MODELING OF PHYSICAL SYSTEMS

 ELECTRICAL SYSTEMS
 MECHANICAL SYSTEMS
 ELECTROMECHANICAL SYSTEMS
 Mathematical modeling of electrical circuits : Passive networks & Op-amps

STEPS FOR MODELING:

 All circuits consist of 3 basic passive linear components: ‘Resistors’,

‘Capacitors’, ‘Inductors’

 Decide the system input and output: Relationship between ‘V-I’ or ‘V-q’ under

zero initial conditions

 Kirchoff’s laws applied to solve circuits (KVL/KCL)

 Differential Equations are obtained

 Laplace Transform is taken & subsequently Transfer Function is found

ELECTRICAL SYSTEMS
VOLTAGE – CURRENT, VOLTAGE – CHARGE, IMPEDANCE
RELATIONSHIPS FOR R, L, C COMPONENTS
 SIMPLE RLC CIRCUIT

Find the Transfer Function relating Capacitor Voltage 𝑽𝒄 𝒔 to input

voltage 𝑽(𝒔)
 SIMPLE CIRCUITS - MESH/LOOP ANALYSIS
TRANSFER FUNCTION: SINGLE LOOP VIA DIFFERENTIAL EQUATION

Assuming 0 initial conditions and applying KVL

𝑡
𝑑𝑖 𝑡 1
𝐿 + 𝑅𝑖 𝑡 + 𝑖 𝑡 𝑑𝑡 = 𝑣(𝑡)
𝑑𝑡 𝑐 0

𝑑𝑞 𝑡
𝑖 𝑡 = q 𝑡 = 𝐶𝑣𝑐 𝑡
𝑑𝑡

𝑑2 𝑣𝑐 𝑡 𝑑𝑣𝑐 𝑡
𝐿𝐶 + 𝑅𝐶 + 𝑣𝑐 𝑡 = 𝑣(𝑡)
𝑑𝑡 𝑑𝑡

Taking Laplace Transforms and assuming zero initial conditions

𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1 𝑉𝑐 𝑠 = 𝑉(𝑠)

𝑽𝒄 𝒔 𝟏
TRANSFER FUNCTION: 𝑮 𝒔 = = 𝑳𝑪
𝑽(𝒔) 𝑹 𝟏
𝒔𝟐 + 𝒔 +
𝑳 𝑳𝑪
 TRANSFORM METHOD FOR SIMPLIFICATION
Take LAPLACE TRANSFORMS of V-I relations assuming 0 initial conditions

1
𝑉 𝑠 = 𝐼(𝑠) 𝑉 𝑠 =𝑅𝐼 𝑠 𝑉 𝑠 = 𝐿𝑠 𝐼(𝑠)
𝐶𝑠

𝑉(𝑠)
Also, defining a function IMPEDANCE Z(s): 𝑍 𝑠 =
𝐼(𝑠)

For an equivalent RLC circuit, adding impedances in

series, we get

1
𝐿𝑠 + 𝑅 + 𝐼 𝑠 = 𝑉(𝑠)
𝐶𝑠

𝑺𝒖𝒎 𝒐𝒇 𝑰𝒎𝒑𝒆𝒅𝒂𝒏𝒄𝒆𝒔 𝑰 𝒔 = [𝑺𝒖𝒎 𝒐𝒇 𝑨𝒑𝒑𝒍𝒊𝒆𝒅 𝑽𝒐𝒍𝒕𝒂𝒈𝒆]

 SIMPLE CIRCUITS: MESH/LOOP ANALYSIS
TRANSFER FUNCTION: SINGLE LOOP VIA TRANSFORM METHOD

 Replace time variables by Laplace Transform variables TRANSFORMED

 Replace all components by their impedance values CIRCUIT

1
𝐿𝑠 + 𝑅 + 𝐼 𝑠 = 𝑉(𝑠)
𝐶𝑠

1
𝐵𝑢𝑡, 𝑉𝑐 𝑠 = 𝐼 𝑠
𝐶𝑠

Substituting & simplifying:

𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1 𝑉𝑐 𝑠 = 𝑉(𝑠)

BLOCK DIAGRAM
𝑉𝑐 𝑠 1
TRANSFER FUNCTION: 𝐺 𝑠 = = 𝐿𝐶
𝑉(𝑠) 𝑠 2 + 𝑅 𝑠 + 1
𝐿 𝐿𝐶
 SIMPLE CIRCUITS - NODAL ANALYSIS
TRANSFER FUNCTION: SINGLE NODE VIA TRANSFORM METHOD

𝑉(𝑠)
𝐸𝑎𝑐ℎ 𝐶𝑢𝑟𝑟𝑒𝑛𝑡 𝐼 𝑠 =
𝑍(𝑠)

𝑉𝑐 𝑠 − 𝑉(𝑠) 𝑉𝑐 𝑠 − 0
+ =0
𝑅 + 𝐿𝑠 1
𝐶𝑠

𝑉𝑐 𝑠 1
TRANSFER FUNCTION: 𝐺 𝑠 = = 𝐿𝐶
𝑉(𝑠) 𝑠 2 + 𝑅 𝑠 + 1
𝐿 𝐿𝐶
 SIMPLE CIRCUITS - MESH/LOOP ANALYSIS

TRANSFER FUNCTION: SINGLE LOOP VIA VOLTAGE DIVISION METHOD

𝐼𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒 𝑜𝑓 𝐶
𝑉𝑔. 𝑎𝑐𝑟𝑜𝑠𝑠 𝐶: 𝑉𝑐 𝑠 = . 𝑉(𝑠)
𝑆𝑢𝑚 𝑜𝑓 𝐼𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒𝑠

1
𝑉𝑐 𝑠 = 𝐶𝑠 𝑉(𝑠)
1
𝐿𝑠 + 𝑅 +
𝐶𝑠

𝑉𝑐 𝑠 1
TRANSFER FUNCTION: 𝐺 𝑠 = = 𝐿𝐶
𝑉(𝑠) 𝑠 2 + 𝑅 𝑠 + 1
𝐿 𝐿𝐶
 COMPLEX RLC CIRCUIT

For the given network find the Transfer Function relating output
𝑰𝟐 𝒔 to input voltage 𝑽(𝒔)
 COMPLEX CIRCUITS - MESH/LOOP ANALYSIS

 Replace Passive Elements with impedances

 Replace all sources and time variables with their Laplace Transforms
 For each mesh/loop: Assume transform current & current direction
 Write KVL
 Solve simultaneous equations and find T.F

TRANSFORM METHODS MAY BE USED DIRECTLY

 COMPLEX CIRCUITS - MESH/LOOP ANALYSIS
TRANSFER FUNCTION: MULTIPLE LOOP via TRANSFORM METHOD

Assume 0 initial conditions and draw transformed circuit

 2 simultaneous equations required

 Assumed Currents: 𝐼1 (𝑠) & 𝐼2 (𝑠)

FOR MESH 1: APPLYING KVL

𝑅1 𝐼1 𝑠 + 𝐿𝑠 𝐼1 𝑠 − 𝐼2 𝑠 = 𝑉(𝑠)

FOR MESH 2: APPLYING KVL

Find 𝑰𝟏 𝒔 from 2nd equation &
1 substitute in 1st equation
𝑅2 𝐼2 𝑠 + 𝐼2 𝑠 + 𝐿𝑠 𝐼2 𝑠 − 𝐼1 𝑠 =0
𝐶𝑠

SOLVING SIMULTANEOUS EQUATIONS

𝐼2 𝑠 𝐿𝐶𝑠 2
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝐺 𝑠 = =
𝑉(𝑠) 𝑅1 + 𝑅2 𝐿𝐶𝑠 2 + 𝑅1 𝑅2 𝐶 + 𝐿 𝑠 + 𝑅1
 COMPLEX CIRCUITS - MESH/LOOP ANALYSIS
TRANSFER FUNCTION: MULTIPLE LOOP via INSPECTION METHOD

