2 Basic Dynamics

Foundation of Electromechanical
Transmission and Control
Xinjie WANG
Tel: 18602520253
Email : xjwang@njust.edu.cn
School of Mechanical Engineering
Nanjing University of Science & Technology
Foundation of Electromechanical transmission
and control
2. Basic dynamics
requirements
1. Master the motion equation of the electromechanical transmission
system, and learn to use it to analyze and distinguish the running
state of the electromechanical transmission system.
2. Understand that the torque must be converted in order to list the
equations of motion in a multi-axle drive system, and master the
basic principles and methods of its conversion.
3. Understand the mechanical characteristics of several typical
production machinery.
4. Master the operating conditions of the electromechanical
transmission system, and learn to use it to analyze and distinguish
the stable equilibrium point of the system.
Key Points and Difficulties Key Points
• 1 ） Discrimination of running state of electromechanical

drive system using motion equation.
• 2 ） Applying the condition of stable operation to

distinguish the stable running point of electromechanical
transmission system ；
Key Points and Difficulties Difficulties
• 1 ） According to the direction of the

electromechanical transmission system, the driving
torque and braking torque can be distinguished.
Therefore, the operating state of the system can be
distinguished as acceleration, deceleration or
uniform speed ；
• 2 ） Discriminating the stable working point of the
system on the mechanical characteristics.
2.1 Motion Equation of Single Axis Driving System
1 ） Composition of Single Axis Driving System
Electri- Mecha-
cal Electric drag or nical
control electromechan- moving
ical drive parts
system
Electromechanical
transmission and control
Electri- Mecha-
electromechan- moving Single Axis
control
ical drive parts
Electromechanical
system Drive System
Electromechanical
Production
machinery
• The figure shows the direction of the driving torque of the motor,
load torque, speed of the motor of the single axis driving system.
is the angular velocity of single axis driving
system （ rad/s ）
is driving torque of motor (Nm)
is load torque of single axis driving system (Nm)
Production
machinery
2 ） Motion Equation
is Moment of Inertia for single axis driving system （ kg· ㎡）
is the angular velocity of single

𝒅𝝎 axis driving system （ rad/s ）
𝑻 𝑴 −𝑻 𝑳= 𝑱 is driving torque of motor (Nm)
𝒅𝒕 is load torque of single axis driving
system (Nm)
Production
machinery
is Moment of Inertia for single axis driving system （ kg· ㎡）
is the angular velocity of single

𝒅𝝎 axis driving system （ rad/s ）
𝑻 𝑴 −𝑻 𝑳= 𝑱 is driving torque of motor (Nm)
𝒅𝒕 is load torque of single axis driving
system (Nm)
𝟐
𝑮 𝑫 𝒅𝒏
𝑻 𝑴 −𝑻 𝑳=
𝟑𝟕𝟓 𝒅𝒕 Production
machinery
Practical form of motion equation for
single axis electromechanical driving
system
𝟐
𝑮 𝑫 𝒅𝒏
𝑻 𝑴 −𝑻 𝑳= ¿𝑻 𝑫
𝟑𝟕𝟓 𝒅𝒕
or Torque Balance Equation
Static Torque Dynamic Torque
Production
machinery
3 ） State of Driving System
（ steady state ）
𝒅𝝎 Acceleration = 0 : The drive system moves
𝑻 𝑴 −𝑻 𝑳=𝑻 𝑫 =𝟎= 𝑱
𝒅𝒕 at a constant speed
（ dynamic state ）
𝒅𝝎
𝑻 𝑴 >𝑻 𝑳 ❑ 𝑻 𝑫 >𝟎❑ 𝑱 > 𝟎 Acceleration > 0 : Drive system with
⇒ ⇒ 𝒅𝒕 accelerated motion
𝒅𝝎
𝑻 𝑴 <𝑻 𝑳 ❑ 𝑻 𝑫 <𝟎❑ 𝑱 < 𝟎 Acceleration <0 : Drive system with
⇒ ⇒ 𝒅𝒕 decelerated motion
4 ） Reference Direction of Driving System
• Taking the same sign as n when the

actual direction of is the same as
that of n. Otherwise, taking the
opposite sign ；
• Taking the same sign as n when the
actual direction of is opposite to
that of n. Otherwise, taking the
opposite sign.
•
•
5 ） Example
As shown in the following figures, the motor drags the object up and down
(a) going up (b)breaking (c) going down

