Tr I 48 Control Systenr Engineering Teaser fanaion = 8) 0) tee -(8) EXAMPLE 824 : In a mechanical hybrid system, a shaft wth anno ints Jas rand tifnss constant Kis by torque Tio, The mass M is displace by y as shown in Fig, E.A.M, Obtain the transfer Yo funina Qe Fig, EAM SOLUTION The various displacements ae shown in the figure, The mes! shown in Fig. E324) 1 network is 44a Weting nodal equations, f(0 - 0) + KyO- 6) = TO all) J, +18, + K8, + 16)~ 8) + KG) 4 TAO 0 i) My + by + Ky = fe iii) and Tell) = fel) liv)wurhematical Modelling of Physical Systems 3.59 ‘Taking Laplace transform, fs[0() — O((s)] + Ki{0) — O,(5)] = TE) ifs + Kil O(8) = [fis + Ki] Os) = TEs) uv) Js?8,(s) + f:80\(s) + KO\(s) + fis [0,(s) — O(s)} + KL\(s) ~ 0(5)] + Tm(s) = 0 Us? + fs + fis + Ky + K) O,(s) - (fs + K)) Os) + Tm(s) = 0 ..Wvi) Tals) = Fr(s)r (vill) (Ms? + fs + Kx) Y(s) = Fr(s) (viii) From Eqn. (vi) and (vii), we have Us? + fis + fis + Ky + K) @,(s) — (fis + Ki) 0(s) + Fm(s)r = 0 ...ix) From Eqn. (viii) and (ix), we have (Us? + fis + fys + Ky + K] 0,65) — (fis + Ki) O(s) + rIMs? + fos + Kz} Y(s) = 0 (x), Also, rOury or, 1 OS) Us) L ome YG) Venee han (x) becomes, is" 4 fis eee Ri 0 %@ 4 e[Ms? + fos + Ka] Y(s) = [fis + Ki] (5) PT tes # Ky KTY(S) # PIMs? + fs + Kol ¥(s) = rfis + Ky] 6(5) fe (Mes & fy + fy + fers + (K + Ki + Kory) ¥() = [fs + Ki] 68) ¥(s) Honster tinetion Gay _ Myst RK (4 Mr‘yst a Ge fied fyrt sb OK + Ky + Kar) olenoid is shown Hotes batical systens operated by PAMPER 628 0 An " noid prodaces a pall FQ) © Ki. When an emf e is tiyplacetuent yoy: produced at the output end. Obtain the wansfer ot the cystemy Corl fie auduetance 1b, and resistance Ro and mass(output) i i ; Pe Fa) Ei Fig. E. SOLUTION + When an emf ¢ is applied to the solenoid, the current will be produced. Applying KVL. Ladi Rie =) In Laplace transform E(s) = RI(s) + Ls Ks) = (R +L) 19) i= (ii) Solenoid produces 2 forve in the core given by, Fit) = Ki In Laplace transform, Fs) = K lis) ai) This force will have two components : (i) To overcome mass of solenoid and spring force. (ii) The rest of the force f° acts at the end C of the lever t vetlect on the other end Fy = Mi + Kx + £0) ii)—_ Mathematical Modelling of Physical Systems 2 Let the force transmitted at the other end A be fj. This force will be utilised to overcome the reaction forces due to M,, f; and Ky. f= My + fiy + Ky wwfiv) and taking moments about the fulcrum B. Cx =f xb é2 fe (2) f wv) Taking Laplace transform of Eqn. (iii) to (¥) F(s) = Ms? X(s) + K2X(s) + Fis) o(vi) Fis) = Mist ¥(s) + fis¥(s) + KiY(S) = (Ms? + fis + Ky) Y(s) (vii) F and F(s) = (2) Fs) «.viii) From Eqn. (vi) to (viii), we have Fs) = (Ms? + Kz) X(s) + F,(s) ix) or, F(s) (Ms? + K3) X(s) + & IMis? + fis + Kil ¥(s) For a lever x y in o, xs Lely In 1 lace transform X(s) (4) Yo) 200) Substituting this in Eqn. Gx), 4 & Bis) = [Ms + Kal Ge YG) + FZ (Mist + fis + Kil YG) Gui) a 1 | 6 Multiply by a on both sides. F(s) = [Ms? + Ka] (# Y(s) + [Mis? + fis + Kil YO) 2Lona oystent Engin 3o ering (output) FO Fig. £3.25 SOLUTION : When an emf ¢ is applied to the solenoid, the current will be produced, Applying KVL, Lai e=Ri+ at In Laplace transform E(s) = RUGS) + Ls Is) = (R + Ls) I(s) E(s! 55 ts) = oh sufi) Solenoid produces a force in the core given by, Fi) = Ki In Laplace transform, Fis) = K 6s) K E(s) ii =a Gi) This force will have two components : (To overcome