Unit 3

Mathematical Modeling of Physical Systems

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 Lect08: Objectives

At the end of the lecture, I should be able to:

Find the transfer function for linear, time-
invariant electromechanical systems

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 Electromechanical System
Transfer Function
Example 13: Derive the transfer function for
the armature-controlled dc servomotor below.

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 Electromechanical System
Transfer Function

d m (t )
The back emf (electromotive force) is vb (t ) K b
proportional to the speed of the motor: dt

Taking the Laplace transform, we get: Vb (s) Kb s m (s)

Writing a loop eq. around the

Laplace transformed armature Ra I a (s) La sI a (s) Vb (s) Ea (s)
circuit:

The torque developed by the motor is Tm (s) Kt I a (s)

proportional to the armature current,
thus:
MCB3013/rmz/jan-14
 Electromechanical System
Transfer Function
The torque developed by the motor is Tm (s) Kt I a (s)
proportional to the armature current,
thus:
1
Rearranging the above eq. yields: I a ( s) Tm ( s)
Kt
To find the transfer function of
( Ra La s)Tm ( s)
the motor, substitute the eq.
K b s m ( s) Ea ( s)
Vb(s) and Ia(s) into the loop Kt
eq., yielding:

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 Electromechanical System
Transfer Function
( Ra La s)Tm ( s)
K b s m ( s) Ea ( s)
Kt
We must now find Tm(s) in term of m(s) if
we are to separate the input and output
variables and obtain the transfer function,
m(s)/Ea(s).

From Figure 12: Tm (s) ( J m s 2 Dm s) m (s)

Substituting into the ( Ra La s)( J m s 2 Dm s) m ( s)

previous eq. yields: K b s m ( s) Ea ( s)
Kt

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 Electromechanical System
Transfer Function
( Ra La s)( J m s 2 Dm s) m ( s)
K b s m ( s) Ea ( s)
Kt
If we assume that the armature inductance La is small compared to the armature
resistance Ra, which is usual for dc motor, the previous eq. becomes:

Ra
( J m s Dm ) K b s m ( s) Ea ( s)
Kt
After simplification, the desired transfer function, m(s)/Ea(s) is found to be:

Kt
m ( s) Ra J m

Ea ( s ) 1 Kt Kb
s s ( Dm )
Jm Ra
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