ME211 Control System Engineering

Dr Syed Irtiza Ali Shah

Modelling in
Frequency Domain
REF: TEXTBOOK CHAPTER 2 (TCH2)

Lecture notes by Dr Syed Irtiza Ali Shah

Where we are
Last time
◦ Translational mechanical systems
◦ Rotational mechanical systems
Now
◦ Systems with gears

Lecture notes by Dr Syed Irtiza Ali Shah

 System with gears: 1 DOF
Input
gear

Output
gear

Equation of Motion Στ = J α = J Ӫ
Torques, angles and number of teeth on gears are related by gear ratio
as follows
For J: T2(t) – D θׄ2 – K θ2 = J Ӫ2

Taking Laplace using 2.135 and & rearranging =>

If transfer function was θ2 /T1, we have found it!

Lecture notes by Dr Syed Irtiza Ali Shah

 System with gears: 2 DOF
Using (1)=>
(T1 – D1sθ1 – J1s2θ1 ) x N2/N1 = (K2 + D2s + J2s2) θ2

Using θ1 = θ2 x N2/N1 and rearranging =>

We will first find equivalent torque generated by system of J1.

Where
Equation of Motion Στ = J α = J Ӫ

For J1: T1 – D1sθ1 – J1s2θ1 = T1eq (1)

Where T2 = T1eq x N2/N1 (2)

Block diagram of this TF is shown below
Equation of Motion For J2
T2 – K2θ2 – D2sθ2 = J2s2θ2
=> T2 = (K2 + D2s + J2s2) θ2
Using (2)=>
T1eq x N2/N1 = (K2 + D2s + J2s2) θ2

Lecture notes by Dr Syed Irtiza Ali Shah

Summary
System with gears
◦ 1 DOF
◦ 2DOF

Next Time:
◦ Electrical systems
◦ Summary

Lecture notes by Dr Syed Irtiza Ali Shah