Scribd
Upload
338 views13 pages

Mathematical Model of Systems:: Rotational Mechanical System Transfer Function

Rotational mechanical systems are modeled similarly to translational systems, but with torque replacing force and angular displacement replacing linear displacement. The components of rotational systems undergo rotation instead of translation. Equations of motion for rotational systems are obtained by drawing free-body diagrams consisting of torques and setting the sum of torques equal to zero for each point of rotation. As an example, the transfer function for a rotational system consisting of a rod with inertias at each end is derived by obtaining the equations of motion through free-body diagrams and is of the same second-order form as other mechanical and electrical systems.

Uploaded by

chardo santos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
338 views13 pages

Mathematical Model of Systems:: Rotational Mechanical System Transfer Function

Rotational mechanical systems are modeled similarly to translational systems, but with torque replacing force and angular displacement replacing linear displacement. The components of rotational systems undergo rotation instead of translation. Equations of motion for rotational systems are obtained by drawing free-body diagrams consisting of torques and setting the sum of torques equal to zero for each point of rotation. As an example, the transfer function for a rotational system consisting of a rod with inertias at each end is derived by obtaining the equations of motion through free-body diagrams and is of the same second-order form as other mechanical and electrical systems.

Uploaded by

chardo santos
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
You are on page 1/ 13

Mathematical Model of Systems:

ROTATIONAL MECHANICAL SYSTEM TRANSFER


FUNCTION
Having covered electrical and translational mechanical systems, we now move on
to consider rotational mechanical systems. Rotational mechanical systems are
handled the same way as translational mechanical systems, except that torque
replaces force and angular displacement replaces translational displacement.

The mechanical components for rotational systems are the same as those for
translational systems, except that the components undergo rotation instead of
translation.
Table below 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 not translation.
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
Also notice that the term associated with the mass is replaced by inertia. The
values of K, D, and J are called spring constant, coefficient of viscous friction,
and moment of inertia, respectively.
The impedances of the mechanical components are also summarized in the last
column in Table. The values can be found by taking the Laplace transform,
assuming zero initial conditions, of the torque-angular
displacement column in Table.
The concept of degrees of freedom carries over to rotational systems, except that
we test a point of motion by rotating it while holding still all other points of
motion. The number of points of motion that can be rotated while all others are
held still equals the number of equations of motion required to describe the
system.
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
Writing the equations of motion for rotational systems is similar to writing
them for translational systems; the only difference is that the free-body diagram
consists of torques rather than forces. We obtain these torques using
superposition.
First, we rotate a body while holding all other points still and place on its free-
body diagram all torques due to the body’s own motion. Then, holding the body
still, we rotate adjacent points of motion one at a time and add the torques due to
the adjacent motion to the free-body diagram.

The process is repeated for each point of motion. For each free-body diagram,
these torques are summed and set equal to zero to form the equations of motion.
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
Two examples will demonstrate the solution of rotational systems. The first one
uses free-body diagrams; the second uses the concept of impedances to write the
equations of motion by inspection.
Transfer Function—Two Equations of Motion
PROBLEM: Find the transfer function, 2(s)/T(s), for the rotational system
shown in Figure. 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.

Figure 1
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
SOLUTION: First, obtain the schematic from the physical system. Even though
torsion occurs throughout the rod in Figure 1, we approximate the system by
assuming that the torsion acts like a spring concentrated at one particular point
in the rod, with an inertia J1 to the left and an inertia J2 to the right.

We also assume that the damping inside the flexible shaft is negligible. The
schematic is shown in Figure 2.

Figure 2

There are two degrees of freedom, since each inertia can be rotated while the
other is held still. Hence, it will take two simultaneous equations to solve the
system.
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
Next, draw a free-body diagram of J1, using superposition.
Figure 3(a) shows the torques on J1 if J2 is held still and J1 rotated. Figure 3(b) shows the
torques on J1 if J1 is held still and J2 rotated. Finally, the sum of Figures 3(a) and 3(b) is
shown in Figure 3(c), the final free-body diagram for J1.

Figure 3
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
The same process is repeated in Figure 4 for J2.

Figure 4

Summing torques respectively from Figures 3(c) and 4(c) we obtain the equations
of motion,
Equation 1

Equation 2
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
from which the required transfer function is found to be

Equation 3

Where:

Equation 4
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
Notice that Equations 3 & 4 have that now well-known form

Equation 5

Equation 6
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION Equations of Motion By Inspection
PROBLEM: Write, but do not solve, the Laplace transform of the equations of
motion for the system shown in Figure 5.

Figure 5

SOLUTION: The equations will take on the following form, similar to


electrical mesh equations:
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION

Equation 7

Equation 8
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
Hence,

Equation 9

Equation 10

Equation 11

You might also like