FAKULTI KEJURUTERAAN ELEKTRIK

UiTM, 40450 SHAH ALAM

ESE439

Course Outcome 2 (CO2)

This topic covers the mathematical models of physical systems

specifically electrical, translational and rotational mechanical
systems. The armature dc motor is used as a specific example
for the combination of both electrical and mechanical systems.

Upon completion of this topic, the student is able to :

1. Define the system and its components.

2. Analyze the relationship between the system variables.
3. Formulate the mathematical model and list the necessary
assumptions of a system.
4. Determine the transfer function of a system.

INSTRUMENTATION AND CONTROL SYSTEMS 1

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

2.0 INTRODUCTION

In order to control a system, one must understand the system and obtain the mathematical
model of the system. The understanding of the system is very important in order to come
out with the right mathematical model. Since the system under consideration is dynamic in
nature, the descriptive equations are usually differential equations. Once the equations are
linearized, the Laplace Transform can be utilized to simplify the method of solution.

Basic requirements for mathematical models are that they should provide :

Complete dynamic description of each component.

Complete description of their inter-connections.
Complete history of variables.

Often systems are modeled in terms of changes in variables around the operating point
before the application of the inputs rather than the variables themselves. This allows for
setting all initial conditions of the system to be zero and hence the transfer function can be
determined. Transfer function of a system is defined as :

Y( s )
T(s)
X(s) zero initial condition.

where

Y(s) is the Laplace Transform of the output

X(s) is the Laplace Transform of the input.

The type and nature of the differential equations needed to describe a given system
depends on the type and nature of the system.

INSTRUMENTATION AND CONTROL SYSTEMS 2

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

2.1 ELECTRICAL NETWORK TRANSFER FUNCTIONS

Equivalent circuit for the electric networks consists of three passive linear components:
resistors, capacitors and inductors. The mathematical modeling of electric networks can be
done using the relationships in Table 1. The combination of electrical components and
identification of input and output has to be done in order to find the transfer function. The
guiding principles are Kirchhoff’s laws.

Table 1 : Impedance Relationship for Electrical Components

Component Voltage- Current- Voltage- Impedance Admittance

current voltage charge Z(s)=V(s)/I(s) Y(s)=I(s)/V(s)

1t dv( t ) 1 1
v( t ) i( )d i( t ) C v( t ) q( t ) Cs
C0 dt C Cs
Capacitor

di( t ) 1t d2 q( t ) 1
v( t ) L v(t ) v ( )d v( t ) L Ls
dt L0 dt Ls
Inductor

1 di( t ) 1
i( t ) v( t ) v( t ) L
v( t ) Ri( t ) R dt R
R
Resistor

Example 1: Determine the transfer function of the RC circuit in Figure 1.

i(t) R

vi(t) C vo(t)

Figure 1

INSTRUMENTATION AND CONTROL SYSTEMS 3

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Vi (s) RI(s) Vo (s) (1)

or v i (t) Ri(t) v o (t)

1
Vo (s) I(s) (2)
Cs
1
or v o (t ) i(t)dt
c
I(s) CsVo (s)

From equations (1) and (2)

Vi (s) RCsVo (s) Vo (s)

Vi (s) (RCs 1)Vo (s)

Vo (s) 1 1
Vi (s) (RCs 1) RC(s 1 / RC)

Vo (s) 1 / RC
Vi (s) (s 1 / RC)

Block diagram of the circuit

From equation (1): Vi (s) RI(s) Vo (s)

Vi (s) Vo (s) RI(s)
1
[ Vi (s) Vo (s)] I(s)
R

Theory: y = ax

x a y

INSTRUMENTATION AND CONTROL SYSTEMS 4

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
Hence

+ 1
Vi ( s) I( s)
R
-

Vo (s)

1
From equation (2): Vo (s) I(s)
Cs

I(s) 1
Vo (s)
Cs

Complete block diagram

Vi(s)
+ 1 1
Vo(s)
R I(s) Cs
-

Theory:

x a b y

x ab y

INSTRUMENTATION AND CONTROL SYSTEMS 5

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Simplified block diagram:

Vi(s)
+ 1
Vo(s)
RCs
-

Theory:

x
+ a y

a
x y
1 a

1 1
Vo (s) RCs RCs 1
Vi (s) 1 RCs 1 RCs 1
1
RCs RCs

1
RC(s 1 / RC)

1
Vo (s) RC
Vi (s) 1
(s )
RC

1
Vi(s) RC Vo(s)
1
s
RC

INSTRUMENTATION AND CONTROL SYSTEMS 6

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Example 2: Determine the transfer function Vo(s)/Vi(s) in Figure 2.

