Rotational System Transfer Function - Control Systems
Rotational System Transfer Function - Control Systems
Engineering
Sixth Edition
Norman S. Nise
Chapter 2
Modeling in the Frequency Domain
τ
J
d 2 ( t ) d( t )
( t ) J B K time domain
B dt dt
2 J2=5 B2=4
τ2=8et
1 2
K2=6
B1=8 B2=4
2
1=10 K1=9 J1=7 J2=5
=8et
Example
For the Mechanical network; write the differential equation of performance.
?
Figure: 2.27 Block (simulation) Diagram of servomotor
Problem: The figure shows a large industrial vibrator.
Problem: The figure shows a large industrial vibrator cont…...
N1 1 2
N2 2 1
A gear system
N1 1 2
N2 2 1
Transfer functions for
a. angular displacement in lossless gears and
b. torque in lossless gears
N1 1 2
N2 2 1
N1
2
N2
N2
2 T2
N1
Which has More Torque Less Speed? Why?
Eliminate Gears
(a) Rotational system driven by gears (b) Equivalent system at the output
after reflection of input torque
N1 T N1 N1 T N2
1 2 T1 T2 1 2 T2 T1 2
N2 T2 1 N2 N2 T2 1 N1
d2 2
Where T2 J
dt 2
N1 d 2 2 N1
T1 J 2 also 2 1
N2 dt N2
2 2
N d Eliminate Gears
T1 J 1 21
N 2 dt
(c) Equivalent system at the input after
reflection of impedances
a. Rotational mechanical system with gears;
b. system after reflection of torques and impedance to the output
shaft;
c. block diagram
Gear train
a. System using a gear train;
b. equivalent system at the input;
c. block diagram