Modeling

Lecture 5
 Recap
 Laplace transform

 Transfer function for electrical circuits.

 Transfer Function of
Translational Mechanical
System
2 Lecture 5 Control Systems , Dr. Alivelu Parimi
 Electric circuit analog
 Analogs can be obtained by comparing the describing
equations, such as the equations of motion of a mechanical
system, with either electrical mesh or nodal equations.
 When compared with mesh equations, the resulting electrical
circuit is called a series analog.
 When compared with nodal equations, the resulting
electrical circuit is called a parallel analog.

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Mechanical Analog (Force Voltage)
Consider the translational mechanical system shown in Figure,
whose equation of motion is

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Mechanical Analog (Force Voltage)

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Mechanical Analog (Force Voltage)

Lecture 7 Control Systems

6
i (t31-Aug-20
)
 Mechanical Analog: (Force-Current)

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 Mechanical Analog: (Force-Current)

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 Mechanical Analog: (Force-Current)

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 Electric circuit analogy's
Mechanical
Electrical Mechanical Analog I
Analog II
Quantity (Force-Current)
(Force Voltage)
Voltage, e Velocity, v Force, f
Current, i Force, f Velocity, v
Lubricity, 1/B
Resistance, R Friction, B
(Inverse friction)

Compliance, 1/K
Capacitance, C Mass, M
(Inverse spring constant)

Compliance, 1/K
Inductance, L Mass, M
(Inverse spring constant)
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 Rotational Mechanical system

 Transfer Function of
Rotational Mechanical
System without Gearing

11 Lecture 5 Control Systems , Dr. Alivelu Parimi

 Rotational Mechanical system
 Transfer Function of Rotational Mechanical
System without Gearing
 The mechanical components for rotational systems are the
same as those for translational systems, except that the
components undergo rotation instead of translation.
 The values of K, D, and J are called spring constant, coefficient of
viscous friction, and moment of inertia, respectively.

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 Rotational Mechanical system

Torque
replaces force
and angular
displacement
replaces
translational
displacement.

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 Rotational Mechanical Components

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Rotational Systems Ti
i  J  J

a. Physical system; Ti  torque

b. schematic;
c. block diagram J  inertia
  angular acceleration

Torsion concentrates at one

particular point at the rod
Torsion occurs throughout the rod
(Lumped parameter)
(Distributed parameter)

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 Problem

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 Step 1: Decide Input and Output

Input variable: Output variable:

Any angular position,

T (t )
velocity or acceleration of
21 Lecture 5 Control Systems , Dr. Alivelu Parimi the rotational masses
 Step 2: The free body diagram J1
Step 3: The frequency response representation

k 2 1
Terms related to θ1
J11

T J1 J11  D11  K1  K 2  T

D11

22 Lecture 5 Control SystemsK  1Alivelu Parimi

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 Step 2: The free body diagram J2
Step 3: The frequency response representation

K 1 2
Terms related to θ2
J 22

D23 J 22  D22  K 2  D23  K1  0

J2
D22

23 Lecture 5 Control SystemsK  2Alivelu Parimi

, Dr.
 Step 2: The free body diagram J3
Step 3: The frequency response representation

3
Terms related to θ3
J 33

D22 J3 J 33  D23  D33  D22  0

D23


24 Lecture 5 Control SystemsD 3Alivelu
, Dr. 3 Parimi
 Step 4: Transfer Function

Inertial 1: s 2 J11 (s)  sD11 (s)  K1 (s)  K 2 (s)  T

Inertial 2: s 2 J 2 2 (s)  sD2 2 (s)  K 2 (s)  sD23 (s)  K1 (s)  0

Inertial 3: s J 3 3 (s)  sD2 3 (s)  sD3 3 ( s)  sD2 2 (s)  0

2

Put the equations in matrix form

s 2 J1  sD1  K K 0  1  T 
    
 K s 2 J 2  sD2  K  sD2   2    0 
 0  sD2 s 2 J 3  s( D2  D3 )  3   0 
 
25 Lecture 5 Control Systems , Dr. Alivelu Parimi
 Step 4: Transfer Function
s 2 J1  sD1  K K 0  1  T 
    
 K s 2 J 2  sD2  K  sD2   2    0 
 0  sD2 s 2 J 3  s( D2  D3 )  3   0 
 
If we are interested to control the position of the
mass J3, then solve for θ3.
s 2 J1  sD1  K K T
Cramer’s rule: K s 2 J 2  sD2  K 0
0  sD2 0
3 
s 2 J1  sD1  K K 0
K s 2 J 2  sD2  K  sD2
26 Lecture 5 Control Systems , Dr. Alivelu
0 Parimi  sD2 s 2 J 3  s( D2  D3 )
 Step 4: Transfer Function
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]; Using
B=inv(A)*C;
theta2=B(2); ’theta2 ’ MATLAB
pretty(theta2)
s 2 J1  sD1  K K T
K s 2 J 2  sD2  K 0
0  sD2 0
 3 ( s) 
s 2 J1  sD1  K K 0
K s 2 J 2  sD2  K  sD2
0  sD2 s 2 J 3  s ( D2  D3 )
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 Problem

Find the transfer function between T (t ) and  2 (t )

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Problem
Solution
Solution
Solution
 Exercise
 Text book:
 2.1-2.4

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 Thermal systems
Fluid systems
Pneumatic systems

The student should study from the text book

 Discussed so far…
 Translational Mechanical System
 Rotational Mechanical system
 Without gearing

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 Topic
 Transfer Function of Rotational Mechanical
System with Gearing