mass of solenoid and spring force. (ii) The rest of the force f* acts at the end C of the lever to reflect on the other end. FW) = MX + Kx + 1°) iii)Mathematical Modelling of Physical Systems 3.61 Let the force transmitted at the other end A be f). This force will be utilised to overcome the reaction forces due to Mj, f; and Ky. ho = My + fiy + Ky iv) and taking moments about the fulcrum B. & -(2) a Taking Laplace transform of Eqn. (iii) to (v) F(s) = Ms? X(s) + K2X(s) + F(S) o(vi) F(s, Mis?Y(s) + f\s¥(s) + Ki Y(s) = (Mis? + fis + Ki) Y(S) (vit) and F(S) = (2) Fis) ill) From Eqn. (vi) to (viii), we have Fis) = (Ms? + Kx) x) + FY) or, Fs) = (Ms? + K2) X(s) + & (Mis? + fis + Ki]¥(s) CX) 1 For a lever £ & A o, x= (aly In Laplace transform a y X(s) = (#) Y(s) oD) Substituting this in Eqn. (ix), 4 F(s) = (Ms? + K)] E Y(s) + = (M,s? + fis + Ki] Y(s)_— «..Qxi), 2 1 Multiply by 4 on both sides. 2 2 Sr) = [Ms? + Ka] (# Y(s) + (Mis? + fis + Ki] Ys) 2 = {[™ “(Aya + te+[x, + (4) «]} Yo)302 4 KE G& Rebs 3 poeple ™ K (£) Es) mm: ep “Rt tof (2) mF +fis+ (x: + (4) |} Ys) Transfer function = Eis) (R+Ls) {) +(4) ule + fis [ks + (4) «} g- £3.26, Obtain ihe | EXAMPLE, 3.26 + In the mechanical system shown in y ws) Fis) transfer function Fyushematical Modelling of Physic sOLUTION : ‘There are three displacements in Fig. B.3.26(a). FD) ‘al Systems 3.63 Ce ci ‘Onstruction the mechanical network as shown Writing nodal equations At node x At node x : Kx(x — x3) + At node y: My + fy +Kiy = fe Taking moments about fulcrum t Mo&2 + Ko(x. - x) = FC) wei) f£ =0 ii) oiv) Taking Laplace transform, (Ms? + K2) X2(s) — K2 Xs) = FU) wa) Ko X(s) — Kz Xa(s) + Fx) = Avi) (Mis? + fis + Kil YG) = FAs) vii) From Eqn. (vi), we get KoX2s) = KeX(s) + Fu) X26)= Xs) + Bo (viii) and F,(s) = (4) FAs) eX) Substitute X2(s) in Eqn. (W). K.X(s) = Fs)St Control System Engineering : Eo) Mss X(s) + R~ [Mys? + Ki] = Fis) KyMys? X(s) + F(s) [Mas? + Ka] = KaF(s) 4 Mikis? X66) + [Mas + Kal 2 RS) = KaF() 6 MoKys? X(S) + a (Mas? + Kz] [Mys? + fis + Ki] ¥(s) = K2F(s) ...x) Now, (2) eyj+ 7 i (Mas? + Kp) [Mys? + fis + Ki] Y(s) = KoF(s) [ms «(2 2s + Lots? +k) (Ms +s Ki] YG) = KE) y ‘Transfer function = =~ 2][Mis? + 5 4 Ki} EXAMPLE 3.27 : A rack and pinion arr, ment is shown in Fig. 15.3.27. Write « a X(s) the differential equations and obtain the transfer function 75)warhematical Modelling of R EO Physical §3 Syste = 3.65 Inertia of pulley =J he Fig. 7 SOLUTION : ‘The tension will not be same on either side of the rope due to inertia of the pulley. ‘The equations of performance are oni) Gi) Ai) and Mk + Bk + Kx efiv) ing Laplace transform, T(s) = FS) R () F(s) = 48 X(s) + FG) (vi) F(s) = (Ms? + Bs + K) X(s) (vii) From Eqn. (v) to (viii), we have T(s) = a X(s) + re](s) + R Fis) X(s) + RIMs* + Bs + K] X(s) viii) +MRs' +BRs+ xR] xis) “ 9) Transfer function Ts) " © (Baur al(d+m s +ns+K] P 38 GEAR TRAINS : ‘A gear train is a mechanical device that transmits energy from one part of the system to another in such a way that force, torque, speed and displacement may be altered, These devices can also be regarded as matching devices used to attain maximum power transfer. Hence, gear trains are used in control systems to attain the mechanical matching of motor (driving member) to the load. Usually a servomotor operates at high speed but low torque. To drive the load with high torque and low speed by such a