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System Modeling Part 2: Rotational Mechanical and Electromechanical Systems
System Modeling Part 2: Rotational Mechanical and Electromechanical Systems
Answer: 1
G (s) 2
2s s 1
Transfer Functions for Systems with Gears
As the gears turn, the distance
traveled along each gear’s
circumference is the same.
r1θ1 = r2 θ2 or
θ2/ θ1 = r1/r2 = N1/N2
Relationship of input torque T1
and delivered torque T2 (inertia
and damping at gears neglected):
T1θ1 = T2θ2 or
T2/T1 = θ1/ θ2 = N2/N1
Eliminating Gears (Reflecting T1(t) t
Impedances)
Consider the system shown. D
t
The equation of motion is
N2 J
( Js Ds K ) 2 ( s ) T1 ( s )
2
N1 K
N N K
( Js Ds K ) 1 1 ( s ) T1 ( s ) 2
2
Simplifying,
K(N1/N2)2
N 2
N1
2
N1
2
J 1
s D
2
s K 1 ( s ) T1 ( s )
N 2 N2 N2
In general:
Rotational mechanical impedances can be reflected through gear
trains by multiplying the mechanical impedance by the ratio
2
Number of teeth of
gear on destination shaft
Number of teeth of
gear on source shaft
Where the impedances to be reflected is attached to the source shaft
and is being reflected to the destination shaft.
Example 4:
Transfer Function—System with Lossless Gears
PROBLEM: Find the transfer function, θ2(s)/T1(s), for the
system below.
Example 4:
Solution:
Let us first reflect the impedances (J1 and D1) and torque (T1)
on the input shaft to the output,
Example 4:
Solution:
The equation of motion can be written as
N2
( s) N1
G( s) 2
T1( s ) J e s 2 De s K e
Gear Train
To eliminate gears with large radii, gear train is used to
implement large gears ratios by cascading smaller gears ratios.
N1 N3 N5
4 1
N 2 N 4 N6
Example 5:
Transfer function – Gears with Loss
Find the transfer function, 1(s)/T1(s), for the system shown.
T1(t) t
J1, D1
N3
J2, D2 J3
N4
J5
J4
Example 5:
Solution:
Equivalent system at the input,
T1(t) t
Je
De
Example 5:
Solution:
The result of reflecting all impedances to θ1 is,
(Jes2 + Des) θ1(s) = T1(s)
where
Je = J1 + (J2 + J3)(N1/N2)2 + (J4 + J5)[(N1N3)/(N2N4)]2
De = D1 + D2(N1/N2)2
Solving for G(s) = θ1(s)/T1(s),
G(s) = θ1(s)/T1(s) = 1/(Jes2 + Des)
Example 6:
Find the transfer function, G(s) = θ2(s)/T(s), for the rotational
mechanical system with gears shown.
Transfer Functions of Electromechanical
System
A motor is an electromechanical component that yields a
displacement output for a voltage input, that is, a mechanical
output generated by an electrical input.
Solving for Transfer Function, θm(s)/Ea(s)
The electrical constants of the motor's transfer function,
Solving for Transfer Function, θm(s)/Ea(s)
Solving for , Tm(s), of mechanical loading on a motor,
Tm(s) = (Jms2+Dms)θm(s)
mt mt
Jm
Dm
Note:
Kb Kt Kt
Tm m ea
Ra Ra
Solving for Transfer Function, θm(s)/Ea(s)
Solving for the transfer function of the motor,
Fixed
Field
Ra La
+
+ Rotor
Vb(t) Tm(t)
ea(t)
mt
Ra La s Tm ( s) K
b s m ( s ) Ea ( s )
Kt
Solving for Transfer Function, θm(s)/Ea(s)
Using the two equations,
Tm(s) = (Jms2+Dms)θm(s)
Ra La s Tm ( s) K
b s m ( s ) Ea ( s )
Kt
Results to Ra La s J m s 2 Dm s m (s) K
b s m ( s ) Ea ( s )
Kt
Assuming that the armature inductance, La, is small compared to the
armature resistance, Ra, which is usual for a dc motor,
Ra
J m s Dm Kb s m ( s) Ea (s)
Kt
Solving for Transfer Function, θm(s)/Ea(s)
Therefore, the transfer function, θm(s)/Ea(s), is
Kt
m ( s) Ra J m
Ea ( s ) 1 Kt K b
s s Dm
J R
m a
Where
Jm = Ja + JL(N1/N2)2; Dm = Da + DL(N1/N2)2
(if the motor is driving a rotational mechanical load)
Example 7:
m
Transfer function – DC motor and load
Find the transfer function L(s)/Ea(s). 500
ea = 100 V
Torque
Fixed
(N-m)
Field
Ra
+ m
+ 50
mt Speed (rad/s)
N1= 100
ea(t) Lt
ia(t) N = 1000
- 2
JL
Ja = 5 kg-m2
Da = 2 N-m s/rad
JL= 700 kg-m2 DL= 800N-m s/rad
Example 7:
Solution:
Begin by finding the mechanical constants, Jm and Dm,
Jm = Ja + JL(N1/N2)2 = 5 + 700(1/10)2 = 12
Dm = Da + DL(N1/N2)2 = 2 + 800(1/10)2 = 10
Determining the electrical constants, Kt/Ra and Kb,
Kt/Ra = Tstall/ea = 500/100 = 5
Kb = ea/ωno-load = 100/50 = 2
where
Tstall = 500; ωno-load = 50; ea = 100 from the graph
Example 7:
Solution:
Substituting the values of Jm, Dm, Kt/Ra and Kb,
2
3 kg-m
t
1000 N-m s/rad
200 kg-m2
Problem 1
Assignment:
2. The motor whose torque-speed characteristics are shown
drives the load shown in the diagram. Some of the gears have
inertia. Find the transfer function, G(s) = 2(s)/Ea(s).
m (N-m)
+ N1= 10
ea(t) Motor
J1= 1 kg-m2
5 -
N2= 20 N3= 10
5V
J2= 2 kg-m2 2t
J3= 2 kg-m2 D = 32 N-m s/rad
Torque
(N-m)
J4= 16 kg-m2
RPM N4= 20
Speed (rad/s) 600/
Problem 2