Question #33:- For the rotational system shown in Figure the transfer function, G(s)=ϑ2 (𝑠)/𝑇(𝑠) .

Solution:-

Solving for impedances on ϑ2 (𝑠) sides:-

𝑁 2 𝑁 2 𝑁 2 𝑁 2 𝑁 2 𝑁
{[ 𝐽2 + 𝐽1 (𝑁2 ) + 𝐽3 (𝑁3 ) ] 𝑠 2 + [𝑓2 + 𝑓1 (𝑁2 ) + 𝑓3 (𝑁3 ) ] 𝑠 + [ 𝐾 (𝑁3 ) ]} 𝜃2 (𝑠) = 𝑇(𝑠) 𝑁2
1 4 1 4 4 1

Now putting values in above equation:-

1 2 1 2 1 2
{[1 + 2(3)2 + 16 ( ) ] 𝑠 2 + [2 + 1 (3)2 + 32 ( ) ] 𝑠 + 64 ( ) } 𝜃2 (𝑠) = 𝑇(𝑠)(3)
4 4 4

Now we can derive from that:-

𝜃2 (𝑠) 3
𝑇(𝑠)
= 20𝑠2 +13𝑠+4 Answer

𝜃 (𝑠)
Question #34:- Find the transfer function, G(s)= 2 ⁄𝑇(𝑠) , for the rotational mechanical system
shown in Figure.

Solution:-we will calculate impedances for θ2 (𝑠)………

50 2 5 50 2 2 5 50 2 50 2 50
[200 + 3 ( 5 ) + 200 (25 𝑥 5
) ]𝑠 + [1000 (25 𝑥 5
) ]𝑠 + [250 + 3 ( 5 ) ] = ( 5 ) 𝑇(𝑠)

𝜃2 (𝑠)
From the above equation we can calculate 𝑇(𝑠)
........
 𝜃2 (𝑠) 10
𝑇(𝑠)
= 1300𝑠2 +4000𝑠+550 Answer

𝜃 (𝑠)
Question #35:- Find the transfer function, G(s)= 4 ⁄𝑇(𝑠) , for the rotational system shown in Figure.

Solution:-

The equation for the above diagram is given below.

The equation by inspection method will be given below.

2𝜃2 (𝑠) − 2𝜃3 (𝑠) = 4.231𝑇(𝑠)

−2𝜃2 + (0.955𝑠 + 2)𝜃3 (𝑠) = 0
We will solve it for 𝜃3 (𝑠),
2 4.231𝑇(𝑠)
| | 8.463𝑇(𝑠) 4.43𝑇(𝑠)
−2 0
𝜃3 (𝑠) = 2 −2 = 1.91𝑠
= 𝑠
|−2 (0.955𝑠+2)|

𝜃3 (𝑠) 4.43 𝜃4 (𝑠) 0.851

𝑇(𝑠)
= 𝑠
But,𝜃4 (𝑠) = 0.192𝜃3 (𝑠) … . 𝑇ℎ𝑢𝑠 𝑇(𝑠)
= 𝑠
Answer

𝜃𝐿 (𝑠)
Question #36:- For the rotational system shown in Figure. find the transfer function, G(s)= ⁄𝑇(𝑠)
Solution:- the reflecting impedances and applied torque of the above circuit becomes………

The equation by inspection method will becomes.

(𝑠 2 + 2𝑠)𝜃2 (𝑠) − 2𝑠𝜃3 (𝑠) = 3𝑇(𝑠)

−2𝑠𝜃2 (𝑠) + (2𝑠 + 3)𝜃3 (𝑠) + 3𝜃4 (𝑠) = 0

−3𝜃3 (𝑠) + (𝑠 + 3)𝜃3 (𝑠) = 0
Now 𝜃4 (𝑠): −
𝑠(𝑠+2) −2𝑠 3𝑇(𝑠)
[ −2𝑠 (2𝑠+3) 0 ]
0 −3 0 18𝑇(𝑠)
𝜃4 (𝑠) = 𝑠(𝑠+2) −2𝑠 0
= 𝑠(2𝑠2 +9𝑠+6)
[ −2𝑠 (2𝑠+3) −3 ]
0 −3 (𝑠+3)

But 𝜃𝐿 (𝑠) = 5𝜃4 (𝑠) … ….