motor, the torque magnification and speed reduction are achieved by gear trains. Thus in mechanical systems, gear trains act as matching devices like transformers in electrical systems. Consider a gear train system shown in Fig. 3.15. duty Nj teeth LA. }*— Gear 1 (primary gear) rT 4, ma Input torque Shatt 1 from motor Shalt 2 i 02 Gear 2 (secondary gear) —o| mM defo Noteeth Fig. 3.45 Gear train systemMathematical Modelling of Physical Systems 3.67 Figure 3.15 shows a motor driving a load through a gear train which consists of two gears coupled together. The gear with Nj teeth is called primary gear and gear with Nz teeth is called the secondary gear. Assuming that the stiffness of the shafis of the gear train is infinite and that the number of teeth on each gear is proportional to the radius of the gear, obtain the equations of performance in terms of the equivalent moment of inertia and equivalent viscous-friction coefficient referred to the motor shaft and referred to the loud shaft. Angular displacements The moment of inerti of shafis 1 and 2 are denoted by @, and 02 respectively. nd viscous friction of motor and gear 1 are denoted by J, and f, and those of gear 2 and load are denoted by Jz and f2 respectively. For this gear train system, we can obtain the following equations For the shaft 1, the differential equation is 3,6, + 6, + T) = Ty (3.8.1) where, Ty, = torque developed by motor and T, = load torque on gear 1 due to the rest of the gear train For shaft 2, the differential equation is 5,0) + £0. + T, = T) +(3.8.2) where, T2 = torque transmitted to gear 2 Ti = load torque Let the radius of primary gear 1 be r and that of the secondary gear 2 be rp, (1) Since the linear 10, = 1202 stance travelled along the surface of each gear is same, (3.8.3) 5 (2) The number of teeth on gear surface being proportional to the radius of gear, we obtain Ne. Hi 3.8.4) wry B84) From Eqn. (3.8.3) and (3.8.4), we get Bs, Boe Ns oo SN 23.8.5) Since the system is assumed ideal, there is no loss of power during transfer of torque and the stiffness of the shaft is assumed to be infinite, the work done by two gears will be equal.368, Control System Engincering Therefore, 7,8, = 7:82 13.8.6) (3.8.7) Differentiating Eqn. (3.8.8) twice, we have the following relation for speed and acceleration. & & N = a 3.8.9) 6 ON From Eqn. (3.8.8) and (3.8.9) he (#) T (3.8.10) and 62 = (®) 6, (3.8.11) N, Thus, if {5 < |, it is found that the gear train reduces the speed and magnifies i the torque. Eliminating , and T from Eqn. (3.8.1) and (3.8.2) with the help of Eqn. (3.8.8) we obtain ~ o. MN , iby + fi, + 3g Te = To (3.8.12) b 3.8.13) . 4 N, = . or, 6) + 610) + 35° abe + 662 + Th] = Tw A Eliminating 6; from Eqn. (3.8.13) with the help of Eqn. (3.8.9), we get My 3,, N Ji) + 616) + (#) (16, + fO,)+ s+ Te = Tu -(3.8.14) A N, ‘ [o+(R} aire [«() sas (*) TL = Tm ..(3.8.15) Thus the equivalent moment of inertia and viscous friction of gear train referred to shaft 1 areMathematical Modelling of Physical Systems 3.69 At Jig = J+ () Jes (3.8.16) “ ny fete (&) h -G8AT) In terms of equivalent moment of inertia and friction, Eqn. (3.8.15) may be written as « 5 N, Jig 81 + fieg G1 + [agi] To = Tw +-G.8.18) Hence, N, (%) T., is the load torque referred to shaft 1. Similarly, expressing @, in terms of @ in Eqn. (3.8.13) with the help of Eqn. (3.8.9), the equivalent moment of inertia and