Lecture 04 Rotational Mechanical Systems

EE-379
LINEAR CONTROL SYSTEMS

Lecture No 4
“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2
(Transfer Functions of Rotational
Systems and Systems with Gears)
Instructor: Dr. Latif Anjum

Class: BEE 7D
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
Example 2.19
Physical system
Schematic
Block diagram
7
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)
8
Final free-body
diagram for J2
Torques on J2 due only Torques on J due only
2
to the motion of J2 to the motion of J1
 
 K1 ( s)  J 2 s  D2 s  K 2 (s)  0
2
9
 
J1s 2  D1s  K 1 (s)  K2 ( s)  T (s)

 K1 (s)  J 2 s 2  D2 s  K 2 ( s)  0 


 J1s 2  D1s  K  K   ( s)  T ( s) 
 1    

 K  2
 
J 2 s  D2 s  K   2  
( s ) 0 
10


 J1s 2  D1s  K  K   ( s)  T ( s) 
 1    

 K  2
 
J 2 s  D2 s  K   2  
( s ) 0 

 J1s 2  D1s  K  K  AB  C
A 
  
J 2 s  D2 s  K  1
K
BA C
2

 ( 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];
11
%Example 2.19

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  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K ) 
J 2 s 2  D2 s  K
G2 

s J1 J 2 s 3  ( D1 J 2  D2 J1 ) s 2  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K )  12
%Example 2.19
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);
theta2=B(2);
G1 = 1/(s4 + 2s3 + 3s2 + 2s)
G1 = theta2/T;
G2 = theta1/T;
'G1'; G1
G2 = (s2 + s + 1)/(s4 + 2s3 + 3s2 + 2s)
'G2'; G2
13

τ
J
d 2 (t ) d (t )
T (t )  J 2
B  K time domain
B dt dt
K T (s)  Js 2  Bs  K s  domain
14
Home Assignment (don’t submit)
Write the Transfer Function
3 (s)
G (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
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  N1 
T2  J 2  D 2  K 2  also  2  1 
dt dt  N 2 
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 20
 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 
J e  J1    J2
 1
N block diagram
2
N 
De  D1  2   D2
 N1 
Ke  K 2
21
Gear train
22
23

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EE-379

LINEAR CONTROL SYSTEMS

“CONTROL SYSTEMS ENGINEERING”

Instructor: Dr. Latif Anjum

Electrical Engineering Department

Torques on J1 due only Torques on J1 due only

syms s J1 D1 K T J2 D2 theta1 theta2;

syms s J1 D1 K T J2 D2 theta1 theta2;

B=inv(A)C; K/(D1K*s + D2Ks + D1D2s^2 + D1J2s^3 + D2J1s^3 +

syms s J1 D1 K T J2 D2 theta1 theta2;

J1=1; J2=1, D1=1; D2=1;K=1;

A=[(J1s^2+D1s+K) -K; -K (J2s^2+D2s+K)];

K T (s)  Js 2  Bs  K s  domain

Write the Transfer Function

Rotational mechanical system with gears

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