5 ） Example
• If the object rises, the sign of velocity n is
"+"; When the object falls, the sign of n is
"-".
• The direction of is same as that of n, so the

sign of is same as that of n and is positive.
• The direction of is opposite to that of n, so

（ a) going up the sign of is same as that of n and is
positive.
5 ） Example
braking torque
𝟐
𝑮 𝑫 𝒅𝒏
𝑻 𝑴 −𝑻 𝑳=𝑻 𝑫 =
𝟑𝟕𝟓 𝒅𝒕
driving torque
(a) going up
5 ） Example •
(b)breaking state
5 ） Example
braking torque
𝟐
𝑮 𝑫 𝒅𝒏
−𝑻 𝑴 −𝑻 𝑳=𝑻 𝑫 =
𝟑𝟕𝟓 𝒅𝒕
braking torque
(b)breaking state
5 ） Example
(c) going down

5 ）、 Example
• When the object falls, the sign of n is "-".
• The direction of is opposite to that of n,

so the sign of is opposite to that of n,
and is “+”.
• The direction of is same as that of n, so
the sign of is opposite to that of n, and
(c) going down is “+”.
5 ） Example
driving torque
𝟐
𝑮 𝑫 𝒅𝒏
𝑻 𝑴 −𝑻 𝑳=−𝑻 𝑫 =−
𝟑𝟕𝟓 𝒅𝒕
braking torque
(c) going down

2.2 Conversion of Torque, MOI and Flywheel moment
1 ） Conversion of Load Torque
The motor is connected with the production machinery
through the deceleration mechanism (such as the deceleration
gear box, worm wheel, etc.), forming a multi-axis drive
system. The principle of conversion is:
In static state, before and after
conversion, the total transmission
power of the system is unchanged.
For rotary motion:
𝐓𝐋 ′
❑ 𝑇 𝐿
𝑇 =
𝐿
𝜂𝑐 𝑗
mechanical power
For linear motion: required by load. P  F
L
'
mechanical power
PM  TL M
in motor shaft.
F
TL M 
According to the c
relationship of power
2
balance:  n
60
9.55F
TL 
 c nM
2 ） Conversion of moment of inertia (MOI) & flywheel moment
moment of inertia
of the transmission shaft
The principle of conversion : the J1 J L
kinetic energy is constant JZ  JM  2  2 moment of inertia
j1 jL of the production
machinery shaft
moment of inertia M 
j1  jL  M
of the motor shaft 1 L
j1 is the velocity ratio between the motor shaft and the transmission shaft;
jL is the velocity ratio between the motor shaft and the production machinery shaft.
moment of inertia
2 ） Conversion of MOI & flywheel moment of the transmission shaft
J1 J L
for rotary motion JZ  JM  2  2 moment of inertia
j1 jL of the production
machinery shaft
moment of inertia M 
j1  jL  M
of the motor shaft 1 L
The total flywheel torque that is converted to

the motor shaft is:
Motor shaft Transmission shaft machine shaft

2 ） Conversion of MOI & flywheel moment
When the value of j1 is very large, which is MOI of the transmission
mechanism or which is flywheel torque occupies a small proportion of the
whole system after conversion. In engineering applications, the influence of
intermediate transmission mechanism is calculated by a coefficient
multiplying which is MOI of the motor shaft or which is flywheel torque.
2 ） Conversion of MOI & flywheel moment
If the mass of a linear moving part is m, the
for linear motion total moment of inertia or the total flywheel
moment converted to the motor shaft is:
The principle of conversion : the kinetic energy is constant

2.2 Conversion of Torque, Inertia moment and Flywheel moment
3 ） Motion equation of multi-axis drag system
• A multi-axis drag system have an intermediate transmission

mechanism with a rotating moving part or a linear moving part
can be converted into an equivalent single-axis drag system to
obtain
• The motion equation of the multi-axis drag system can be
obtained by the following equation
𝟐
𝑮 𝑫 𝒅 𝒏𝒁 𝒁
𝑻 𝑴 − 𝑻 𝑳=
𝟑𝟕𝟓 𝒅𝒕
2.3 Mechanical characteristics of load torque
Type Subtype Characteristic