viscous friction of gear train referred to load shaft are Re Jaq = Ja + (®) us (3.8.19) uy and freq = fy + (®) fy (3.8.20) Torque equation referred to the load shaft may then be expressed as x N: Jag O2 + thay Oo T= (ME) Tw 3.8.21) It is observed that inertia and friction parameters are referred from one shaft of the gear train to the other in the direct square ratio of the gear teeth. The same will hold for shaft stiffness when present. EXAMPLE 3.28 : For a gear train shown in Fig. E.3.28, determine the following : (i) If 0, = 3 rad (clockwise), calculate the displacement of wheels 2, 3 and 4. (i) If @, = 15 radssec, calculate w; and wy. (ii) If T) = 10 N-m, calculate T; and Ts. (iv) If the acceleration (8,) for wheel 1 is 4 rad/sec?, calculate 63. () Find 1, Fig, 5.3.28 nd ty: yeNie, H' * agp, ny = 50.8 = 158 Ns = 30 (i) 0 = 3 ad. We know that & N 0 ON, 300 3 7 50 Oy = 18 rad. Now % @ 18 150 @, ~ 30. 18 x 50 b= 750 = 6 rad, Also , 8 Ns = 6 30 @, ~ 150 | (ii) Given w, = 15 rad/see 3 = 30 rad/sec, N N, Nypratrematical Modelling of Physical Systems 10 300 (iv) Given 6, = 4 rad/sec? No aM ie r | Ne 300 . s—-= = 7° my i te 6:1 4 ON rn Ns 300 = ee 150 nin =2 1Hence, the total inertia referred to the load end Jig = 20 x 10% + 18 x 104 +56 x 104 = 760 x 10% kg-m* ‘Therefore, the inertia referred to the motor shaft Jeq m = 160 x wwe x (4) = 19 x 10% kg-m? ANALOGOUS SYSTEMS : As discussed earlier, the first step towards analysis of a control system is the models formed are by applicxtion of one or more fundamental laws, which relate to the physical nature of the system or its elements. e.g. Kirchhoft’s laws and Ohm's law are used for electrical systems. Mechanical systems are analyzed by application of Newton's law und the d’ Alembert principle, etc. The use of these basic laws helps us in the formulation of differential equations. It has been seen that two different physical system can be described by the same mathematical model thereby originating the idea of “analogous systems”. The concept of analogous systems is very useful in the study of complex systems like electrical, mechanical, hydraulic, etc. A non-electrical system is studied in terms of its electrical anal experiments can be easily conducted on electrical systems and analyzed. Any change in the parameters can be achieved very easily in the electric circuit and studied by altering the parameter so as to accomplish the desired response. Afterwards. corresponding analogous mechanical quantities can be changed by the analogous amount to design because the desired mechanical system, The usefulness of the concept of analogous systems is due to the following reasons : (a) The solution of the set of differential equations describing a particular physical system can be directly applied to the analogous system of other types. (b) Since electrical or electronic systems can be built-up easily. it is easier to build such a system rather than to build up a mechanical system or hydraulic system for experimental studies. There are two electrical analogies for mechanical systems : (1) Force (Torque) ~ Voltage analogy (2) Force (Torque) - Current analogyMathematical Modelling of Ph ical Systems 3.77 3.9.1 Force (Torque) - Voltage analogy Consider the mechanical translational system shown in Fig. 3.16. « ' x Fu) Fig. 3.16 Mass-spring dashpot system The equation governing the mechanical system of