Mathematical Model of Systems:

ROTATIONAL MECHANICAL SYSTEM TRANSFER

FUNCTION
PROBLEM: For the rotational mechanical system shown in Figure 6, find the
transfer function G(s) = 2(s) / T(s). Draw a free body diagram.

Figure 1

SOLUTION: Draw a free-body diagram of J1, using superposition.

Figure 2(a) shows the torques on J1 if J2 is held still and J1 rotated. Figure 2(b)
shows the torques on J1 if J1 is held still and J2 rotated. Finally, the sum of
Figures 2(a) and 2(b) is shown in Figure 2(c), the final free-body diagram for J1.
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION

Figure 2
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION
The same process is repeated in Figure 8 for J2.

Figure 3
Mathematical Model of Systems:
ROTATIONAL MECHANICAL SYSTEM TRANSFER
FUNCTION

2s3 +2s2 + 2s2 + 2s + 2s +2 -s2 -2s - 1

s+1
2s +3s + 2s + 1
3 2
(s + 1) (2s2 + s + 1)

G(s) =
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Skills Assessment
PROBLEM: Find the transfer function, G(s) = 2(s) /T(s), , for the rotational
mechanical system with gears shown in Figure 4.

Figure 4

SOLUTION: We have to find Je, De and Ke

Je = 2 12 2
+ 1 + 16 4 2 Je = 20
4 16
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Skills Assessment

De = 1 12 2
+ 2 + 32 4 2

4 16
De = 13

Ke = 64 4 2

16

Ke = 4
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Skills Assessment

From Equation:

= 12/4
20s2 + 13s + 4

3
= 20s2 + 13s + 4)
Mathematical Model of Systems:
ELECTRO MECHANICAL SYSTEM TRANSFER
FUNCTION
Transfer Function—DC Motor and Load
PROBLEM: Given the system and torque-speed curve of Figure 5(a) and (b), find
the transfer function, L(s) / Ea(s).

Figure 5
Mathematical Model of Systems:
ELECTRO MECHANICAL SYSTEM TRANSFER
FUNCTION
Transfer Function—DC Motor and Load
SOLUTION: Begin by finding the mechanical constants, Jm and Dm, in Equation
10. From Eq. 12, the total inertia at the armature of the motor is

=7
and the total damping at the armature of the motor is

= 12
Mathematical Model of Systems:
ELECTRO MECHANICAL SYSTEM TRANSFER
FUNCTION
Transfer Function—DC Motor and Load
Now we will find the electrical constants, Kt/Ra and Kb. From the torque-speed
curve of Figure 5(b),

Hence the electrical constants are

=2
 Mathematical Model of Systems:
ELECTRO MECHANICAL SYSTEM TRANSFER
FUNCTION
Transfer Function—DC Motor and Load
Substituting the values of Jm Dm, Kt/Ra and Kb into Equation yield;

In order to find L(s) / Ea(s), we use the gear ratio, N1/N2 =1/3, and find