i(t)

vi(t) R vo(t)

Figure 2
1
Vi (s) I(s) Vo (s) (1)
Cs
1
or v i ( t) i(t) dt v o ( t)
C

Vo (s) RI(s) (2)

or v o (t) Ri(t)
1
I(s) Vo (s)
R

From equations (1) and (2)

1 Vo (s) 1
Vi (s) Vo (s) 1 Vo (s)
Cs R RCs

1 RCs
Vo (s)
RCs

Vo (s) RCs
Vi (s) (RCs 1)

RCs
RC(s 1 / RC)

Vo (s) s
Vi (s) (s 1/ RC)

INSTRUMENTATION AND CONTROL SYSTEMS 7

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Block diagram of the circuit

1
From equation (1): Vi (s) I(s) Vo (s)
Cs
1
Vi (s) Vo (s) I(s)
Cs
[ Vi (s) Vo (s)]Cs I(s)

Vi ( s) + Cs I( s)

Vo (s)

From equation (2): Vo (s) RI(s)

I(s) R Vo (s)

Complete block diagram :

Vi(s)
+ Cs R Vo(s)
I(s)
-

Simplified block diagram:

Vi(s)
+ RCs Vo(s)

INSTRUMENTATION AND CONTROL SYSTEMS 8

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
Vo (s) RCs
Vi (s) (1 RCs)

RCs
RC(s 1 / RC)

Vo (s) s
Vi (s) (s 1/ RC)

s
Vi(s) 1 Vo(s)
s
RC

Example 3: Determine the transfer function Vo ( s) / Vi (s) of the circuit in Figure 3.

i(t) R L

vi(t) C vo(t)

Figure 3
Vi (s) (R Ls)I(s)Vo (s) (1)
di
or v i (t) Ri(t) L v o ( t)
dt

1
Vo (s) I(s) (2)
Cs
1
or v o (t ) i(t)dt
C
I(s) CsVo (s)

INSTRUMENTATION AND CONTROL SYSTEMS 9

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
From equations (1) and (2)

Vi (s) (R Ls)CsVo (s) Vo (s)

[(R Ls) 1]Vo (s)

Vo (s) 1
Vi (s) (R Ls)Cs 1

1
2
LCs RCs 1

1
RC 1
LC s 2 s
LC LC
1
Vo (s) LC
Vi (s) R 1
s2 s
L LC

Block diagram of the circuit

From equation (1): Vi (s) (R Ls)I(s) Vo (s) (1)

Vi (s) Vo (s) (R LS)I(s)
1
[ Vi (s) Vo (s)] I(s)
(R Ls)

Vi (s) + 1 I(s)
R Ls
-

Vo (s)

1
From equation (2): Vo (s) I(s)
Cs

I(s) 1
Vo (s)
CS

INSTRUMENTATION AND CONTROL SYSTEMS 10

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
Complete block diagram :

Vi(s)
+ 1 1
Vo(s)
R Ls Cs
-

Simplified block diagram:

+ 1
Vi(s) Vo(s)
Cs(R Ls)
-

1 1
Vo (s) Cs(R Ls) Cs(R Ls)
Vi (s) 1 Cs(R Ls) 1
1
Cs(R Ls) Cs(R Ls)

1 1
2
Cs(R Ls) 1 LCs RCs 1

1
RC 1
LC s 2 s
LC LC

1
Vo (s) LC
Vi (s) R 1
s2 s
L LC

1
Vi(s) LC Vo(s)
2 R 1
s s
L LC

INSTRUMENTATION AND CONTROL SYSTEMS 11

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
2.1.1 Complex circuits via Mesh Analysis

1. Replace passive element values with their impedances.

2. Replace all sources and time variables with their Laplace Transform.
3. Assume a transform current and a current direction in each element.
4. Write Kirchoff’s voltage law around each mesh.
5. Solve the simultaneous equations for the output.
6. Form the transfer function.

2.1.2 Complex circuits via Nodal Analysis

1. Replace passive element values with their admittance.

2. Replace all sources and time variables with their Laplace Transform.
3. Replace transformed voltage sources with transformed current source.
4. Write Kirchoff’s voltage law at each node.
5. Solve the simultaneous equations for the output.
6. Form the transfer function.

PROBLEM 1 : Determine the transfer function VL(s)/Vi(s) of the circuit in Figure P1.

