School of Electrical Engineering and

Computer Science
Department of Electrical Engineering
EE-379 : Control Systems
Lecture#05
(Translational & Rotational Mechanical System Transfer
Functions)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise 5th
Edition

Instructor: Ms Neelma Naz

Class: BEE 9 C/D
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 Translational Mechanical
System Transfer Functions

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Mass has only one Damper (B) & Spring (K) may have
displacement. Displacement both directions.
 How many displacements ?? ONE

How many equations ?? ONE

Number of displacements
B K
=
Number of differential equations
Mass (M) d 2 x(t ) dx(t )
f (t )  M 2
B  Kx(t )
dt dt
F ( s)  M s 2 X ( s)  B s X ( s)  K X ( s)
x(t)
f(t)
X ( s) 1
Transfer Function  
F ( s) Ms 2  Bs  K
Example 2.16 Mass, spring, and damper system
Find the transfer function, X(s)/F(s), for the system shown in the Figure

Ms 2 X ( s)  f v sX ( s )  KX ( s)  F ( s )

Block diagram

F (s)
X (s) 
Ms 2  f v s  K

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Alternate method

Free-body diagram of mass, Transformed free-body diagram

spring, and damper system

Ms 2 X ( s)  f v sX ( s )  KX ( s )  F ( s )
F (s)
X ( s) 
Ms 2  f v s  K
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 Degree of Freedom

The number of linearly independent

motions present in a system is referred as
Degree of freedom for that system.

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Two-degrees-of-freedom translational
mechanical system

Block diagram

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 Forces on M1 due
only to motion of M2

Forces on M1 due
only to motion of M1

All forces on M1 9
  
M1s 2 X1 ( s )  f v1  f v3 sX1 (s )   K1  K 2  X1 ( s )  K 2 X 2 ( s )  f v3 sX 2 ( s )  F ( s )

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 forces on M2 due
Forces on M2 due only to motion of M1
only to motion of M2

all forces on M2
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  
M 2 s 2 X 2 ( s )  f v 2  f v3 sX 2 ( s)   K 2  K 3  X 2 ( s)  K 2 X 1 ( s )  f v 3 sX1 ( s )  0

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  
M1s 2 X1 ( s )  f v1  f v 3 sX 1 (s )   K1  K 2  X 1 ( s )  K 2 X 2 (s )  f v3sX 2 ( s )  F ( s )

 
M 2 s 2 X 2 ( s)  f v 2  f v3 sX 2 ( s)   K 2  K 3  X 2 ( s)  K 2 X 1 ( s)  f v 3 sX1 ( s )  0

By Rearranging the equations

M s   f
1
2
v1  
 f v1 s   K1  K 2  X 1 ( s )   K 2  f v 3 s X 2 ( s)  F ( s )

   
  K 2  f v 3 s X 1 ( s )  M 2 s 2  f v 2  f v3 s   K 2  K 3  X 2 ( s )  0

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 Home Assignment
Three-degrees-of-freedom Don’t submit
translational
mechanical system

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Translational Home Assignment
mechanical system submit

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Transfer Functions for Rotational
Mechanical Systems

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 Mechanical Rotational Systems
The mechanical rotational systems are treated in the same way as the
mechanical translational systems with the following changes:
•Mass (M) is replaced by moment of inertia (J)
•Force (F) is replaced by Torque (T)
•Displacement ‘X’ by angular displacement ‘θ’

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 Examples
Mechanical Rotational Systems
-Applications

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Steam Turbine Blades
20
Summary of elements involved in linear mechanical systems

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 
τ
J
d 2 (t ) d (t )
T (t )  J 2
B  K time domain
B dt dt

K T ( s )  Js 2  Bs  K s  domain

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