems are handled the same way as translational
mechanical systems, except that torque replaces force and angular replaces
translational displacement.
Table next shows the components along with the relationships between
torque and angular velocity, as well as angular displacement.
Notice that the symbols for the components look the same as translational
symbols, but they are undergoing rotation and no translation.
The values of K, D and J are called spring constant, coefficient of viscous
friction and moment of inertia, respectively.
Rotational Mechanical Systems
Rotational Mechanical
System
Torque-angular velocity,
torque-angular
displacement,
and impedance
rotational relationships
for springs, viscous
dampers, and inertia
Example (Two equation of motion)
Find the transfer function, for the rotational system shown in the figure
below. 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.
a. Physical system;
b. Schematic;
c. Block diagram
*2 degree of freedom
since each inertia
can be rotated while
the other is held still
~ two equations
Solve by
Cramers
Rule
Transfer Function of Rotational
Mechanical Systems

1
(s)
2
(s)
3
(s) T(s)
+ (Sum of
Impedance related to

1
)
- (Sum of
Impedance btw
1

and
2
)
Applied torque
- (Sum of
Impedance btw
1

and
2
)
+ (Sum of
Impedance related to

2
)
- (Sum of
Impedance btw
2

and
3
)
Applied torque
- (Sum of
Impedance btw
2

and
3
)
+ (Sum of
Impedance related to

3
)
Applied torque
To produce the Equation of Motions
Eqn 1
Eqn 2
Eqn 3
Transfer Functions for Systems with
Gears
Rotational Systems associated gear train driving the load

Gears provide mechanical advantage to rotational systems


2
1
2
1
1
2
2 2 1 1
N
N
r
r
r r
= =
=
u
u
u u
Transfer Functions for Systems
with Gears
1
2
2
1
1
2
2 2 1 1
N
N
T
T
T T
= =
=
u
u
u u
Transfer functions for (a) angular displacement in lossless gears and
(b) torque in lossless gears
Transfer Functions for Systems
with Gears - Example
Transfer Functions for Systems
with Gears - Example
Rotational mechanical impedance can be reflected through gear
trains by multiplying the mechanical impedance by the ratio;




where the impedance to be reflected is attached to the source
shaft and is being reflected to the destination shaft.



2
shaft on gear of teeth of Number
shaft on gear of teeth of Number
|
|
.
|

\
|
source
n destinatio
Transfer Functions for Systems
with Gears - Example
Transfer Functions for Systems
with Gears
Study Example 2.22 on page
74
To be continued.
26