Nise’s Control Systems

Engineering
Global Edition

Norman S. Nise

Chapter 2
Modeling in the Frequency Domain
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 Electromechanical systems transfer functions

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 NASA flight simulator robot arm with
electromechanical control system components

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Fig_2-34 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 Armature controlled DC servomotor

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Fig_2-35 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 Angular velocity

Back emf constant

The back electromotive force

(Back emf)

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Eq_2-144 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 Taking Laplace transform

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Eq_2-145 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 writing a loop equation around the Laplace
transformed armature circuit

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Eq_2-146 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 The torque developed by the motor is proportional to
the armature current

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Eq_2-147 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-149 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 To find the transfer function,
we need to relate the torque to
the angular displacement

Inertia

Viscous
damper

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Fig_2-36 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Table_2-5 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-150 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-151 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-153 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 Simplified Transfer function

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Eq_2-154 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 Mechanical Constants with Gears

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Fig_2-37 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-155 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 Electrical constants

Experimentally it can be proven that the torque relate to

the applied voltage and angular velocity

Torque vs angular velocity is a straight

line curve

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Eq_2-159 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 When angular velocity is zero

Mechanical load that would stop the

motor’s rotation

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Eq_2-160 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 When torque is zero

Motor operating at no load

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Eq_2-161 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-162 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Fig_02_39 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-164 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-165 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-166 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-169 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-171 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Eq_2-172 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
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Fig_2-40 Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
 Challenge

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Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.