Figure P1

INSTRUMENTATION AND CONTROL SYSTEMS 12

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

PROBLEM 2 : Determine the transfer function I2(s)/Vi(s) of the circuit in Figure P2.

R1 R2

+
Vi(t) L C Vc(t)
i1(t) i2(t)
DC -

Figure P2

PROBLEM 3 : Determine the transfer function VL(s)/Vi(s) of the circuit in Figure P3.

VS
DC i(t)

+
L VL(t)
-

Figure P3

INSTRUMENTATION AND CONTROL SYSTEMS 13

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

2.2 TRANSLATIONAL MECHANICAL SYSTEM TRANSFER FUNCTION

Mechanical systems parallel to electrical networks as there are analogies between the two
systems. Mechanical systems like electrical networks have three passive linear components
i.e. the spring and mass (both are energy storage elements and the damper dissipates
energy). The two energy-storage elements are analogous to the two electrical energy-
storage elements, the inductor and capacitor. The energy dissipater is analogous to electrical
resistance. Table 2 summarizes the relationship between force-velocity, force-displacement
and impedance translational relationships for springs, viscous damper and mass. The
guiding principles for this system is using Newton’s law.

Table 2 : Force, velocity, displacement and impedance relationships for springs, viscous
dampers and mass.

Component Force- Force- Impedance

velocity displacement Z(s)=F(s)/X(s)

t f ( t ) Kx( t ) K
f (t) K v ( )d
0
Spring

f (t) fv v( t ) f (t ) fv
dx ( t )
dt fvs
Viscous
Damper

d2 x( t )
dv( t ) f ( t ) M Ms2
f (t) M dt
dt
Mass

The mechanical system requires the equation of motion to describe it.

1. First assume a positive direction of motion which is similar to assuming a current

direction.
2. Once the direction of motion is assumed, then draw the free body diagram of the
system by placing all forces acting on the body either in the direction of motion or
against it.
3. Use Newton’s law to form a differential equation of motion by summing the forces
and setting the sum equal to zero.
4. Lastly, assuming zero initial conditions, take the Laplace transform of the differential
equation, separate the variables and determine the transfer function.

INSTRUMENTATION AND CONTROL SYSTEMS 14

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
Example 4:

Determine the transfer function X(s)/F(s) of the translational mechanical system in Figure 4.

x(t)

f(t)

Figure 4

d 2x
Kx(t) M 2 KX(s) Ms2X(s)
dt

M M

f(t) F(t)

x(t) X(s)
(a) (b)
Figure 5:
(a) Free body diagram of mass and spring system
(b) Transformed FBD

d2 x
Differential equation f (t ) M
Kx(t )
dt 2
2
Laplace transform F(s) (Ms K )X(s)
X ( s) 1
Transfer Function: 2
F(s) (Ms K)

INSTRUMENTATION AND CONTROL SYSTEMS 15

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Example 5:

Determine the transfer function X(s)/F(s) of the translational mechanical system in Figure 6.

Figure 6

Figure 7:
(a) Free body diagram of mass, spring and viscous damper system
(b) Transformed FBD

d2 x dx
Differential equation f (t ) M fV Kx(t )
dt 2 dt

Laplace transform F(s) (Ms 2 f V s K ) X ( s)

X ( s) 1
Transfer Function : 2
F(s) (Ms fv s K )

INSTRUMENTATION AND CONTROL SYSTEMS 16

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Example 6:

Determine the differential equation of the mechanical system in Figure 8:

x1(t) x2(t)
fv2

f(t)

M1 M2
K1 K3

K2

fv1 fv3
Figure 8

At mass M1: F(s) [M1s 2 (f V1 fV 2 )s (K 1 K 2 )]X 1 (s) (f V 2 s K 2 )X 2 (s)

d2 x 1 dx dx 2
or f (t ) M1 2
(fV 1 fV 2 ) 1 (K 1 K 2 )x 1 (t ) f V 2 K 2 x 2 (t )
dt dt dt
At mass M2: 0 (fV 2 s K 2 )X 1 (s) [M2 s 2 (fV 2 fV 3 )s (K 2 K 3 )]X 2 (s)
dx 1 d2 x 2 dx 2
or 0 fV 2 K 2 x 1 (t ) M2 (fV 2 fV 3 ) (K 2 K 3 )x 2 (t )
dt dt 2 dt

INSTRUMENTATION AND CONTROL SYSTEMS 17

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Example 7:

Determine the differential equation of the mechanical system in Figure 9:

x3(t)