[𝑅1 +𝐿𝑠]𝐼1 𝑠 − 𝐿𝑠 𝐼2 𝑠 = 𝑉(𝑠)

1
𝑅2 + + 𝐿𝑠 𝐼2 𝑠 − [𝐿𝑠]𝐼1 𝑠 = 0
𝐶𝑠

𝐼2 𝑠 𝐿𝐶𝑠 2
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝐺 𝑠 = =
𝑉(𝑠) 𝑅1 + 𝑅2 𝐿𝐶𝑠 2 + 𝑅1 𝑅2 𝐶 + 𝐿 𝑠 + 𝑅1
 COMPLEX CIRCUITS - NODE ANALYSIS

𝑉𝐶 (𝑠)
Find Transfer Function 𝑉(𝑠) for the following using Nodal Analysis

𝑉𝐿 𝑠 − 𝑉(𝑠) 𝑉𝐿 (𝑠) 𝑉𝐿 𝑠 − 𝑉𝐶 (𝑠)

+ + =0
𝑅1 𝐿𝑠 𝑅2

𝑉𝐿 𝑠 = 𝑉𝐶 𝑠 (1 + 𝑅2 𝐶𝑠)
𝑉𝐶 𝑠 − 𝑉𝐿 𝑠
+ 𝐶𝑠𝑉𝐶 (𝑠) = 0
𝑅2
 TRY THIS!

Write the mesh equations for the network shown using Inspection Method

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ1 𝐼1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&2 𝐼2 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&3 𝐼3 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑉 𝑚𝑒𝑠ℎ 1]

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ2 𝐼2 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&2 𝐼1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 2&3 𝐼3 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑉 𝑚𝑒𝑠ℎ 2]

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ3 𝐼3 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&3 𝐼1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 2&3 𝐼2 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑉 𝑚𝑒𝑠ℎ 3]

 CRAMER’S RULE

[𝑅1 +𝐿𝑠]𝐼1 𝑠 − 𝐿𝑠 𝐼2 𝑠 = 𝑉(𝑠)

1
𝑅2 + + 𝐿𝑠 𝐼2 𝑠 − [𝐿𝑠]𝐼1 𝑠 = 0
𝐶𝑠
 INVERTING OPERATIONAL AMPLIFIER

𝑅2
𝑣0 𝑡 = − 𝑣 𝑡 = −𝐴𝑣(𝑡)
𝑅1

𝑍2 (𝑠)
𝑉0 𝑠 = − 𝑉 𝑠
𝑍1 (𝑠) 𝑖

𝑉0 𝑠 𝑍2 (𝑠)
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = =−
𝑉𝑖 𝑠 𝑍1 (𝑠)
 𝑉0 𝑠
Find the transfer function 𝑉𝑖 𝑠 for the circuit shown below

TRY
THIS!
 NON - INVERTING OPERATIONAL AMPLIFIER

𝑅2
𝑣0 𝑡 = (1 + )𝑣𝑖 𝑡 = 𝐴𝑣𝑖 (𝑡)
𝑅1

𝑍2 𝑠
𝑉0 𝑠 = (1 + )𝑉 𝑠
𝑍1 𝑠 𝑖

𝑉0 𝑠 𝑍2 𝑠 𝑍1 𝑠 + 𝑍2 𝑠
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = = 1+ =
𝑉𝑖 𝑠 𝑍1 𝑠 𝑍1 𝑠
 𝑉0 𝑠
Find the transfer function 𝑉𝑖 𝑠 for the circuit shown below

TRY
THIS!
Mathematical modeling of Mechanical Systems(Translational,
Rotational, gear systems etc…)

STEPS FOR MODELING:

 Circuits consist of 3 basic passive linear components:
Spring, Mass, Viscous Damper
 Decide on the system input and output: Relationship with 0
initial conditions is chosen
 Assume a positive direction of motion (To the right)
 Sum the forces and obtain differential equations (Newton’s
laws)
 Laplace Transform is taken & Transfer Function is found
MECHANICAL SYSTEMS
TRANSLATIONAL MECHANICAL SYSTEMS
 TRANSLATIONAL MECHANICAL SYSTEM

