School of Electrical Engineering and

Computer Science
Department of Electrical Engineering
EE-371 : Control Systems
Lecture#06
(Transfer Functions of Rotational Systems)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise 5th
Edition

Instructor: Ms Neelma Naz

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 Transfer Functions for
Translational Mechanical Systems

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Transfer Functions for Rotational
Mechanical Systems

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 Mechanical Rotational Systems
The mechanical rotational systems are treated in the same way as the
mechanical translational systems with the following changes:
•Mass (M) is replaced by moment of inertia (J)
•Force (F) is replaced by Torque (T)
•Displacement ‘X’ by angular displacement ‘θ’

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 Examples
Mechanical Rotational Systems -
Applications

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Steam Turbine Blades
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Summary of elements involved in linear mechanical systems

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 
τ
J
d 2 (t ) d (t )
T (t )  J 2
B  K time domain
B dt dt

K T ( s )  Js 2  Bs  K s  domain

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Example 2.19

Physical system

Schematic

Block diagram

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 Final free-body
diagram for J1

Torques on J1 due only Torques on J1 due only

to the motion of J1 to the motion of J2

 1  D1s  K 1 (s)  K2 (s)  T (s)

J s 2

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 Final free-body
diagram for J2
Torques on J2 due only Torques on J due only
2
to the motion of J2 to the motion of J1

 
 K1 ( s )  J 2 s  D2 s  K  2 ( s )  0
2

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  
J1s 2  D1s  K 1 ( s )  K 2 ( s)  T ( s )


 K1 ( s )  J 2 s 2  D2 s  K  2 ( s)  0 


 J1s 2  D1s  K  K   ( s )  T ( s ) 
 1    

 K  
  ( s
J 2 s  D2 s  K   2  
2 ) 0 

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 

 J1s 2  D1s  K  K   ( s )  T ( s ) 
 1    

 K  
  ( s
J 2 s  D2 s  K   2  
2 ) 0 


 J1s 2  D1s  K  K 
A 

 K  
J 2 s  D2 s  K 
2
AB  C
 ( s )  T ( s ) 
1
B   1 ;
 2 ( s ) 
C
 0 

BA C

syms s J1 D1 K T J2 D2 theta1 theta2;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0];

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%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0]; G1 =

B=inv(A)*C; K/(D1*K*s + D2*K*s + D1*D2*s^2 + D1*J2*s^3 + D2*J1*s^3 +

theta1=B(1); J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)
theta2=B(2);

G1 = theta2/T; G2 =
G2 = theta1/T;
(J2*s^2 + D2*s + K)/(D1*K*s + D2*K*s + D1*D2*s^2 +
D1*J2*s^3 + D2*J1*s^3 + J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)

K
G1 

s J1 J 2 s 3  ( D1 J 2  D2 J1 ) s 2  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K ) 
J 2 s 2  D2 s  K
G2 

s J1 J 2 s 3  ( D1 J 2  D2 J1 ) s 2  ( D1D2  J1K  J 2 K )s  ( D1K  D2 K )  16
%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;

J1=1; J2=1, D1=1; D2=1;K=1;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];

B=[theta1; theta2];
C=[T; 0];

B=inv(A)*C;
theta1=B(1);
theta2=B(2);
G1 =
1/(s^4 + 2*s^3 + 3*s^2 + 2*s)
G1 = theta2/T;
G2 = theta1/T;
G2 =
(s^2 + s + 1)/(s^4 + 2*s^3 + 3*s^2 + 2*s)

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Home Assignment (submit)

Write the Transfer Function

3 (s)
G (s) 
T (s)

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