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 Basic of Gearing System

37 Lecture 5 Control Systems , Dr. Alivelu Parimi

 Gearing System – Position
relationship

1. Distance travel by
Gear 1 must equal
distance travel by Gear 2
r11  r2 2
r1  2

r2 1

Transfer Function 2. Ratio of radius between Gear 1 and

Gear 2 is equal to ratio of number of
teeth between Gear 1 and Gear 2
N1 r1  2
 
38 Lecture 5 Control Systems , Dr. Alivelu Parimi
N 2 r2 1
 Gearing System – Torque relationship
1. Assume work generated
by Gear 1 is equal to work
consumed by Gear 2
W1  W2
T11  T2 2
2. From previous result
T11  T2 2
Transfer Function
T1  2

T2 1
T1 N1
39 Lecture 5 Control Systems , Dr. Alivelu Parimi 
T2 N 2
 Example 1

Modeling Steps:

1. Decide the input and the output

2. Draw free body diagram of the inertia
3. Convert time function to frequency-domain
4. Obtain the transfer function

40 Lecture 5 Control Systems , Dr. Alivelu Parimi

 Step 1: Input and Output Variables

Angular position of
Output variable:
input shaft θ1(t)
Output variable: Angular position of
input shaft θ2(t)

Input variable:

41 Lecture 5 Control Systems , Dr. Alivelu Parimi

 Step 2: The free body diagram of J
Step 3: The differential equation of J

42 Lecture 5 Control Systems , Dr. Alivelu Parimi

 Step 2: The free body diagram of J
Step 3: The differential equation of J
2
J2

N2
T1
N1 J
D2

K 2
N2
J 2  D 2  K 2  T1
 
N1
N2
( Js  Ds  K ) 2
2
 T1
N1
43 Lecture 5 Control Systems , Dr. Alivelu Parimi
 Step 4: Transfer Function – θ2(t) as output

N2
Inertial J: J 2  D 2  K 2  T1
 
N1
By Laplace Transform
N2
s 2 J 2 ( s )  sD 2 ( s )  K 2 ( s )  T1
Inertial J: N1
 2 ( s) N2

T1 ( s ) N1 ( Js 2  Ds  K )

44 Lecture 5 Control Systems , Dr. Alivelu Parimi

 Step 4: Transfer Function – θ1(t) as output

N
J2  D2  K 2  T1 2
N1
Gear system N1
relationship 2  1
N2
N2
( s J  sD  K ) 2 ( s )  T1
2

N1
N1 N2
( s J  sD  K )1 ( s )
2
 T1
N2 N1
1 ( s ) 1
 2 2 2
T1 ( s )  N1   N1   N1 
( N   Js  
2
N   Ds  
N   K)
Lecture 5 Control
Systems ,2Dr.
Alivelu  2  2
Parimi 45
1 ( s ) 1
 2 2 2
T1 ( s )  N1   N1   N1 
(
N   Js  
2
N   Ds  
N   K)
 2   2   2 

Gearing system causes

impedance transfer
2
 N Destination 
K Destination  K Source  
 N Source 

2
 N1 
K S1  KS2  
 N2 
46 Lecture 5 Control Systems , Dr. Alivelu Parimi
 1 ( s ) 1
 2 2 2
T1 ( s )  N1   N1   N1 
(
N   Js  
2
N   Ds  
N   K)
 2   2   2 

47 Lecture 5 Control Systems , Dr. Alivelu Parimi

 1 ( s ) 1
 2 2 2
T1 ( s )  N1   N1   N1 
(
N   Js  
2
N   Ds  
N   K)
 2   2   2 

48 Lecture 5 Control Systems , Dr. Alivelu Parimi

49 Lecture 5 Control Systems , Dr. Alivelu Parimi
50 Lecture 5 Control Systems , Dr. Alivelu Parimi
 Exercise • The inertias, however, do not undergo linearly
independent motion, since they are tied together
by the gears.
• Thus, there is only one degree of freedom and
hence one equation of motion.

 2 ( s)
Find Transfer Function? T1 ( s)
51 Lecture 5 Control Systems , Dr. Alivelu Parimi
 Shaft 1 - Source
Exercise
Shaft 2 - Destination

52 Lecture 5 Control Systems , Dr. Alivelu Parimi

 Exercise

2
 N2 
De  D2  D1   N2 because destination
 N1  is shaft 2
Lecture 5 Control Systems , Dr. Alivelu
53 Parimi
 Exercise

2
 N2 
J e  J 2  J1   N2 because destination
 N1  is shaft 2
Lecture 5 Control Systems , Dr. Alivelu
54 Parimi
 Exercise
There is no rotational
spring at shaft 1

Ke  K2

Lecture 5 Control Systems , Dr. Alivelu

55 Parimi
 Exercise

Lecture 5 Control Systems , Dr. Alivelu

56 Parimi
 Exercise

2

J e2
N2
T1
N1
Je
De2

K e 2
N2
J e 2  De 2  K e 2  T1
 
57 Parimi
N1
Lecture 5 Control Systems , Dr. Alivelu
58 Lecture 5 Control Systems , Dr. Alivelu Parimi
59 Lecture 5 Control Systems , Dr. Alivelu Parimi
 Problem
Find the transfer function, , for the system
This system, which uses a
gear train, does not have
lossless gears. All of the
gears have inertia, and for
some shafts there is viscous
friction

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61 Lecture 5 Control Systems , Dr. Alivelu Parimi
 Thermal systems
Fluid, Pneumatic systems
Pneumatic
The student should studysystems
from the text book