Mechanical systems consist of 3 basic passive linear components:

Spring, Mass, Viscous Damper

Transfer Function is found in terms of FORCE and DISPLACEMENT

 MASS

𝑓 𝑡 − Applied Force ; x t − Displacement; M − Mass

According to Newton’s 2nd Law 𝐹 = 𝑀𝑎

𝑓(𝑡) = 𝑀𝑎(𝑡)

𝑑𝑣(𝑡) 𝑑2 𝑥(𝑡)
𝑎 𝑡 = =
𝑑𝑡 𝑑𝑡 2

𝒅𝟐 𝒙(𝒕)
𝒇(𝒕) = 𝑴
𝒅𝒕𝟐

ASSUMPTION: Mass is rigid at top and cannot move relative to bottom

 VISCOUS DAMPER

Damping in Mechanical systems is the “friction” that exists

whenever systems move on a sliding surface

𝑓 𝑡 − Applied Force ; x t − Displacement;

𝑓𝑣 − Coefficient of Viscous Friction or Damping Coefficient

𝒅𝒙(𝒕)
𝒇(𝒕) = 𝒇𝒗
𝒅𝒕

𝑑𝑥1 𝑡 𝑑𝑥2 𝑡
𝑓(𝑡) = 𝑓𝑣 [ − ]
𝑑𝑡 𝑑𝑡

ASSUMPTION: Top Point can move relative to bottom and we may use 2
variables to describe this movement
 SPRING

Ideal Spring gives elastic deformation of body

𝑓 𝑡 − Applied Force ; x t − Displacement; K − Spring Constant

According to Hooke’s Law

𝒇(𝒕) = 𝑲𝒙(𝒕)

𝑓 𝑡 = 𝐾[𝑥1 𝑡 − 𝑥2 𝑡 ]
FORCE – VELOCITY, FORCE – DISPLACEMENT, IMPEDANCE
RELATIONSHIP FOR M, 𝑓𝑣 , K COMPONENTS
 TRANSLATIONAL MECHANICAL
TRANSLATIONAL MECHANICAL SYSTEMSYSTEM

ONE DEGREE OF FREEDOM

Find the Transfer function X(s)/F(s) for the system shown

 Only one equation of motion

 ASSUME +ve direction of motion (to right)

 Draw a ‘Free Body Diagram’ placing all

forces on it

 Sum the forces using Newton’s laws

 Take L.T. and find Transfer Function

 TRANSLATIONAL MECHANICAL SYSTEM

Find the Transfer function X(s)/F(s) for the system shown

Assume ‘Mass’
moves right

Only applied Force points to the right; All other forces impede motion and act
opposite to it

𝑑2 𝑥(𝑡) 𝑑𝑥(𝑡)
𝑀 + 𝑓𝑣 + 𝐾𝑥 𝑡 = 𝑓(𝑡)
𝑑𝑡 2 𝑑𝑡

Taking Laplace Transform and assuming 0 initial conditions

𝑀𝑠 2 𝑋 𝑠 + 𝑓𝑣 𝑠𝑋 𝑠 + 𝐾𝑋 𝑠 = 𝐹(𝑠)
 TRANSLATIONAL MECHANICAL SYSTEM

Draw the transformed Free Body Diagram

𝑀𝑠 2 𝑋 𝑠 + 𝑓𝑣 𝑠𝑋 𝑠 + 𝐾𝑋 𝑠 = 𝐹(𝑠)

[𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾]𝑋 𝑠 = 𝐹(𝑠)

𝑋(𝑠) 1
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 𝐺 𝑠 = =
𝐹(𝑠) [𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾]
 TRANSFORMED FREE BODY DIAGRAM

