MEBS323 1

Modelling and Control of Dynamic System

Tutorial 2

Q1
Find the transfer functions for the following translational mechanical systems.

X 2 (s)
a) F (s)

b) X3(s)
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Modelling and Control of Dynamic System

Q2
Write the equations of motion for the following rotational mechanical systems.

a)

b)

Q3
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Modelling and Control of Dynamic System

Q4
θ2 (s)
For the gear system shown in Figure 2, find the transfer function of
T a 1 (s)
Given ratio, N=r 2 / r 1
θ1=Nθ2
ω 1=Nω2

Q5 Figure 1

Determine the transfer functions 2(s)/T(s) for the rotational systems with gears.

a)

b)
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Modelling and Control of Dynamic System

ANSWERS

X 2 ( s) s +1 X 3 (s) 1
1. a) = b) =
F (s) s2 ( s2 +2 s +2) F (s) s(s 3+ 3 s 2+3 s+3)

2. a) θ1 ( s 2 +9 s +8 ) −θ2 ( 2 s+8 )=0

−θ1 ( 2 s+ 8 ) +θ2 ( s 2+ 2 s+11 ) =T (s)

b) θ1 ( J 1 s 2+ K 1) −k 1 θ2 =T ( s )
−k 1 θ1 + ( D 1 s +k 1 ) θ2−D 1 s θ3=0
−D1 s θ 2+ ( J 2 s2 + D1 s +k 2 ) θ3 −k 2 θ4 =0
−k 2 θ3 + ( D 2 s +k 3 + k 2 ) θ 4=0

4.

θ2 (s)
T a 1 (s)

θ2 (s ) 3
5. a) =
T (s) 20 s +13 s +4
2

θ2 (s ) 10
b) =
T (s) 1300 s +4000 s+550
2
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Modelling and Control of Dynamic System