Fig. 3.16 is x | dx Mo2 +f 4+Kx = (3. ae 7 FO (3.9.1) Now let us consider R-L-C series circuit shown in Fig. 3.17. R L ett) Voltage source Fig. 3.17 An R-L-C series cireuit Using KVL. the governing equation of the electrical system is di 1 2 ise ri+d (3.9.2) Since. q or. dq, at Hence, in terms of electric charge, the Eqn. (3.9.2) becomes. ay 4) dg a a 3.9.3) bala) * Pa + ei) : @a pda t on LG TRG te G24)8 Control System Engineering Comparing Eqn. (3.9.1) for the mechanical translational system shown in Fig, 3.16 and Eqn, (39.4) for the electrical system shown in Fig, 3.17, it is seen that they are of the identical form, Such systems whose differ equations are of identical form are called_analogous systems, ICis to be noted that both the systems should not Belong to the same iype of systems ie. both mechanical systems or both electrical systems. If differential equations of the two electrical systems or mechanical ystems are identical, such systems are called dual systems. Therefore, two systems ie. mechanical and electrical systems are “analogous systems”, The terms which occupy corresponding positions in these two differential equations are called “analogous quantities”. This analogy is called “force—voltaze analogy”. Comparing Eqn. (3.9.1) and Eqn. (3.9.4) the following analogous pairs are established : Mechanical Electrical Nex 4 tox sexe FLD Fay > et) “Ok M > L f > x Ld’g + Roe TLV = CUD Ko o> ¢ mae & x > 4 v >. i whB.9.5) @q 44 | Px pdx Aart oo ages eX kx, As the quantities LES. RG.» ca eC) are voltages and MS, FT. Kx, FO) are forces, therefore, aforesaid analogy is called force-voltage analogy. Now consider a mechanical rotational system shown in Fig. 3.18. shaft___\ Tu auneas KJ Q 3.18 Mechanical rotational system My) ‘The governing equation of the mechanical rotational system shown in Fig. 3.18 is de | do — = (3.9 Jae + fq + KO = TO (3.9.6) Again comparing Eqn. (3.9.4) for the electrical system shown in Fig. 3.17 and Eqn. (3.9.6) for the mechanical rotational system shown in Fig. 3.18, it is seen that they are of identical form. Hence, these systems are called analogous systems. This analogy is called “Torque-voltage analogy”. Comparing Eqn. (3.9.6) and Eqn. (3.9.4), the following analogous pairs are established :\" 3.9.2 ale ematical Modelling of Phy, sical Systems a8 ctrical > J > L j - R K 7 Cc a > q o =? i “ As the quantities i. dq rea de’ dt’ are voltages, therefore aforesaid analogy is called “Torque-voltage analogy”. Mar KG, Tit) are torques and L Analogous quantities between mechanical and electrical systems based on force (iorque)-Vvollage analogy are listed in Table 3.4. Table 3.4 / alogous quan ies in Foree (Torque) - Voltage Analogy [Mechanical translational] Mechanical rotational | Electrical system system ‘system: Force, F Torque, T Voltage, ¢ Mass, M Moment of inertia, J Inductance, L Viscous friction Viscous friction Resistance, R coefficient, f coefficient, f Spring. stiffness, K ‘orsional spring Reciprocal of 1 stiffness, K capacitance, & Displacement, x Angular displacement, 0 | Charge, q Velocity, vi) Angular velocity, (0) Current, i(4) oree (Torque) — Current Analogy Let us consider the mechanical translational system shown in Fig. 3.16 for which the governing physical system equation is given in Eqn. G.9.1). Now consider the clectrical system shown in Fig. 3.19. Current source Fig. 3.19 Parallel RLC circuit