Take LAPLACE TRANSFORMS of Force-Displacement column

SPRING DAMPER
MASS

𝐹 𝑠 = 𝐾𝑋(𝑠) 𝐹 𝑠 = 𝑓𝑣 𝑠𝑋 𝑠 F 𝑠 = 𝑀𝑠 2 𝑋(𝑠)

𝐹(𝑠)
Defining IMPEDANCE Z(s): 𝑍 𝑠 =
𝑋(𝑠)

𝑺𝒖𝒎 𝒐𝒇 𝑰𝒎𝒑𝒆𝒅𝒂𝒏𝒄𝒆𝒔 𝑿 𝒔 = [𝑺𝒖𝒎 𝒐𝒇 𝑨𝒑𝒑𝒍𝒊𝒆𝒅 𝑭𝒐𝒓𝒄𝒆𝒔]

 TRANSLATIONAL MECHANICAL SYSTEM - TWO DEGREES OF
FREEDOM

No. of equations of motion = No. of degrees of freedom / linearly independent

motions

LINEAR INDEPENDENCE : A point of motion can still move if all other points of
motion are held still!
STEPS:
 Draw F.B.D for each Point of Motion (without considering the
other)
 2 D.o.F = 2 F.B.Ds = 2 equations
Find the Transfer function 𝑋2 (s)/F(s) for the system shown
 FREE BODY DIAGRAM OF M1

FORCES DUE TO M1 ONLY FORCES DUE TO M2

SUPERIMPOSED FREE BODY DIAGRAM OF M1

 FREE BODY DIAGRAM OF M2

FORCES DUE TO M2 ONLY FORCES DUE TO M1

SUPERIMPOSED FREE BODY DIAGRAM OF M2

TRANSFER FUNCTION
TRANSLATIONAL MECHANICAL SYSTEM – INSPECTION METHOD
 TRANSLATIONAL MECHANICAL SYSTEM

Write equations of motion using method of Inspection

TRY
THIS!

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ1 𝑋1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&2 𝑋2 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&3 𝑋3 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝐹 𝑚𝑒𝑠ℎ 1]

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ2 𝑋2 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&2 𝑋1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 2&3 𝑋3 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝐹 𝑚𝑒𝑠ℎ 2]

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ3 𝑋3 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&3 𝑋1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 2&3 𝑋2 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝐹 𝑚𝑒𝑠ℎ 3]

Find the Transfer function 𝑋2 (s)/F(s) for the system shown
Find the Transfer function 𝑋2 (s)/F(s) for the system shown
Find the Transfer function 𝑋3 (s)/F(s) for the system shown
MECHANICAL SYSTEMS
ROTATIONAL MECHANICAL SYSTEMS
 ROTATIONAL MECHANICAL SYSTEM

Rotational Mechanical systems consist of 3 basic passive

linear components: Spring, Inertia, Viscous Damper

Transfer Function is found in terms of Torque and Angular

Displacement
TORQUE – ANGULAR VELOCITY, TORQUE – ANGULAR DISPLACEMENT,
IMPEDANCE RELATIONSHIP FOR J, 𝐷, K COMPONENTS
 ROTATIONAL
TRANSLATIONALMECHANICAL SYSTEM
MECHANICAL SYSTEM

ONE DEGREE OF FREEDOM

Find the Transfer function 𝜃(s)/T(s) for the system shown

 Only one equation of motion

 ASSUME +ve direction of motion (clockwise)

 Draw a ‘Free Body Diagram’ placing all

forces on it

 Sum the forces using Newton’s laws

 Take L.T. and find Transfer Function

 ROTATIONAL MECHANICAL SYSTEM

Find the Transfer function 𝜃(s)/T(s) for the system shown

Draw Free Body Diagram

Only applied Torque rotates in CW direction; All other torques impede motion and
act opposite to it

𝐽𝑠 2 + 𝐷𝑠 + 𝐾 𝜃 𝑠 = 𝑇(𝑠)

𝜃(𝑠) 1
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛 = = 2
𝑇(𝑠) 𝐽𝑠 + 𝐷𝑠 + 𝐾
ROTATIONAL MECHANICAL SYSTEM - TWO DEGREES OF FREEDOM

