October 6 University Introduction to System Dynamics

Faculty of Engineering Fall Semester 2020/2021

Mechatronics Department Sheet #5

Electromechanical Systems

1) Armature control of dc servomotors. Consider the armature-controlled dc servomotor shown in Figure

(1), where the field current is held constant. In this system,

Figure (1)
𝑅𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒, Ω
𝐿𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑖𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒, 𝐻
𝑖𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑢𝑟𝑟𝑒𝑛𝑡, 𝐴
𝑖𝑓 = 𝑓𝑖𝑒𝑙𝑑 𝑐𝑢𝑟𝑟𝑒𝑛𝑡, 𝐴
𝑒𝑎 = 𝑎𝑝𝑝𝑙𝑖𝑒𝑑 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑣𝑜𝑙𝑡𝑎𝑔𝑒, 𝑉
𝑒𝑏 = 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓, 𝑉
𝜃 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 𝑠ℎ𝑎𝑓𝑡, 𝑟𝑎𝑑
𝑇 = 𝑡𝑜𝑟𝑞𝑢𝑒 𝑑𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟, 𝑁. 𝑚
𝐽 = 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 𝑎𝑛𝑑 𝑙𝑜𝑎𝑑 𝑟𝑒𝑓𝑒𝑟𝑟𝑒𝑑 𝑡𝑜 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 𝑠ℎ𝑎𝑓𝑡, 𝑘𝑔. 𝑚2
𝑏 = 𝑣𝑖𝑠𝑐𝑜𝑢𝑠 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 𝑎𝑛𝑑 𝑙𝑜𝑎𝑑 𝑟𝑒𝑓𝑒𝑟𝑟𝑒𝑑 𝑡𝑜 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 𝑠ℎ𝑎𝑓𝑡, 𝑁. 𝑚
/𝑟𝑎𝑑/𝑠
𝜃2 (𝑠)
𝑂𝑏𝑡𝑎𝑖𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 .
𝐸𝑎 (𝑠)

2) Consider the dc servomotor system shown in Figure (2). The armature inductance is negligible and is
not shown in the circuit. Obtain the transfer function between the out-put 𝜃2 and the input 𝑒𝑎 . In the
diagram,

Figure (2)
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 𝑅𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒, Ω
𝑖𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑢𝑟𝑟𝑒𝑛𝑡, 𝐴
𝑖𝑓 = 𝑓𝑖𝑒𝑙𝑑 𝑐𝑢𝑟𝑟𝑒𝑛𝑡, 𝐴
𝑒𝑎 = 𝑎𝑝𝑝𝑙𝑖𝑒𝑑 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑣𝑜𝑙𝑡𝑎𝑔𝑒, 𝑉
𝑒𝑏 = 𝑏𝑎𝑐𝑘 𝑒𝑚𝑓, 𝑉
𝜃1 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 𝑠ℎ𝑎𝑓𝑡, 𝑟𝑎𝑑
𝜃2 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑜𝑎𝑑 𝑒𝑙𝑒𝑚𝑒𝑛𝑡, 𝑟𝑎𝑑
𝑇 = 𝑡𝑜𝑟𝑞𝑢𝑒 𝑑𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑏𝑦 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟, 𝑁. 𝑚
𝐽1 = 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑡𝑜𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟, 𝑘𝑔. 𝑚2
𝐽2 = 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑜𝑎𝑑, 𝑘𝑔. 𝑚2
𝑛1 = 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑔𝑒𝑎𝑟 1
𝑛2 = 𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑛 𝑔𝑒𝑎𝑟 2
𝜃2 (𝑠)
𝑂𝑏𝑡𝑎𝑖𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 .
𝐸𝑎 (𝑠)

3) Consider the dc servomotor shown in Figure (3). Assume that the input of the system is the applied
armature voltage 𝑒𝑎 and the output is the load shaft position 𝜃2 Assume also the following numerical
values for the constants:

Figure (3)

𝑅𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒 = 0.2 Ω

𝐿𝑎 = 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑖𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒 = 𝑛𝑒𝑔𝑙𝑖𝑔𝑖𝑏𝑙𝑒
𝐾𝑏 = 𝑏𝑎𝑐𝑘 − 𝑒𝑚𝑓 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 5.5 × 10−2 𝑉. 𝑠/𝑟𝑎𝑑
−5
𝐾 = 𝑚𝑜𝑡𝑜𝑟 − 𝑡𝑜𝑟𝑞𝑢𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 = 6 × 𝑙𝑂 𝑙𝑏𝑓 . 𝑓𝑡/𝐴
𝐽𝑟 =𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑡𝑜𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 = 1 × 10−5 𝑙𝑏𝑓 . 𝑓𝑡. 𝑠 2
𝑏𝑟 = 𝑣𝑖𝑠𝑐𝑜𝑢𝑠 − 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑡𝑜𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑜𝑡𝑜𝑟 = 𝑛𝑒𝑔𝑙𝑖𝑔𝑖𝑏𝑙𝑒
𝐽𝐿 =𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑜𝑎𝑑 = 4.4 × 10−3 𝑙𝑏𝑓 . 𝑓𝑡. 𝑠 2
𝑏𝐿 = 𝑣𝑖𝑠𝑐𝑜𝑢𝑠 − 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡 𝑜𝑓 𝑡ℎ𝑒 𝑙𝑜𝑎𝑑 = 4 × 10−2 𝑙𝑏𝑓 . 𝑓𝑡/𝑟𝑎𝑑/𝑠
𝑁
𝑛 = 𝑔𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 = 1⁄𝑁 = 0.1
2
𝜃2 (𝑠)
𝑂𝑏𝑡𝑎𝑖𝑛 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑡𝑖𝑜𝑛 .
𝐸𝑎 (𝑠)

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4) Consider the system shown in Figure (4). Here, a load is driven by a motor through the gear train.
Assuming that the stiffness of the shafts of the gear train is infinite, that there is neither backlash nor
elastic deformation, and that the number of teeth on each gear is proportional to the radius of the gear,
find the equivalent inertia and equivalent friction referred to the motor shaft (shaft 1) and those referred
to the load shaft (shaft 2). The numbers of teeth on gear 1 and gear 2 are 𝑛1 and 𝑛2 ,respectively, and
the angular velocities of shaft 1 and shaft 2 are 𝜔1and 𝜔2 ,respectively. The inertia and viscous friction
coefficient of each gear train component are denoted by 𝐽1 , 𝑏1 and, 𝐽2 , 𝑏2 respectively.

Figure (4)

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