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Modelling Electromechanical Systems (Ch. 3)

This document discusses modeling electromechanical systems and various modeling concepts including: 1) The transfer function of a DC motor and how it relates the angular velocity to the input voltage. 2) How gear trains transmit torque and their effect on angular velocity. 3) How sensors like potentiometers and tachometers convert mechanical values like displacement and angular velocity to electrical voltages. 4) Signal flow graphs and their use in representing sets of simultaneous linear equations through nodes, branches, and other concepts. Mason's gain formula is also discussed for solving signal flow graphs. Examples are provided.

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Irtiza Ishrak
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38 views27 pages

Modelling Electromechanical Systems (Ch. 3)

This document discusses modeling electromechanical systems and various modeling concepts including: 1) The transfer function of a DC motor and how it relates the angular velocity to the input voltage. 2) How gear trains transmit torque and their effect on angular velocity. 3) How sensors like potentiometers and tachometers convert mechanical values like displacement and angular velocity to electrical voltages. 4) Signal flow graphs and their use in representing sets of simultaneous linear equations through nodes, branches, and other concepts. Mason's gain formula is also discussed for solving signal flow graphs. Examples are provided.

Uploaded by

Irtiza Ishrak
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Modelling electromechanical systems (Ch.

3)

Dorf

Satellite tracking antenna


Dorf
Satellite tracking antenna Layout
The transfer function of the DC motor:
Modelling electromechanical systems
 ( s) K  ( s) K
 
Va ( s ) s (Ts  1) Va ( s ) Ts  1
Gear Train System

The transmitted torque through a gear train:


 ( s)
Va ( s )

 ( s) 14

Va ( s ) 3.57 s  1
Modelling sensors in control systems
Potentiometer
The potentiometer converts a mechanical
displacement, either linear or rotational, to a voltage.

Kuo
e(t )  K s c (t )
For N-turn potentiometer,
E Kuo
K  V / rad
2N
s
Kuo
Tachometer
The tachometer converts a magnitude of the
angular velocity to a voltage.
et (t )  K t  (t )
K t is the tachometer constant in V/rad/sec.
K t is usually given as a catalogue parameter in volts
per 1000 rpm (V/krpm).
Kuo
Signal Flow Graphs (Ch3.9, 4th edition)

A signal flow graph is a diagram that represents


a set of simultaneous linear algebraic equations.
Definitions:

13
Node: a node is a point representing a variable or
signal.

Branch: is a directed line segment joining two


nodes.

Transmittance: is a real gain or complex gain of a


branch.

Input node or source: is a node that has only


outgoing branches.

14
Output node or sink: is a node that has only incoming
branches.

Mixed node: is a node that has both incoming and


outgoing branches.

Path: is a traversal of connected branches in the


direction of the branch arrows.

Loop: is a closed path.

Loop gain: is the product of the branch transmittances


of a loop.

15
Non-touching loops: are non-toughing if they do
not possess any common nodes.

Forward path: is a path from an input node to


an output node that does not cross any nodes
more than once.

Forward path gain: is the product of the branch


transmittances of a forward path.

16
Signal flow graph algebra
The rules used to simplify the signal flow graph

17
18
Signal flow graphs of DE

19
Signal flow graphs of control systems

20
21
Mason’s Gain formula for signal flow graphs

1
P P

k k
k

Pk is path gain of kth forward path

22
 =1-(sum of all individual loop gains)+(sum of gain
products of all possible combinations of two non-
touching loops)-(sum of gain products of all possible
combinations of three non-touching loops)+…=
1   La   Lb Lc   Ld Le L f  
a b ,c d ,e , f

 k is obtained from 
by removing the loops that touch path Pk .

23
Example

C ( s) G1G2G3
Answer: 
R( s ) 1  G1G2 H1  G2G3 H 2  G1G2G3

24
Example

Answer:

C (s) G1G2G3G4G5  G1G6G4G5  G1G2G7 (1  G4 H1 )



R( s ) 1  H1G4  G2G7 H 2  G6G4G5 H 2  G2G3G4G5 H 2  G2G4G7 H1 H 2

25
Example: To utilize the strength advantage of robot
manipulators and the intellectual advantage of
humans, a class of manipulators called extenders has
been examined. The extender is defined as an active
manipulator worn by a human to augment the
human’s strength. The human provides an input U (s ) .
The endpoint of the extender is P (s ) .
Determine the output for both U (s ) and F (s ) .

26
P( s) G  BKG1 G  BKG1
 
U ( s) 1  HG  BKG1 H  EGc  EG1 K 
Answer:
P( s) Gc  G1 K
 Dorf
F (s) 
27

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