Find the Transfer function 𝜃2 (s)/T(s) for the system shown

STEPS:
 Draw F.B.D for each Point of Motion (without considering the
other)
 2 D.o.F = 2 F.B.Ds = 2 equations
 FREE BODY DIAGRAM OF J1

FORCES DUE TO J1 ONLY FORCES DUE TO J2

SUPERIMPOSED FREE BODY DIAGRAM OF J1

 FREE BODY DIAGRAM OF J2

FORCES DUE TO J2 ONLY FORCES DUE TO J1

SUPERIMPOSED FREE BODY DIAGRAM OF J2

 𝐽1 𝑠 2 + 𝐷1 𝑠 + 𝐾 𝜃1 𝑠 − 𝐾𝜃2 𝑠 = 𝑇(𝑠)

𝐽𝑠 𝑠 2 + 𝐷2 𝑠 + 𝐾 𝜃2 𝑠 − 𝐾𝜃1 𝑠 = 0

TRANSFER FUNCTION
ROTATIONAL MECHANICAL SYSTEM – INSPECTION METHOD

Find the Transfer function 𝜃2 (s)/T(s) for the system shown

 ROTATIONAL MECHANICAL SYSTEM

Write equations of motion using method of Inspection

TRY
THIS!

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ1 𝜃1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&2 𝜃2 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&3 𝜃3 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑇 𝑚𝑒𝑠ℎ 1]

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ2 𝜃2 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&2 𝜃1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 2&3 𝜃3 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑇 𝑚𝑒𝑠ℎ 2]

𝑆. 𝑂. 𝐼 𝑚𝑒𝑠ℎ3 𝜃3 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 1&3 𝜃1 𝑠 − 𝑆. 0. 𝐼 𝑏𝑤 2&3 𝜃2 𝑠 = [𝐴𝑝𝑝𝑙𝑖𝑒𝑑 𝑇 𝑚𝑒𝑠ℎ 3]

 Find the Transfer function 𝜃2 (s)/T(s) for the system shown

HINTS
 ZERO INERTIA BETWEEN VISCOUS DAMPERS
 NO OF SIMULTANEOUS EQUATIONS = NO OF DEGREES OF FREEDOM
 ROTATIONAL MECHANICAL SYSTEM (WITH GEARS)

Rotational Mechanical systems especially those driven by motors are

rarely seen without associated gears or gear trains

Gears allow to match drive system and load - tradeoff between

‘TORQUE’ and ‘SPEED’

‘BACKLASH’ – Drive gear rotates through a small angle before making contact
with driven gear – Angular rotation of output gear does not occur until a small
angular rotation of input gear has occurred
 ROTATIONAL MECHANICAL SYSTEM (WITH GEARS)

ASSUMPTION: Idealize behaviour of gears and assume there’s no backlash

As gears turn, distance travelled along each

gear’s circumference is same

𝜽𝟐 𝒓𝟏 𝑵𝟏
𝒓𝟏 𝜽𝟏 = 𝒓𝟐 𝜽𝟐 = =
𝜽𝟏 𝒓𝟐 𝑵𝟐

Energy into Gear 1 = Energy out of Gear 2

𝜽 𝟐 𝑻 𝟏 𝑵𝟏
𝑻𝟏 𝜽𝟏 = 𝑻𝟐 𝜽𝟐 = =
𝜽 𝟏 𝑻 𝟐 𝑵𝟐
 MECHANICAL IMPEDANCE DRIVEN BY GEARS

Gears with end on end view

An equivalent system without gears is desired –

Reflect mechanical impedances, torques from output to input or vice versa

as required
 𝑇1 is reflected to the OUTPUT SIDE by multiplying by 𝑁2 𝑁1

𝑵𝟐
𝑱𝒔𝟐 + 𝑫𝒔 + 𝑲 𝜽𝟐 𝒔 = 𝑻𝟏 (𝒔)
𝑵𝟏

Convert 𝜃2 (s) into equivalent 𝜃1 (s) so that equation looks as if it were written at
input
𝑵𝟏 𝑵𝟐
𝑱𝒔𝟐 + 𝑫𝒔 + 𝑲 ( )𝜽𝟏 𝒔 = 𝑻𝟏 (𝒔)
𝑵𝟐 𝑵𝟏
 2 2 2
𝑁1 𝑁1 𝑁1
𝐽 𝑠2 + 𝐷 𝑠+𝐾 𝜃1 𝑠 = 𝑇1 (𝑠)
𝑁2 𝑁2 𝑁2

