Control Engineering
ME-339
Lec 04: Transfer Function
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Transfer Function
A nth order linear time invariant differential
equation can be expressed as:
c(t) is the output, r(t) is the input and a, b are the
coefficients dependent on the system.
Taking Laplace transform of both sides:
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Transfer Function
Assuming that all initial conditions are zero, the equation
reduces to:
Rearranging
G(s) is called the Transfer function of the system and
evaluate it with zero initial conditions.
Transfer function relates input and output of a
system/subsystem.
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Transfer Function
Block Diagram of a transfer function
Transfer
function examples (in detail for
mechanical and electrical system)
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Test Waveforms in Control System
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Transfer Functions
• Electrical Network
• Mechanical System
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Electrical System Transfer Functions
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Electrical Network Transfer Functions
Goal: Apply transfer function to mathematical models of
electric circuits.
Table below represents voltage and current relationships
for different components under zero initial conditions.
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Electrical Network Transfer Functions
Kirchhoff’s laws
• KVL = sum of all voltages around a closed loop
equals zero
• KCL = sum of all currents at a node equals zero
Strategy:
• Use the laws, whichever is convenient/suitable for
the electrical network and then equate equal to
zero.
• Using these relationships write the differential
equation, and take Laplace transform.
• Find the transfer function.
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Example – Transfer Function via Mesh Analysis
Find the transfer function relating capacitor
voltage Vc(s) to input voltage V(s)
Solution:
Assuming zero initial conditions, sum the
voltages around the loop
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Example – Transfer Function via Mesh Analysis
Taking LT and rearranging the equations:
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Example – Transfer Function via Mesh Analysis
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Example – Transfer Function via Mesh Analysis
How concept of impedance simplifies the
solution?
Difference between impedance and R?
• Unlike R, Impedance is applicable to
capacitors and inductors and carries
information for dynamic behaviour of the
component.
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Transformed circuit
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Example 2.7
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Example 2.7
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Complex Circuit via Mesh Analysis
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Transfer functions- Multi loop
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Complex Circuit via Nodal Analysis
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Example 2.12
which states that a voltage source, V(s), in series with an impedance, Z s(s), can
be replaced by a current source, I(s) — V(s)/Zs(s), in parallel with Zs(s).
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Translational Mechanical System
Transfer Functions
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Translational Mechanical System Transfer Functions
K = spring constant
fv = coefficient of
viscous friction
M = mass
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Translational Mechanical System Transfer Functions
Mechanical systems have direct analogy
with Electrical Systems
Energy storage elements:
• Spring and mass <------> capacitor and inductor
Energy dissipating element:
• Viscous damper <------> resistance
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Translational Mechanical System Transfer Functions
Mechanical Force <-----> Electrical
Voltage
Mechanical Velocity <------> Electrical
Current
Displacement <---->
charge
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Example – One Equation of Motion
Find the transfer function, X(s)/F(s).
Solution:
Step 1: Free Body Diagram:
Step 2: Write differential equation of motion using Newton’s law.
Step 3: Take Laplace transform, assuming zero initial conditions
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Transfer Function – Two degree of freedom
Find the transfer function X2(s)/F(s) for the following
system
For problems with multiple degree of freedom, we draw the
free-body diagram for each point of motion and then use
superposition. For each free-body diagram we begin by
holding all other points of motion still and finding the forces
acting on the body due only to its own motion.
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Transfer Function – Two degree of freedom
Find the transfer function X2(s)/F(s) for the following system
The system has two degrees of freedom, since both masses
can be moved in the horizontal direction while other is held
still.
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Transfer Function – Two degree of freedom
Find the transfer function X2(s)/F(s) for the following system
Step 1: Get equation of motion by free body diagram for
each mass M1 and M2.
• For M1
Hold M2 Still and move M1 towards Hold M1 Still and move M2 towards
right right
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Transfer Function – Two degree of freedom
Find the transfer function X2(s)/F(s) for the following system
Step 1: Get equation of motion by free body diagram for
each mass M1 and M2.
