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Lecture 04 Rotational Mechanical Systems

The document provides information about linear control systems lecture 4, which covers transfer functions for rotational mechanical systems and systems with gears. It includes: - Examples of how mass, force, and displacement in mechanical translational systems map to moment of inertia, torque, and angular displacement in rotational systems. - Derivations of the transfer functions for a two-mass rotational system using block diagrams and matrix methods. - Explanation of how gear ratios relate torque and angular velocity between connected shafts in gear systems. - Examples showing how the impedances and transfer functions of a rotational system with gears can be reflected to the input or output shaft to obtain an equivalent direct system for analysis.

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Rehan Basharat
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0% found this document useful (0 votes)
47 views25 pages

Lecture 04 Rotational Mechanical Systems

The document provides information about linear control systems lecture 4, which covers transfer functions for rotational mechanical systems and systems with gears. It includes: - Examples of how mass, force, and displacement in mechanical translational systems map to moment of inertia, torque, and angular displacement in rotational systems. - Derivations of the transfer functions for a two-mass rotational system using block diagrams and matrix methods. - Explanation of how gear ratios relate torque and angular velocity between connected shafts in gear systems. - Examples showing how the impedances and transfer functions of a rotational system with gears can be reflected to the input or output shaft to obtain an equivalent direct system for analysis.

Uploaded by

Rehan Basharat
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
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EE-371

LINEAR CONTROL SYSTEMS


Lecture No 4

“CONTROL SYSTEMS ENGINEERING”


Text Book: Chapter 2
(Transfer Functions of Rotational
Systems and Systems with Gears)

Instructor: Dr. Farid Gul


Class: BEE-2k20-AB

Electrical Engineering Department

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
5
6
7
Example 2.19

Physical system

Schematic

Block diagram

8
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 )
9
Final free-body
diagram for J2
Torques on J2 due only Torques on J2 due only
to the motion of J2 to the motion of J1

 2

 K1 ( s )  J 2 s  D2 s  K  2 ( s )  0
10
 1  D1s  K 1 (s)  K2 (s)  T (s)
J s 2

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



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

 K  2

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

11


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

 K  2

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

 J1s 2  D1s  K  K  AB  C
A 
  J 2 s  D2 s  K  1
BA C
2
 K
 ( s )  T ( s ) 
B   1 ; C 
 2 ( s )   0 

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];

12
%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;
'G1'; G1 (J2*s^2 + D2*s + K)/(D1*K*s + D2*K*s + D1*D2*s^2 +
'G2'; G2 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  ( D1 D2  J1 K  J 2 K )s  ( D1 K  D2 K ) 
J 2 s 2  D2 s  K
G2 

s J1 J 2 s 3  ( D1 J 2  D2 J1 ) s 2  ( D1 D2  J1 K  J 2 K ) s  ( D1 K  D2 K )  13
%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); G1 = 1/(s4 + 2s3 + 3s2 + 2s)
theta2=B(2);

G1 = theta2/T;
G2 = theta1/T; G2 = (s2 + s + 1)/(s4 + 2s3 + 3s2 + 2s)
'G1'; G1
'G2'; G2

14
Home Assignment # 1
Find the following transfer functions for the three degree of
freedom system shown in the figure. Write a matlab code for
finding the solution. Evaluate the transfer function for D1=1;
D2=2; D3=3; J1=0; J2=4; J3=5, and K=6
1 ( s)
G1 ( s ) 
T (s)
 (s) Submit on Monday, 13
G2 ( s )  2
T ( s) Jan, 2023
3 ( s)
G3 ( s) 
T (s)

15
Transfer Functions for Systems
with Gears

16
N 1 T1  2
 
N 2 T2  1
17
A gear system

r11  r2 2

r1  2

r2 1

N1  2

N 2 1

T1  2

T2 1
18
Transfer functions for
a. angular displacement in lossless gears and
b. torque in lossless gears
N 1 T1  2
 
N 2 T2  1
N1
2  1
N2

N2
T2  T1
N1
19
Which system has More Torque
Less Speed? Why?

20
N 1 T1  2 N2
   T2  T1
N 2 T2  1 N1

 
T2  Js 2  Ds  K  2
Gears Eliminated

(a) Rotational system driven by gears (b) Equivalent system at the output
(input torque reflected to output)
N1
T1  T2
N2
d 2 2 d
T2  J 2  D 2  K 2  N1 
dt dt  also  2  1 
 N2 
2
 N 1   d 21 d 1 
 T1    J 2 D  K 1 
 N 2   dt dt  Gears Eliminated
2
 N1 
or T1   2

 Js  Ds  K  1  (c) Equivalent system at the input 21
 N2  (impedances reflected to input)
Example 2.21
system after reflection of torques
and impedance to the output shaft

Rotational mechanical system with gears

2
 N2  N 
J e  J1  T1 ( s)  2   ( J e s 2  De s  K e ) 2 ( s )
  J2  N1 
 N1 
2
N 
De  D1  2   D2
 N1 
block diagram
Ke  K2

22
Gear train
23
a. System using a gear train;
b. equivalent system reflected at the input;
c. block diagram

24
???
25

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