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School of Electrical Engineering and Computer Science Department of Electrical Engineering

This document provides information about transfer functions for rotational mechanical systems from a lecture on control systems. It discusses how rotational systems are modeled similarly to translational systems by replacing mass with moment of inertia, force with torque, and displacement with angular displacement. Examples of rotational systems like steam turbine blades are presented. The document derives the transfer functions for two connected rotational systems and provides the final transfer functions. As homework, students are asked to write the transfer function for a third rotational system given its model.

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84 views18 pages

School of Electrical Engineering and Computer Science Department of Electrical Engineering

This document provides information about transfer functions for rotational mechanical systems from a lecture on control systems. It discusses how rotational systems are modeled similarly to translational systems by replacing mass with moment of inertia, force with torque, and displacement with angular displacement. Examples of rotational systems like steam turbine blades are presented. The document derives the transfer functions for two connected rotational systems and provides the final transfer functions. As homework, students are asked to write the transfer function for a third rotational system given its model.

Uploaded by

abdullah1996
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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School of Electrical Engineering and

Computer Science
Department of Electrical Engineering
EE-379 : Control Systems
Lecture#06
(Transfer Functions of Rotational Systems)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise
5th Edition

Instructor: Ms Neelma Naz


Class: BEE 8 A/B

1
Transfer Functions for Rotational
Mechanical Systems

2
Mechanical Rotational Systems
The mechanical rotational systems are treated in the same way as the
mechanical translational systems with the following changes:
•Mass (M) is replaced by moment of inertia (J)
•Force (F) is replaced by Torque (T)
•Displacement ‘X’ by angular displacement ‘θ’

3
Examples
Mechanical Rotational Systems -
Applications

4
Steam Turbine Blades
6
Summary of elements involved in linear mechanical systems

7
8

τ
J
d 2 (t ) d (t )
T (t )  J 2
B  K time domain
B dt dt

K T ( s )  Js 2  Bs  K s  domain

9
Example 2.19

Physical system

Schematic

Block diagram

10
Final free-body
diagram for J1

Torques on J1 due only Torques on J1 due only


to the motion of J1 to the motion of J2

 
J1s 2  D1s  K 1 ( s )  K 2 ( s )  T ( s )
11
Final free-body
diagram for J2
Torques on J2 due only Torques on J due only
2
to the motion of J2 to the motion of J1

 
 K1 ( s )  J 2 s  D2 s  K  2 ( s )  0
2

12
 
J1s 2  D1s  K 1 ( s )  K 2 ( s)  T ( s )


 K1 ( s )  J 2 s 2  D2 s  K  2 ( s)  0 


 J1s 2  D1s  K  K   ( s )  T ( s ) 
 1    

 K  2

 
J 2 s  D2 s  K   2  
( s ) 0 

13


 J1s 2  D1s  K  K   ( s )  T ( s ) 
 1    

 K  2

 
J 2 s  D2 s  K   2  
( s ) 0 


 J1s 2  D1s  K  K 
A 

 K  
J 2 s  D2 s  K 
2
AB  C
 ( s )  T ( s ) 
1
B   1 ;
 2 ( s ) 
C
 0 

BA C

syms s J1 D1 K T J2 D2 theta1 theta2;


A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0];

14
%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;


A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0]; G1 =

B=inv(A)*C; K/(D1*K*s + D2*K*s + D1*D2*s^2 + D1*J2*s^3 + D2*J1*s^3 +


theta1=B(1); J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)
theta2=B(2);

G1 = theta2/T; G2 =
G2 = theta1/T;
(J2*s^2 + D2*s + K)/(D1*K*s + D2*K*s + D1*D2*s^2 +
D1*J2*s^3 + D2*J1*s^3 + J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)

K
G1 

s J1 J 2 s 3  ( D1 J 2  D2 J1 ) s 2  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K ) 
J 2 s 2  D2 s  K
G2 

s J1 J 2 s 3  ( D1 J 2  D2 J1 ) s 2  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K )  15
%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;

J1=1; J2=1, D1=1; D2=1;K=1;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];


B=[theta1; theta2];
C=[T; 0];

B=inv(A)*C;
theta1=B(1);
theta2=B(2);
G1 =
1/(s^4 + 2*s^3 + 3*s^2 + 2*s)
G1 = theta2/T;
G2 = theta1/T;
G2 =
(s^2 + s + 1)/(s^4 + 2*s^3 + 3*s^2 + 2*s)

16
Home Assignment (submit)

Write the Transfer Function

3 (s)
G (s) 
T (s)

17
18

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