Load can be thought of as having been reflected from output to input

Rotational MECHANICAL IMPEDANCES can be reflected through gear trains by

multiplying mechanical impedance by ratio:

𝟐
𝑵𝒐. 𝒐𝒇 𝒕𝒆𝒆𝒕𝒉 𝒐𝒇 𝒈𝒆𝒂𝒓 𝒐𝒏 𝒅𝒆𝒔𝒕𝒊𝒏𝒂𝒕𝒊𝒐𝒏 𝒔𝒉𝒂𝒇𝒕
𝑵𝒐. 𝒐𝒇 𝒕𝒆𝒆𝒕𝒉 𝒐𝒇 𝒈𝒆𝒂𝒓 𝒐𝒏 𝒔𝒐𝒖𝒓𝒄𝒆 𝒔𝒉𝒂𝒇𝒕
 ROTATIONAL MECHANICAL SYSTEM - (LOSSLESS GEARS)

Find the Transfer function 𝜃2 (s)/𝑇1 (s) for the system shown

1 equation of motion

Inertias DO NOT undergo linearly

independent motion if they are tied
together by gears

Reflect impedances 𝐽1 , 𝐷1 & Torque 𝑇1

(present on input shaft) to output shaft

𝟐 𝟐
𝑵𝟐 𝑵𝟐
𝑱𝟏 𝒃𝒆𝒄𝒐𝒎𝒆𝒔 𝑱𝟏 𝑫𝟏 𝒃𝒆𝒄𝒐𝒎𝒆𝒔 𝑫𝟏
𝑵𝟏 𝑵𝟏

𝑵𝟐
𝑻𝟏 𝒕 𝒃𝒆𝒄𝒐𝒎𝒆𝒔 𝑻𝟏 𝒕
𝑵𝟏

𝑵𝟐
𝑱𝒆 𝒔𝟐 + 𝑫𝒆 𝒔 + 𝑲𝒆 𝜽𝟐 𝒔 = 𝑻𝟏 (𝒔)
𝑵𝟏
 ROTATIONAL MECHANICAL SYSTEM - (LOSSLESS GEARS)

𝑵𝟐
𝑱𝒆 𝒔𝟐 + 𝑫𝒆 𝒔 + 𝑲𝒆 𝜽𝟐 𝒔 = 𝑻𝟏 (𝒔)
𝑵𝟏

𝜽𝟐 𝒔 𝑵𝟐 𝑵𝟏
𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝑭𝒖𝒏𝒄𝒕𝒊𝒐𝒏 = =
𝑻𝟏 (𝒔) 𝑱𝒆 𝒔𝟐 + 𝑫𝒆 𝒔 + 𝑲𝒆
 GEAR TRAINS

GEAR TRAIN: To eliminate gears with large radii, gear trains may be used

Large Gear Ratio may be obtained by cascading small gear ratios

Equivalent Gear Ratio is a product of individual gear ratios

 ROTATIONAL MECHANICAL SYSTEM - (GEARS WITH LOSS)

Find the Transfer function 𝜃1 (s)/𝑇1 (s) for the system shown

 Gears are NOT Lossless – Inertia, viscous

friction etc. . . present
 Reflect all impedances to the input shaft
(through 1 or more Gear Ratios)