M3
fv3 fv4

K1 K2
M1 M2 f(t)

x1(t) x2(t)
fv1 fv2
Figure 9

At mass M1: 0 [M1s 2 (fV 1 fV 3 )s (K 1 K 2 )]X 1 (s) K 2 X 2 (s) fV 3 sX 3 (s)

d2 x 1 dx 1 dx 3
or 0 M1 (fV1 fV 3 ) (K 1 K 2 )x 1 (t ) K 2 x 2 (t ) f V 3
dt 2 dt dt

At mass M2: F(s) K 2 X 1 (s) [M 2 s 2 (fV 2 fV 4 )s K 2 ]X 2 (s) fV 4 sX 3 (s)

2
d x2 dx 2 dx 3
or f (t ) K 2 x 1 (t ) M 2 (f V 2 fV 4 ) K 2 x 2 (t ) f V 4
dt 2 dt dt

At mass M3: 0 fV 3 sX 1 (s) fV 4 sX 2 (s) [M3 s 2 (fV 3 fV 4 )s ]X 3 (s)

2
dx 1 dx 2 d x3 dx 3
or 0 fV 3 fV 4 M3 (fV 3 fV 4 )
dt dt dt 2 dt

INSTRUMENTATION AND CONTROL SYSTEMS 18

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

PROBLEM 4 :

Determine the transfer function X(s)/F(s) of the translational mechanical system in

Figure P4.

Figure P4

PROBLEM 5 :

Determine the transfer function X1(s)/F(s) of the translational mechanical system in

Figure P5.

Figure P5

INSTRUMENTATION AND CONTROL SYSTEMS 19

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
2.3 ROTATIONAL MECHANICAL SYSTEM TRANSFER FUNCTION

Table 3: Torque-angular velocity, Torque-angular displacement and impedance rotational

relationships for springs, viscous dampers and inertia

Component Touque- Touque- Impedance

angular angular Z(s) T( s ) / ( s )
velocity displacement

t T( t ) K (t ) K
T( t ) K ( )d
0
Spring

T( t ) D (t) T( t ) D
d (t)
dt Ds
Viscous
Damper

d2 ( t )
J d ( t ) T( t ) J Js2
T( t ) J dt
dt
Inertia

The values K, D and J are called spring constant, coefficient of viscous friction and moment
of inertia respectively. The concept of degrees of freedom carries over to rotational systems
except that a point of rotation is tested by rotating it while all other points are held still equals
the number of equations of motion required to describe the system.

The rotational mechanical system equation is similar as the translational mechanical system
except that the free-body diagrams consists of torques rather than forces :

1. First rotate a body while holding other points still and place its free-body diagram due
to body’s own motion.
2. Then, holding the body still, rotate adjacent points of motion one at a time and add
the torques due to the adjacent motion to the free-body diagram.
3. Repeat process 1 and 2 for each point of motion.
4. For each free-body diagram, the torques are summed and set equal to zero to form
the equations of motion.

INSTRUMENTATION AND CONTROL SYSTEMS 20

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
2.3.1 ROTATIONAL MECHANICAL SYSTEM

T, J

T (s) (Js 2 Fs) (s)

( s) 1
Transfer Function: 2
T (s) (Js Fs)

or
D

T, J

T ( s) (Js 2 Ds) (s)

( s) 1
Transfer Function: 2
T ( s) (Js Ds)

Example 8:

Determine the differential equation of the mechanical system in Figure 10:

T, 1 K 2
D2
J1 J2
D1
Figure 10 : Schematic diagram

T, 1 2

J1 J2

D1 D2
Bearing Bearing

Physical system

INSTRUMENTATION AND CONTROL SYSTEMS 21

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
At inertia J1: T ( s) ( J1 s 2 D 1 s K ) 1 ( s) K 2 ( s)
2
d 1 d
or T(t ) J1 2
D1 1 K 1 ( t ) K 2 (t )
dt dt
At inertia J2: 0 2
( J 2 s D 2 s K ) 2 ( s) K 1 ( s)
d2 2 d 2
or 0 J2 D2 K 2 (t ) K 1 ( t )
dt 2 dt

Example 9:

Determine the differential equation of the mechanical system in Figure 11:

T, 1 K 2
D2 D3
3

J1 J2 J3
D1
Figure 11

At inertia J1: T ( s) (J1s 2 D 1 s K ) 1 ( s) K 2 ( s)

2
d 1 d
or T(t ) J1 2
D1 1 K 1 (t ) K 2 (t )
dt dt
At inertia J2: 0 (J2 s2 D 2 s K ) 2 ( s ) K 1 ( s) D 2 s 3 ( s)
d2 2 d 2 d 3
or 0 J2 D 2 K 2 ( t ) K 1 ( t ) D 2
dt 2 dt dt
At inertia J3: 0 (J3 s 2 (D 2 D 3 )s) 3 (s) D 2 s 2 (s)
d2 3 d 3 d 2
or 0 J3 (D 2 D3 ) D2
dt 2 dt dt

PROBLEM 6 :

Write the equations of motion for the rotational mechanical system shown in Figure P6.

