Mechanical System Modeling and Coupling

Mechanisms
• Mechanical-Electrical Analog
• Electrical Modeling
• Coupling Mechanisms
• Four-Quadrant Operation
• Dynamic Operation

© Copyright Ned Mohan 2010 1
 Mechanical ‐ Electrical Analogy

• Torque • Current
• Angular Velocity • Voltage
• Angular Displacement • Flux Linkage
• Moment of Inertia • Capacitance
• Spring Constant • 1/Inductance
• Damping Coefficient • 1/Resistance
• Coupling Ratio • Transformer ratio

© Copyright Ned Mohan 2010 2
 Electrical Analogy of Motor & Load

m L
TL Load
Motor Tem

JL
Jm

M 1/ K L m

Tem TJM Tshaft TJL TJ TL

TL Tem
JM JL
J eq  J M  J L

Finite shaft stiffness Infinite shaft stiffness

© Copyright Ned Mohan 2010 3
 Coupling Mechanisms
 Required when
a (rotary) motor is driving a load which requires linear
(translational) motion
motors prefer higher rotational speed than that required by
the load
the axis of rotation needs to be changed

 Types
 Conveyor belts (belt and pulley) 
 Rack and pinion or a lead‐screw type of arrangement
 Gear mechanisms
© Copyright Ned Mohan 2010 4
 Conversion between Linear and Rotary Systems
fL
M u J m  motor inertia

r
M = mass of load
m r = pulley radius
Tem
Motor du
f  M  fL
Jm dt
u  r m
2 d m
T  r f r M  rf L
dt
d m 2 d
Tem  Jm r M  r fL
 dt  dt 
required to accelerate due to load
motor
© Copyright Ned Mohan 2010 5
 Gears
T1 r1
Tem
Motor
M
JM
TL
T2
r2
Load
L
JL
 Basic relationships: radius, speed, torque
Equal speeds at gear surfaces  r1  M  r2  L
Power transferred across gears   M T1   L T2 ,
r1  T  d M M  d L 
 &  Tem  J M
 L  1    L
T  J 
r2 M T2   dt   L 

L
dt
T1 T2
 Geared up: speed increased, torque decreased  L   M ; T2  T1 ; r2  r1
 Geared down: speed decreased, torque increased
 L   M ; T2  T1 ; r2  r1
© Copyright Ned Mohan 2010 6
 Four‐Quadrant Operation

m
(2) (1)

m   m  
Tem   Tem  
Tem
m p p
Tem
Load
Motor m   m  
Power Tem   Tem  
p p
(3) (4)

© Copyright Ned Mohan 2010 7
 Dynamic Operation

 How the operating point changes with time

 Important for High Performance Drives

 Speed change: rapid and without any oscillations

 Requires good controller design

© Copyright Ned Mohan 2010 8
 Summary

Mechanical System Modeling and Coupling

Mechanisms
• Mechanical-Electrical Analog
• Electrical Modeling
• Coupling Mechanisms
• Four-Quadrant Operation
• Dynamic Operation

© Copyright Ned Mohan 2010 9