2 2 2 2
𝑁1 𝑁3 𝑁1 𝑁1
𝐽𝑒 = 𝐽1 + 𝐽2 + 𝐽3 + 𝐽4 + 𝐽5 𝐷𝑒 = 𝐷1 + 𝐷2
𝑁2 𝑁4 𝑁2 𝑁2

𝑱𝒆 𝒔𝟐 + 𝑫𝒆 𝒔 𝜽𝟏 𝒔 = 𝑻𝟏 (𝒔)
𝜽𝟏 𝒔 𝟏
𝑻𝒓𝒂𝒏𝒔𝒇𝒆𝒓 𝑭𝒖𝒏𝒄𝒕𝒊𝒐𝒏 = =
𝑻𝟏 (𝒔) 𝑱𝒆 𝒔𝟐 + 𝑫𝒆 𝒔
Find the Transfer function G(s)= 𝜃2 (s)/T (s) for the system shown
Given the combined Translational & Rotational system, find the Transfer
function G(s)= X(s)/T (s) for the system shown

Assume direction of rotation if not given (preferably same for all )

 FREE BODY DIAGRAM OF J1

𝑱𝟏 𝒔𝟐 + 𝑲𝟏 𝜽𝟏 𝒔 − 𝑲𝟏 𝜽𝟐 (𝒔) = 𝑻(𝒔)

FORCE DUE TO MASS M

Take into account the opposing force (F) of Mass M

𝑴𝒔𝟐 + 𝒇𝒗 𝒔 + 𝑲𝟐 𝑿 𝒔 = 𝑭(𝒔)

Replacing this by Torque = Force X Distance

𝑻 𝒔 = 𝑭 𝒔 .𝒓
 FREE BODY DIAGRAM OF J2

𝑱𝟐 𝒔𝟐 + 𝑫𝟑 𝒔 + 𝑲𝟏 𝜽𝟐 𝒔 − 𝑫𝟑 𝒔𝜽𝟑 𝒔 − 𝑲𝟏 𝜽𝟏 𝒔
+ 𝑭 𝒔 .𝒓 = 𝟎

Substituting for F(s)

𝑱𝟐 𝒔𝟐 + 𝑫𝟑 𝒔 + 𝑲𝟏 𝜽𝟐 𝒔 − 𝑫𝟑 𝒔𝜽𝟑 𝒔 − 𝑲𝟏 𝜽𝟏 𝒔 + 𝑴𝒔𝟐 + 𝒇𝒗 𝒔 + 𝑲𝟐 𝑿 𝒔 . 𝒓 = 𝟎

FREE BODY DIAGRAM OF J3

𝑱𝟑 𝒔𝟐 + 𝑫𝟑 𝒔 𝜽𝟑 𝒔 − 𝑫𝟑 𝒔𝜽𝟐 𝒔 = 𝟎
 3 EQUATIONS OF MOTION

𝑱𝟏 𝒔𝟐 + 𝑲𝟏 𝜽𝟏 𝒔 − 𝑲𝟏 𝜽𝟐 (𝒔) = 𝑻(𝒔)

𝑱𝟐 𝒔𝟐 + 𝑫𝟑 𝒔 + 𝑲𝟏 𝜽𝟐 𝒔 − 𝑫𝟑 𝒔𝜽𝟑 𝒔 − 𝑲𝟏 𝜽𝟏 𝒔 + 𝑴𝒔𝟐 + 𝒇𝒗 𝒔 + 𝑲𝟐 𝑿 𝒔 . 𝒓 = 𝟎

𝑱𝟑 𝒔𝟐 + 𝑫𝟑 𝒔 𝜽𝟑 𝒔 − 𝑫𝟑 𝒔𝜽𝟐 𝒔 = 𝟎

𝑿(𝒔) 𝑫𝟑
𝑵𝒐𝒘, 𝜽𝟐 𝒔 = 𝑻𝒉𝒆𝒓𝒆𝒇𝒐𝒓𝒆, 𝜽𝟑 𝒔 = 𝑿(𝒔)
𝒓 𝒓(𝑱𝟑 𝒔 + 𝑫𝟑 )

Substitute in equations 1 & 2 and solve for the same