Figure P6

INSTRUMENTATION AND CONTROL SYSTEMS 22

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

2.4 ELECTROMECHANICAL SYSTEM TRANSFER FUNCTION

DC motor has separately excited field :

1. Armature control DC motor with constant field current.

2. Field control DC motor with constant armature current.

2.4.1 Armature Control DC motor

Example 10:

Determine the transfer function (s) / Vi (s) of the rotational mechanical system in Figure
12.

Figure 12.

R a - Armature winding resistance ( )

L a - Armature winding inductance (H)
e b - Back electromotive force (back e.m.f) (V)
T - Motor Torque (Nm)
- Angular displacement (rad)
J - Inertia (kg-m2)
F - Coefficient of Viscous friction (Nm-s/rad)
i a (t) - armature current (A)
i f - field current (A)
Vi - Source/ input voltage (V)

INSTRUMENTATION AND CONTROL SYSTEMS 23

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Vi (s) (R a L a s)I a (s) E b (s) (1)

di ( t )
Or vi (t ) R aia (t ) La a eb ( t )
dt

d
Back electromotive force (back e.m.f), e b
dt
K b - back e.m.f. coefficient (V/rad)
d
eb Kb
dt
E b ( s ) K b s ( s) (2)

Motor torque, T ia
T K mi a
K m - Motor torque coefficient (Nm/A)
T ( s) K m I a ( s )
T ( s)
I a ( s) (3)
Km

T ( s) (Js 2 Fs) (s) (4)

2
d d
or T (s) J F
dt 2 dt

From equations (3) and (4)

Js 2 Fs
I a ( s) ( s) (5)
Km

From equations (1), (2) and (5)

Js 2 Fs
Vi (s) (R a L a s) ( s) K b s ( s)
Km
1
Vi (s) (R a L a s)(Js 2 Fs) K b s (s)
Km

INSTRUMENTATION AND CONTROL SYSTEMS 24

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439
( s) 1
Vi (s) 1
(R a L a s)(Js 2 Fs) K b s
Km

(s) Km
Vi (s) (R a L a s)(Js 2 Fs) K mK b s

Km
Vi (s) ( s)
(R a L a s)(Js 2 Fs) K mK b s

Block diagram of system :

From equation (1) : Vi (s) (R a L a s)I a (s) E b (s)

Vi (s) E b (s) (R a L a s)I a (s)
1
Vi (s) E b (s) I a ( s)
(R a L a s)

+ 1
Vi (s) I a (s)
(R a L a s)
-

E b ( s)

From equation (3): T ( s) K m I a ( s)

I a ( s) Km T ( s)

INSTRUMENTATION AND CONTROL SYSTEMS 25

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

From equation (4): T ( s) (Js 2 Fs) (s)

1
T ( s) 2
( s)
(Js Fs)

T ( s) 1
2
( s)
JS Fs

From equation (2): E b ( s) K b s ( s)

(s) Kb s E b ( s)

Complete block diagram:

+ 1 I a ( s) T ( s) 1
Vi (s) Km ( s)
(R a L a s) (Js 2
Fs)
-
E b ( s)

Kb s

Closed loop system :

Theory: y = abc.x ( Cascade connection )

x a b c y

x abc y

INSTRUMENTATION AND CONTROL SYSTEMS 26

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Reduced block diagram :

+ Km
Vi ( s) ( s)
(R a L a s)(Js 2 Fs)
-

Kb s

Theory:

x
+ a y

x a y
1 ab

Km
( s) (R a L a s)(Js2 Fs)
Vi (s) KmKb s
1
(R a L a s)(Js2 Fs)

Km
(R a L a s)(Js2 Fs)
(R a La s)(Js2 Fs) KmKb s
(R a L a s)( Js2 Fs)

