School of Electrical Engineering and

Computer Science
Department of Electrical Engineering
EE-371 : Control Systems
Lecture#09
(Transfer Functions of Electro Mechanical Systems)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise 5th
Edition

Instructor: Ms Neelma Naz

Class: BEE 12 C/D

1
Electromechanical System
Transfer Functions

2
Example 2.23
Transfer Function—DC Motor and Load
PROBLEM: Given the system and torque-speed curve of Figure 2.39(a)
and (b), find the transfer function, ƟL(s)/Ea(s).

SOLUTION: Begin by finding the

mechanical constants, Jm and Dm.
The total inertia at the armature of the motor is:

The total damping at the armature of the motor is:

From the torque speed curve

3
Figure 2.39
a. DC motor and load;
b. torque-speed curve;
c. block diagram
Exercise 2.11
Home Assignment
Figure 2.40 (submit)
Electromechanical system for
Skill-Assessment
(Linearization of Nonlinear
systems, Case Study)

6
 MOTIVATION
All Dynamic systems to a degree are non-linear
 Non-linear systems are difficult to analyze
Cannot use Laplace transforms
Cannot use root locus or bode diagram or the other cook-
book methods

Within small region of a given operating system, one can

approximate the non-linear behavior with a linear function
 An abundance of mathematical tools to design controllers

Linearization is the process of finding the approximate

linear function at an operating point
7
 Linear system vs. Nonlinear system

 Linear systems possess two properties: Superposition and homogeneity

 Nonlinear systems do not.

Homogeneity
f(ax)=a f(x)

Superposition
f(x1+x2) = f(x1) +f(x2)

f(αx1+βx2) = α f(x1) + βf(x2)

8
Linear system vs. Nonlinear system

9
 Physical Nonlinearities
Some examples of physical nonlinearities:

• An electronic amplifier is linear over a specific range and exhibits the

nonlinearity called saturation at high input voltages.

• A motor that does not respond at very low input voltages due to frictional

forces exhibits a nonlinearity called dead zone.

• Gears that do not fit tightly exhibit a nonlinearity called backlash.

10
Linearization

f(x)
f(x0)

)
x0

11
Linearization- Example

12
 Linearization

The linearization steps are:

• Check where is the nonlinear component and write the

nonlinear differential equation of the system.

• Linearize the nonlinear part using a first order Taylor series

13
Linearization

14
Linearization (Example)

15
Linearization (Example)

16
Linearization of simple pendulum (Example)

17
Linearization - Non-linear Electrical Network (Example)

18
 Antenna Azimuth Position Control
System
PROBLEM:
Find the transfer function for each subsystem of the
antenna azimuth position control system.

Layout

©2000, John Wiley & Sons, Inc.

Nise/Control Systems Engineering, 3/e
Antenna Azimuth Position Control System
PROBLEM: Find the transfer function for each subsystem of the
antenna azimuth position control system.
Use Configuration 1.

Schematic
 θi(s) θo(s)
G(s)

G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)
Antenna Azimuth Position Control System
(Modeling in SIMULINK)
K=100;(varied b/w 1-1000)
Kp=0.318;K1=100;a=100;
am=1.71;Km=2.083;Kg=.1;
%Antenna Azimuth Position Control System
syms s
K=1;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)

Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
%Antenna Azimuth Position Control System
syms s
K=10;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)

Step Response
1

0.9

0.8

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2

0.1

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
%Antenna Azimuth Position Control System
syms s
K=100;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)

Step Response
1.4

1.2

0.8
Amplitude

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
%Antenna Azimuth Position Control System
syms s
K=1000;
Kp=0.318;K1=100;a =100;am=1.71;Km=2.083;Kg=.1;
G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp);
Gs = tf([Kp*K*K1*Km*Kg],[1 (am+a) am*a K*K1*Km*Kg*Kp]);
step(Gs)
Step Response
2

1.8

1.6

1.4

1.2
Amplitude

0.8

0.6

0.4

0.2

0
0 5 10 15 20 25 30 35 40 45 50
Time (seconds)
 θi(s) θo(s)
G(s)

G = Kp*K*K1*Km*Kg/(s*(s+am)*(s+a)+K*K1*Km*Kg*Kp)

Step Response Step Response

1 1

0.9 0.9

0.8 0.8

0.7 0.7

0.6 0.6
Amplitude

Amplitude
K=10
0.5 0.5

K=1
0.4 0.4

0.3 0.3

0.2 0.2

0.1 0.1

0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (seconds) Time (seconds)

Step Response
Step Response 2
1.4
1.8
1.2
1.6

1 1.4

1.2
Amplitude

0.8
Amplitude

K=100
0.6 0.8

K=1000
0.6
0.4
0.4
0.2
0.2

0 0
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (seconds) Time (seconds)
 d n c(t ) d n 1c(t ) d m r (t ) d m 1r (t )
an n
 an 1 n 1
   a0 c(t )  bm m
 bm 1 m 1
   b0 r (t )
dt dt dt dt

an s nC ( s )  an 1s n 1C ( s )    a0C ( s )  bm s m R ( s )  bm 1s m 1R ( s )    b0 R ( s )

a s
n
n
 
 an 1s n 1    a0 C ( s )  bm s m  bm1s m 1    b0 R( s) 
C ( s ) b s  bm 1s m 1   b 
m
m 0

R( s)  a s n
n
 an 1s n 1   a 
0
Exercise 2.3

Solution

s 3C ( s )  3s 2C ( s )  7 sC ( s )  5C ( s )  s 2 R ( s )  4 sR ( s )  3R ( s )

s 3
 3s 2  7 s  5C ( s )  s 2  4 s  3R ( s )

C (s) s 2  4s  3
 3  G (s)
R( s ) s  3s  7 s  5
2
 NEXT
Chapter # 04
Norman.S.Nise
34