Modeling of Mechanical System

III
Rotational mechanical system T ( t )  K ( t )
(Torque-balance equation)
Basic elements of

d ( t )
T (t )  D
dt

d 2 ( t )
T (t )  J
dt 2
Applied toque Opposing torque
developed by Inertia
 P4. Find the transfer function.

Differential equations at two mass elements are,

d 2 1 d 1
T ( t )  J 1 2  D1  K ( 1   2 ) 1
dt dt
d 2 2 d 2
0  J2 2
 D2  K ( 2   1 ) 2
dt dt
Applying Laplace transformation

Writing equations 3 and 4 as

[ J 1 S 2  D1 S  K ] K   1 ( S ) T ( S )
     
    
     
     
 K [ J 2 S  D1 S  K ]
2

 2  
( S ) 0 

Solving for 1 ( S ) and 2(S)

1 2
1 (S )   2 (S ) 
 
The transfer function,

∆= 𝐽1𝑆2 + 𝐷1𝑆 + 𝐾 (𝐽2𝑆2 + 𝐷2𝑆 + 𝐾) – K2

P5. Find the transfer function.
The modified diagram with J2=0
From the given transfer function
 2 (s) fv1 ( s )  K

T (s) [( j1 s 2  fv1 ( s )  K )( j 2 s 2  ( fv1  fv 2 ) s  ( K 1  K ))]  [( fv1 ( s )  K ) 2 ]
, Identify the configuration of rotational mechanical system and get the following
Find the transfer function
 I 2 (S )
P7. Find the transfer function.
Vi ( S )
 Vo ( S )
P8. Find the transfer function by mesh and nodal method.
Vi ( S )