School of Electrical Engineering and

Computer Science
Department of Electrical Engineering
EE-371 : Control Systems
Lecture#07,08
(Transfer Functions of Electro Mechanical Systems)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise 5th
Edition

Instructor: Ms Neelma Naz

1
Transfer Functions for Systems
with Gears

2
Manual Transmission
Mechanism
The mechanism also
called as “stick shift” is
used in cars to change
gears manually

3
N 1 T1  2
 
N 2 T2  1
4
A gear system

r11  r2 2

r1  2

r2 1

N1  2

N 2 1

T1  2

T2 1
5
Transfer functions for
a. angular displacement in lossless gears and
b. torque in lossless gears
N 1 T1  2
 
N 2 T2  1
N1
2  1
N2

N2
T2  T1
N1
6
 N 1 T1  2 N2
   T 2  T1
N 2 T2  1 N1


T2  Js 2  Ds  K  2 
Gears Eliminated

(a) Rotational system driven by gears (b) Equivalent system at the output
(input torque reflected to output)

N1
T1  T2
N2
d 2 2 d  N1 
T2  J 2  D 2  K  2  also   1 
dt dt 
2
N 2 
2
 N 1   d 2 1 d 1 
 T1    J 2
D  K 1 
 N 2   dt dt  Gears Eliminated
2
 N1 
or T1  
N
  Js 2
 Ds  K 1 (c) Equivalent system at the input 8
 2 (impedances reflected to input)
Example 2.21 system after reflection of torques
and impedance to the output shaft

Rotational mechanical system with gears

2
 N2 
J e  J1    J2
N
 1 block diagram

2
N 
De  D1  2   D2
 N1 

Ke  K2
9
Gear train
10
a. System using a gear train;
b. equivalent system at the input;
c. block diagram

11
Electromechanical System
Transfer Functions

12
There are two types of dc motor used in control systems:

a)The field control

b)The armature
control

Armature
Controlled dc
motor

?
Ea Ea -Em 1 Ia T 1 ϴ
G1  G2  2
Rm  sLm KT Js  Bs
-
Em

Kms
Figure 2.35
DC motor:
a. schematic
b. block diagram

d m (t )
vb (t )  K b
dt

Vb ( s )  K b s  m ( s ) (1) Tm ( s )  K t I a ( s )
Tm ( s )
• vb(t) the back electromotive force (back emf) I a (s)  (2)
Kt
• Kb is a constant of proportionality , known • Tm is the torque developed by the motor
as back emf constant
• Kt is the motor torque constant

Loop Equation

Substituting Vb(s) and Ia(s) from (1) and (2)

 (3)

Figure 2.36
Typical equivalent mechanical loading
on a motor

Substituting for Tm(s) in (3)

Neglecting La

How to evaluate
the constants ???

Jm , Dm

Kt/Ra , Kb 18
Figure 2.37
DC motor driving a rotational
mechanical load
Jm , Dm
 Kt/Ra , Kb ?? Figure 2.38
Torque-speed curves with an
armature voltage, ea, as a
parameter

Ra
Tm ( s )  K bm ( s )  Ea ( s )
Kt

Ra
Tm (t )  K bm (t )  ea (t )
Kt
In steady state
Ra
Tm  K bm  ea
Kt
can be found from a dynamometer test of the motor
Example 2.23
Transfer Function—DC Motor and Load
PROBLEM: Given the system and torque-speed curve of Figure 2.39(a)
and (b), find the transfer function, ƟL(s)/Ea(s).

SOLUTION: Begin by finding the

mechanical constants, Jm and Dm.
The total inertia at the armature of the motor is:

The total damping at the armature of the motor is:

From the torque speed curve

21
Figure 2.39
a. DC motor and load;
b. torque-speed curve;
c. block diagram
Exercise 2.11
Home Assignment
Figure 2.40 (submit)
Electromechanical system for
Skill-Assessment
24