Control Engineering

ME – 4012
Instructor
Muhammad Rizwan Siddiqui
MS Mechanical (GIKI, Swabi)
PhD in Progress (NUST, Isb)
 Problem
K1=9
K2=6
For the Rotational mechanical system shown
in the following figure, find the transfer function
for θ2. use cramer’s rule to solve the system
of equations. B1=8
B2=4
Show all the steps for the solution

J1=7
J2=5

τ1=10
τ2=8et
 Transfer Functions for Systems with Gears

For the given gear system:

•Which
 
implies

Finally
 Transfer Functions for Systems with Gears

• In the system shown above:

we assume the gears are lossless, that is they do not absorb or store energy,
the energy into Gear 1 equals the energy out of Gear 2.

• Let us see what happens to mechanical impedances that are driven by gears
 Transfer Functions for Systems with Gears
• Mechanical impedances are: gears driving a rotational inertia, spring, and
viscous damper
• 
• We want to represent the following system as an equivalent system at
without the gears
 Transfer Functions for Systems with Gears
• From the above Figure, T1 can be reflected to the output by multiplying by
N2/N1
• 
• The result is presented in the following Figure
 

The equation of motion for the given system:

 Transfer Functions for Systems with Gears

Subsequently:

After simplification:
• 
Thus, the load can be thought of as having been reflected from the output to
the input
 Transfer Functions for Systems with Gears

• To generalize the results, we can make the following statement:

• Rotational mechanical impedances can be reflected through gear trains by
multiplying the mechanical impedance by the ratio:
• 
 Transfer Functions for Systems with Gears

Example:
•Find
 
the transfer function, , for the system of Figure below:
 Example

Let us first reflect the impedances (J1 and D1) and torque (T1) on the input
shaft to the output as shown in Figure

where the impedances are reflected by (N2/N1)2 and the torque is reflected by
(N2/N1)
 Example

Now that both the shafts have impedances on them, the final equation will
contain the terms of “equivalent impedances”
The equivalent terms will contain the reflected terms from the driving shaft as
well as the impedances of the driven shaft itself

• 
 Example

Equation of motion based on the equivalent system is:

•Solving
 
for the transfer function,
 Transfer Functions for Systems with Gears
In order to eliminate gears with large radii, a gear train is used to implement
large gear ratios by cascading smaller gear ratios
• 
Thank You