• For M1 ,the total force is superposition or sum of the two forces:
+ =
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Transfer Function – Two degree of freedom
Find the transfer function X2(s)/F(s) for the following system
Step 1: Get equation of motion by free body diagram for
each mass M1 and M2.
• For M2
Hold M1 Still and move M2 towards Hold M2 Still and move M1 towards
right right
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Transfer Function – Two degree of freedom
Find the transfer function X2(s)/F(s) for the following system
Step 1: Get equation of motion by free body diagram for
each mass M1 and M2.
• For M2 ,the total force is superposition or sum of the two forces:
+ =
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Transfer Function – Two degree of freedom
Find the transfer function X2(s)/F(s) for the following system
Step 2: Write the equation of Motions for both M1 and M2.
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Rotational Mechanical System
Transfer Functions
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Introduction
Allconcepts remain same but instead of
translation, we now consider rotation
Torque replaces force
Angular displacement replaces
translational displacement
Mass is replaced by inertia
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Spring
Constant
D = Coefficient
of viscous
friction
J = Moment of
Inertia
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Example
Find the transfer function θ2(s)/T(s)
2 degrees of freedom, since each inertia can be held still while other is
rotated. Therefore 2 equations can be formed
J1 Still,
Torques on J1 Total/Sum
J 2
rotating
J2 Still,
J1
rotating
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Example
Find the transfer function θ2(s)/T(s)
2 degrees of freedom, since each inertia can be held
still while other is rotated. Therefore 2 equations can
be formed J Still,
2
Total/Sum
J
Torques on J 1
2 rotating
J1 Still,
J2
rotating
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Example
Find the transfer function θ2(s)/T(s)
2 degrees of freedom, since each inertia can be held
still while other is rotated. Therefore 2 equations can
be formed
Equations of Motion
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Transfer Function for Systems with gears
Important since systems with motor are
difficult to be found without gears.
Gears provide mechanical advantage to
rotational systems.
• Gears allow you to match the drive system and the
load- a tradeoff between speed and torque.
• E.g. going uphill (more torque and less speed) and
vice versa for straight path.
• For these systems, no backlash is considered.
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What is backlash?
Loose fit between two meshed gears
Driver gear rotates through a small angle
before making contact with meshed
gear.
As a result, angular displacement of
output gear doesn’t occur until a small
angular displacement of input gear has
occurred.
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Transfer Function for Systems with gears
Notations
• r radius
• N number of teeth
• T torque
• Θ angular displacement
As the gear turns, the distance travelled along each gears
circumference is the same
As the ratio of number of teeth along circumference is in the
same proportion as the ratio of radii
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Transfer Function for Systems with gears
Relationship between input torque T1 and delivered torque
T2?
Assuming no losses i.e., gear don't absorb or store energy:
energy in gear 1 = energy in gear 2
So
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Transfer Function for Systems with gears
Important relations
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Transfer Function for Systems with gears
Affect on mechanical impedances due to gears?
• Figure shows gear driving a rotational inertia, viscous damper and spring.
Representing equivalent system at Theta1 without gears.
Can we reflect mechanical impedances from output to input, thereby
eliminating gears.
Equivalent system by reflecting
Rotational System driven by input at the output
Gears
Since
T1 can be reflected to the output by multiplying N2/N1. Therefore eq of motion:
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Transfer Function for Systems with
gears
Now convert θ2 into equivalent θ1 so that it will
look as if it were written at input.
Equivalent system by reflecting Equivalent system at the
input at the output input after reflection of
impedances
Since
θ1 can be reflected to the output by multiplying
N1/N2
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Transfer Function for Systems with
gears
Equivalent system at the input after reflection of impedances
*Rotational Mechanical impedances can be
reflected through gear trains by multiplying the
Mechanical impedance by the ratio
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Example
Find the transfer function θ2(s)/T1(s)
First, reflect impedances(J1 and D1) by using (N 2/N1)2 and Torque (T1) by
using (N2/N1) from input to output
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Gear Trains
A gear train is used to implement large gear ratio by
cascading smaller gear ratios.
*For gear trains, the
equivalent gear ratio is simply
the product of individual gear
ratios
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Example 2.22
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displacement and current are not analogous.
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Electric circuit analogs
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Example 2.24
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