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 2
[ J 2 S  D1 S  K ]  (
 2  S ) 0 

Solving for 1 ( S ) and 2(S )

1 2
 1 (S )   2 (S ) 
 
The transfer function,
The modified diagram with J2=0

2(S )

T(S)
P5. Find the transfer function.