( s) Km
Vi (s) (R a L a s)(Js 2 Fs) K mK b s

Km
Vi ( s) ( s)
(R a L a s)(Js 2 Fs) K mK b s

INSTRUMENTATION AND CONTROL SYSTEMS 27

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

2.4.2 Field Control DC Motor

Example 11:

Determine the transfer function (s) / Vi (s) of the rotational mechanical system in Figure
13.

if Rf Ra

ia=constant F

T,
Vi Lf
M J

Figure 13

R f - Field winding resistance ( )

L f - Field winding inductance (H)
i f - Field current (A)
i a - Armature current (A)
Vi - Source/ input voltage (V)
R a - Armature winding resistance ( )
T - Torque (Nm)
J - Inertia (kg-m2)
F - Coefficient of viscous friction (Nm-s/rad)
- Angular displacement (rad)

Vi (s) (R f L f s)I f (s) (1)

di (t )
Or v i (t ) R f i f (t ) L f f
dt

INSTRUMENTATION AND CONTROL SYSTEMS 28

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UiTM, 40450 SHAH ALAM
ESE439

Motor torque, T if
T K fif
K f - Motor Torque coefficient (Nm/A)
T ( s) K f I f ( s)
T ( s)
I f ( s) (2)
Kf

T ( s) (Js 2 Fs) (s) (3)

2
d d
or T (s) J F
dt 2 dt

From equations (2) dan (3)

Js 2 Fs
I f ( s) ( s) (4)
Kf

From equations (1) and (4)

Js 2 Fs
Vi (s) (R f L f s) ( s)
Kf
( s) Kf
Vi (s) (R f L f s)(Js 2 Fs)

Kf
Vi (s) ( s)
(R f L f s)(Js 2 Fs)

Block diagram of system :

From equation (1) : Vi (s) (R f L f s)I f (s)

1
Vi (s) I f ( s)
(R f L f s)

INSTRUMENTATION AND CONTROL SYSTEMS 29

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

1
Vi ( s) I f ( s)
R f Lf s

From equation (2): T ( s) K f I f ( s)

I f ( s) Kf T ( s)

From equation (3): T ( s) (Js 2 Fs) (s)

1
T ( s) 2
( s)
(Js Fs)

T ( s) 1
2
( s)
JS Fs

Complete block diagram:

1 I f (s) T ( s) 1
Vi ( s) Kf ( s)
(R f L f s) ( Js 2 Fs)

Open-loop system

Reduced block diagram :

Kf
Vi (s) ( s)
(R f L f s)(Js 2 Fs)

( s) Kf
Vi (s) (R f L f s)(Js 2 Fs)

INSTRUMENTATION AND CONTROL SYSTEMS 30

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

2.4.3 Field Control DC Generator

Example 12:

Determine the transfer function Vo (s) / Vi (s) of the rotational mechanical system in
Figure 14.

if Rf

Vi Lf G
Vo

Constant
speed

Figure 14

Vi (s) (R f L f s)I f (s) (1)

di (t )
Or v i (t ) R f i f (t ) L f f
dt

Generator voltage, v o if
vo K gi f
K g - Generator coefficient (V/A)

Vo (s) K g I f ( s)
Vo (s)
I f ( s) (2)
Kg

From equations (1) and (2)

Vo (s)
Vi (s) (R f L f s)
Kg
Vo (s) Kg
Vi (s) (R f L f s)

INSTRUMENTATION AND CONTROL SYSTEMS 31

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

Kg
Vi (s) Vo (s)
(R f L f s)

Block Diagram of the system:

From equation (1): Vi (s) (R f L f s)I f (s)

1
Vi (s) I f (s)
(R f L f s)

1
Vi (s) I f ( s)
R f Lf s

From equation (2): Vo (s) K g I f ( s)

I f ( s) Kf T ( s)

Complete block diagram:

1 I f ( s)
Vi (s) Kf Vo (s)
(R f L f s)

Reduced block diagram :

Kg
Vi (s) Vo (s)
(R f L f s)

Vo (s) Kg
Vi (s) (R f L f s)

INSTRUMENTATION AND CONTROL SYSTEMS 32

 FAKULTI KEJURUTERAAN ELEKTRIK
UiTM, 40450 SHAH ALAM
ESE439

PROBLEM 7 :

Determine the transfer function 1(s)/E(s) of the rotational mechanical system in

Figure P7.

ia Ra La
if Rf

B
T,

e Lf G ea eb M J

if=constan
t
Constant
speed

Generator Motor

Figure P7

INSTRUMENTATION AND CONTROL SYSTEMS 33