Constant torque Load torque is constant
Resistance Constant Rebellion in the direction of
Torque motion
Potential Energy Constant direction of action
Constant Torque
Centrifugal ventilator Load is proportional to the
square of speed
Linear Load is proportional to speed
Constant power Load is inversely proportional
to speed
1 ） Constant torque
According to its characteristics, the mechanical characteristics of constant

torque type can be divided into two kinds: resistance constant torque and
potential energy constant torque.
(a) Resistance constant torque （ b ） Potential energy constant torque

Also known as frictional torque, load torque is the result of
friction, compression, tension and torsion of nonelastic body.
e.g. the load torque produced by cutting force of a lathe is
resistance torque.
Characteristics ：
1) The torque is constant ；
2) The direction of action is always opposite to the direction of velocity n. When
the direction of n changes, its direction of action also changes accordingly. It is
always opposite to the direction of motion, that is, it always hinders motion.
3) Take the same sign for resistance torque and rotation speed n, that is, when n
is positive, TL is positive, and the characteristic curve is in the first quadrant;
When n is negative, TL is negative, and the characteristic curve is in the third
quadrant.
The load torque produced by the force of gravity and
the compression, tension and torsion of the
elastomer ，：
Characteristics
1 、 The torque is constant ；
2 、 The direction of action is constant, and has nothing to do with the
direction of motion, that is, in one direction to hinder the movement, and in the
other direction to promote the movement.
3 、 e.g. hoisting machine: the direction of the load torque is always in the
same direction as the weight falls. When the motor drives the weight upward,
TL is in the opposite direction of n. When the weight goes down, the T L is in the
same direction as the n. Whether n is positive or negative, TL is unchanged that
means TL is always with the positive sign, and the characteristic curves are in
the first and fourth quadrants.
2 ） Mechanical characteristics
of centrifugal ventilation
Centrifugal ventilation type mechanical
characteristics are based on the principle of
centrifugal force, such as centrifugal blower, pump,
etc., their load torque TL is proportional to the square
of the speed n, that is, TL=Cn2 , where C is a constant.
In addition, there is a certain friction torque on the

shaft of the actual ventilator, so the actual mechanical
characteristics of the ventilator should be TL=T0+Cn2 ,
as shown by the dotted line.
3 ） Linear load characteristics
The load torque TL of linear load characteristic is

proportional to the velocity n, that is, TL=Cn,
where C is a constant.
For a separately excited motor, when the excitation

current and armature resistance are fixed, the
electromagnetic torque is proportional to the speed,
that is, linear mechanical characteristics.
4 ） Constant power load characteristics
The load torque TL of constant power load

characteristic is inversely proportional to the
speed n, that is, TL=C/n, where c is a constant.
For example, in the roughing process of turning

lathe, the cutting quantity and the load resistance are
large, the rotating speed is slow. However, in the
finishing process, the cutting quantity and the load
resistance are small, the rotating speed is fast. But at
different speeds, the cutting power is basically
unchanged. So it presents the mechanical
characteristics of constant power type.
2.4 Conditions for stable operation of electromechanical systems
Electri- Mecha-
control electromechan- moving
ical drive parts
system
Electromechanical
1 ） Meaning of stable
operation
When the system is
affected by some
Automatic external disturbance that
Operation at a Be able to Stable recovery after changes the operating
operate at a operation external speed, it should be
constant speed constant speed disturbance
eliminated guaranteed that the
system can be restored
to the original
operating speed after
the disturbance is
eliminated.
2 ） Conditions for stable operation
Necessary conditions:(Counterbalance, Be able to operate at a constant

speed)
The output torque of the motor and load torque are equal in magnitude and
opposite in direction.
From the coordinates of T—n , there must be an intersection between the

mechanical characteristic curve of the motor (TM) and mechanical characteristic
curve of the load (TL), which intersection is equilibrium point .
Sufficient Condition: （ ability of recovering to the original equilibrium

state)
The system has the ability of recovering to the original equilibrium state
after disturbance eliminated:
When disturbance makes speed increase: TM < TL

