ME211 Control System Engineering

Dr Syed Irtiza Ali Shah

Modelling in
Frequency Domain
REF: TEXTBOOK CHAPTER 2 (TCH2)

Lecture notes by Dr Syed Irtiza Ali Shah

Where we are
Last time
◦ Transfer Function
◦ System Response
◦ Translational mechanical systems
Now
◦ Translational mechanical systems: 2DOF
◦ Rotational mechanical systems

Lecture notes by Dr Syed Irtiza Ali Shah

Transfer function: Two degrees of
freedom
Second Equation of Motion ΣF=ma
For M2: 0 – K3 x2 – K2 (x2 – x1) – fv2 v2 – fv3 (v2 – v1) = M2a2
Taking Laplace & rearranging =>

Equation of Motion ΣF = ma
For M1: f(t) – K1x1 – K2(x1 – x2) – fv1 v1 – fv3 (v1 – v2) = M1 a1
Taking Laplace & rearranging => Reading Assignment
+ Skill Assessment Exercise 2.8

Lecture notes by Dr Syed Irtiza Ali Shah

 Rotational Mechanical Systems
For rotational mechanical systems, instead of forces we have torques
and instead of displacement x and its derivatives, we have rotation θ
and its derivatives

Lecture notes by Dr Syed Irtiza Ali Shah

Rotational System: 2 DOF
Second Equation of Motion Στ = J α = J Ӫ

For J2: 0 – D2 θׄ2 – K (θ2 – θ1) = J2 Ӫ2

Taking Laplace & rearranging =>

Equation of Motion Στ = J α = J Ӫ

For J1: T(t) – D1 θׄ1 – K (θ1 – θ2) = J1 Ӫ1

Taking Laplace & rearranging =>

Reading Assignment
Example 2.20

Lecture notes by Dr Syed Irtiza Ali Shah

Summary
Translational mechanical systems
Rotational mechanical systems

Next Time
◦ System with gears
◦ Electrical systems

Lecture notes by Dr Syed Irtiza Ali Shah