2f.

Transfer Function of Rotational

Mechanical System with Gearing

STUDENTS WILL BE ABLE TO:

1. C R E AT E T R A N S F E R F U N C T I O N
O F R O T AT I O N A L M E C H A N I C A L
SYSTEM WITH GEARING
 Basic of Gearing System
2

BMM3613: Automatic Control (2009)

 Gearing System – Position relationship
3

1. Distance travel (circumference) by

Gear 1 must equal distance travel by
Gear 2
s1  s2
r11  r2 2
r1  2

r2 1

2. Ratio of radius between Gear 1 and

Transfer Function
Gear 2 is equal to ratio of number of
teeth between Gear 1 and Gear 2
N1 r1  2
 
N 2 r2 1
BMM3613: Automatic Control (2009)
Gearing System – Torque relationship

1. Assume work generated by Gear 1

is equal to work consumed by Gear 2
W1  W2
T11  T2 2

2. From previous result

Transfer Function T11  T2 2

T1  2

T2 1
T1 N1

T2 N 2
BMM3613: Automatic Control (2009)
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 Degree of Freedom System
 Given

Fixing J fixed the whole system.

Thus, One degree of freedom

BMM3613: Automatic Control (2009)

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 Degree of Freedom System

Modeling Steps:

1. Decide the input and the output

2. Draw free body diagram of the inertia
3. Convert time function to frequency-domain
4. Obtain the transfer function
BMM3613: Automatic Control (2009)
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 Step 2: Input and Output Variables

Output variable: Angular position of

input shaft θ1(t)

Output variable: Angular position

of input shaft
θ2(t)

Input variable:

BMM3613: Automatic Control (2009)

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 Step 2: The free body diagram of J
Step 3: The differential equation of J

2
J  2

N2
T1
N1 J
D  2

K 2
N2
J  2  D  2  K  2  T1
N1
2 N2
( Js  Ds  K )  2  T 1
N1
BMM3613: Automatic Control (2009)
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 Step 4: Transfer Function – θ2(t) as output

N2
Inertial J: J  2  D  2  K  2  T1
N1

By Laplace Transform
N2
Inertial J: s 2 J  2 ( s )  sD  2 ( s )  K  2 ( s )  T 1
N1
 2 (s) N 2
 2
T1 ( s ) N 1 ( Js  Ds  K )

BMM3613: Automatic Control (2009)

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 Step 4: Transfer Function – θ1(t) as output

N2
Inertial J: J  2  D  2  K  2  T1
N1

Gear system N1
 2  1
relationship N2
N2 N1 N2
( s 2 J  sD  K ) 2 ( s )  T 1 ( s 2 J  sD  K ) 1 ( s )  T1
N1 N2 N1

1(s) 1
 2 2 2
T1 ( s )  N1   N1   N1 
2
(   Js    Ds    K )
 N2   N2   N2 
BMM3613: Automatic Control (2009)
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 What have we learned?
1(s) 1
 2 2 2 Gearing system causes
T1 ( s )  N1   N1   N1 
2
(   Js    Ds    K ) impedance transfer
 N2   N2   N2 

2
 N Destination 
K Destination  K Source  
 N Source 

2
 N1 
K S1  KS2  
N
 2

BMM3613: Automatic Control (2009)

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 What have we learned?
1(s) 1
 2 2 2
T1 ( s )  N1   N1   N1 
2
(   Js    Ds    K )
 N2   N2   N2 

BMM3613: Automatic Control (2009)

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 What have we learned?
1(s) 1
 2 2 2
T1 ( s )  N1   N1   N1 
2
(   Js    Ds    K )
 N2   N2   N2 

BMM3613: Automatic Control (2009)

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 Example

 2 (s)
Find Transfer Function? T1 ( s )
BMM3613: Automatic Control (2009)
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 Example
Shaft 1 - Source

Shaft 2 - Destination

BMM3613: Automatic Control (2009)

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 Example

2
 N2 
De  D2  D1   N2 because destination
 N1  is shaft 2

BMM3613: Automatic Control (2009)

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 Example

2
 N2 
J e  J 2  J1   N2 because destination
 N1  is shaft 2

BMM3613: Automatic Control (2009)

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 ExampleThere is no rotational
spring at shaft 1

Ke  K2

BMM3613: Automatic Control (2009)

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 Example

2

J e  2
N2
T1
N1
Je
D e  2

K e 2

   N2
J e 2  D e 2  K e 2  T1
N1
BMM3613: Automatic Control (2009)
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 Example

N2
( J e s 2  D e s  K e ) 2 ( s )  T1
N1
 2   2 
 N2  2  N  N2
( J1    J 2  s   D1 
2
  D 2  s  K e )  2 ( s )  T1

  N1  


  N1  

N1

 2 ( s) 1 ( s)
 .....  .....
T1 ( s) T1 ( s)
BMM3613: Automatic Control (2009)
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 Lesson Outcome 01
21

 Create transfer function

of rotational mechanical
system with gearing

BMM3613: Automatic Control (2009)