When disturbance makes speed decrease: TM > TL
The equilibrium point that meets the condition of stable operation is called
stable equilibrium point. 𝒅𝝎
𝑻 𝑴 −𝑻 𝑳= 𝑱
𝒅𝒕
3 ）、 Example
Curve 1 is the mechanical characteristics of the
asynchronous motor. (TM curve)
Curve 2 is the mechanical characteristics of
manufacturing machine driven by an asynchronous
motor. (TL curve)
The two curves have intersection points a and b,
that is, the drag system has two equilibrium points.
Try to analyze whether a and b are stable
equilibrium points?
Both a and b are equilibrium points before
the disturbance.
After disturbance: (Load torque variation) 3 ）、 Example
1. Look at Point a: if the load torque increases, because

the motor can not adjust the output torque
instantaneous, at this moment TM <TL; The motor will
slowdown on basis of the kinematic equation;
According to the motor curve (Curve 1), output
torque of the motor TM increases after deceleration.
𝒅𝝎
𝑻
The motor will run at the new equilibrium point of
𝑴 −𝑻 𝑳= 𝑱
aˊ. 𝒅𝒕
2. Look at Point aˊ: if the disturbance is eliminated: The
motor can not adjust the output torque instantaneous,
at this moment TM >TL ; The motor will speed up on
basis of the kinematic equation; According to the
motor curve (Curve 1), the output torque of the motor
TM decreases after speed up;
Motor will run at the original equilibrium point of a.
After disturbance: (Load torque increase) 3 ）、 Example
1. The load torque at point b increases after disturbance:

The motor can not adjust the output torque
instantaneous, at this moment TM < TL ; The motor
will slowdown on basis of the kinematics equation;
According to the motor curve of BC, the output
torque TM decreases after deceleration; the moto will 𝒅𝝎
slow down further until the motor stops. 𝑻 𝑴 −𝑻 𝑳= 𝑱
𝒅𝒕
2. The load torque at point b decreases after disturbance:
The motor can not adjust the torque instantaneous, at
this moment TM >TL; The motor will speed up
according to the kinematics equation; According to
the motor curve of CB, output torque TM increases
after speed up. The motor will pass trough Point B
and will stable runing at point a
Sufficient Condition: （ ability of recovering to the original equilibrium

state ）
The system has the ability of recovering to the original equilibrium state after
disturbance eliminated:
When disturbance makes speed increase: TM < TL

When disturbance makes speed decrease: TM > TL
𝒅𝝎
𝑻 𝑴 −𝑻 𝑳= 𝑱
𝒅𝒕
3 ） Example
When disturbance makes speed

decrease: TM > TL
3 ） Example
Curve 1 shows the mechanical characteristics
of the asynchronous motor,
Curve 2 shows the mechanical characteristics

of the dc generator.

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Foundation of Electromechanical

Transmission and Control

• 1 ） Discrimination of running state of electromechanical

• 2 ） Applying the condition of stable operation to

• 1 ） According to the direction of the

is Moment of Inertia for single axis driving system （ kg· ㎡）

is the angular velocity of single

is Moment of Inertia for single axis driving system （ kg· ㎡）

is the angular velocity of single

Static Torque Dynamic Torque

• Taking the same sign as n when the

(a) going up (b)breaking (c) going down

• The direction of is same as that of n, so the

• The direction of is opposite to that of n, so

(c) going down

• The direction of is opposite to that of n,

(c) going down

The total flywheel torque that is converted to

Motor shaft Transmission shaft machine shaft

The principle of conversion : the kinetic energy is constant

• A multi-axis drag system have an intermediate transmission

Type Subtype Characteristic

According to its characteristics, the mechanical characteristics of constant

(a) Resistance constant torque （ b ） Potential energy constant torque

In addition, there is a certain friction torque on the

The load torque TL of linear load characteristic is

For a separately excited motor, when the excitation

The load torque TL of constant power load

For example, in the roughing process of turning

Necessary conditions:(Counterbalance, Be able to operate at a constant

From the coordinates of T—n , there must be an intersection between the

Sufficient Condition: （ ability of recovering to the original equilibrium

When disturbance makes speed increase: TM < TL

1. Look at Point a: if the load torque increases, because

1. The load torque at point b increases after disturbance:

Sufficient Condition: （ ability of recovering to the original equilibrium

When disturbance makes speed increase: TM < TL

When disturbance makes speed

Curve 2 shows the mechanical characteristics

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