𝜃4 (𝑠) 90
= Answer
𝑇(𝑠) 𝑠(2𝑠2 +9𝑠+6)

Question #37:- For the rotational system shown in Figure , 3, write the equations of motion from which
𝜃 (𝑠)
the transfer function, G(s)= 1 ⁄𝑇(𝑠) can be found.
Solution:-

The equation by inspection method.

(𝐽1𝑒𝑞 𝑠 2 + 𝐾)𝜃2 (𝑠) − 𝐾𝜃3 (𝑠) = 𝑇𝑒𝑞 (𝑠)

−𝐾𝜃2 (𝑠) + (𝐷𝑠 + 𝐾)𝜃3 (𝑠) − 𝐷𝑠𝜃4 (𝑠) = 0

−𝐷𝑠𝜃3 (𝑠) + [𝐽2𝑒𝑞 𝑠 2 + (𝐷 − 𝐷𝑒𝑞 )𝑠𝜃4 (𝑠) = 0

𝑁 2 𝑁 2 𝑁 𝑁1
Where:𝐽1𝑒𝑞 = 𝐽2 + (𝐽𝑎 + 𝐽1 ) ( 2 ) ; 𝐽2𝑒𝑞 = 𝐽3 + (𝐽𝐿 + 𝐽4 ) ( 3 ) ; 𝐷𝑒𝑞 = 𝐷𝐿 ( 3 )2 ; 𝜃2 (𝑠) = 𝜃1 (𝑠)
𝑁1 𝑁4 𝑁4 𝑁2

Question #38:- Given the rotational system shown in Figure , find the transfer function , 𝐺(𝑠) =
𝜃6 (𝑠)
⁄𝜃 (𝑠)
1
Solution:- Reflect impedances to the left of 𝐽5 to 𝐽5 and obtain the following equivalent circuit:

The equation by inspection method:-

[𝐽𝑒𝑞 𝑠 2 + (𝐷𝑒𝑞 + 𝐷)𝑠 + (𝐾2 + 𝐾𝑒𝑞 )]𝜃5 (𝑠)

−[𝐷𝑠 + 𝐾2 ]𝜃6 (𝑠) = 0

−[𝐾2 + 𝐷𝑠 ]𝜃5 (𝑠) + [𝐽6 𝑠 2 + 2𝐷𝑠 + 𝐾2 ]𝜃6 (𝑠) = 𝑇(𝑠)
𝜃 (𝑠) 𝐽𝑒𝑞 𝑠2 +(𝐷𝑒𝑞 +𝐷)𝑠+(𝐾2 +𝐾𝑒𝑞 ) 𝜃 (𝑠) 𝑁 𝑁
From the first equation, 𝜃6 (𝑠) = 𝐷𝑠 +𝐾2
𝐵𝑢𝑡, 𝜃5 (𝑠) = 𝑁1 𝑁3
5 1 2 4

𝜃6 (𝑠) 𝑁1 𝑁3 𝐽𝑒𝑞 𝑠2 +(𝐷𝑒𝑞 +𝐷)𝑠+(𝐾2 +𝐾𝑒𝑞 )

, = ( )
𝜃1 (𝑠) 𝑁2 𝑁4 𝐷𝑠 +𝐾2

𝑁 𝑁 2 𝑁 2 𝑁 2
Where 𝐽𝑒𝑞 = [𝐽1 (𝑁4 𝑁2 ) + (𝐽2 + 𝐽3 ) (𝑁4 ) + (𝐽4 𝐽5 )] , 𝐾𝑒𝑞 = 𝐾1 (𝑁4 ) ,
3 1 3 3

𝑁4 𝑁2 2 𝑁 2
𝑎𝑛𝑑 𝐷𝑒𝑞 = 𝐷[(( ) + ( 4 ) + 1]
𝑁3 𝑁1 𝑁3