Control Systems

Engineering
Sixth Edition

Norman S. Nise

Chapter 2
Modeling in the Frequency Domain

Copyright © 2011 by John Wiley & Sons, Inc.

 Next
Section 2.6
Rotational
Mechanical System
Transfer Functions.
Summary of elements involved in linear mechanical systems
 Rotational Translational
Units
Mechanical Rotational Systems
The mechanical rotational systems as shown is treated in the same way as the
mechanical translatory system:
Mass (M) is replaced inertia (J); Force (F) is replaced by Torque ( );
other elements remains with the same name.
Rotational spring-mass-damper system (Torsion Pendulum)


τ
J
d 2 ( t ) d( t )
( t )  J B  K time domain
B dt dt

K (s)  JS 2  BS  K s  domain

Example
Draw the Mechanical network; write the differential equation of performance.
 Example: Rotational mechanical network

• Rotaions (1 & 2) =2;

K1=9
• Number of differential equations =2
• Number of Transfer Functions =2
B1=8
J1=7 τ1=10
1

10 = 7S2 1+8S 1+9 +6(1 - 2)

K2=6 1
s 1
= 8et = 5S2 2+4S 2+6(2 - 1)

2 J2=5 B2=4

τ2=8et
1 2
K2=6

B1=8 B2=4
2
1=10 K1=9 J1=7 J2=5
=8et
Example
For the Mechanical network; write the differential equation of performance.

Solution: The differential equation of performance, two node; two

equations are to be written corresponding mechanical network
2.7.2 Servomotor: There are two types of servo motor used in control
systems, one is called the field control and the other is called armature control.
Here the second type of armature controlled servo motor, in which the field is
held constant, is taken in consideration.

?
Figure: 2.27 Block (simulation) Diagram of servomotor
Problem: The figure shows a large industrial vibrator.
Problem: The figure shows a large industrial vibrator cont…...

Show that the system is described by the following differential equation.

Solution: Considering the electrical circuit, Kirchhoff‟s mesh law gives

Figure 2.40-41 Gear

N1 1  2
 
N2  2 1
A gear system

N1 1  2
 
N2  2 1
Transfer functions for
a. angular displacement in lossless gears and
b. torque in lossless gears
N1 1  2
 
N2  2 1

N1
2 
N2

N2
 2  T2 
N1
Which has More Torque Less Speed? Why?
 Eliminate Gears

(a) Rotational system driven by gears (b) Equivalent system at the output
after reflection of input torque
N1 T  N1 N1 T  N2
 1  2 T1  T2  1  2  T2  T1 2
N2 T2 1 N2 N2 T2 1 N1
d2  2
Where T2  J
dt 2
N1 d 2  2 N1
 T1  J 2 also  2  1
N2 dt N2
  
2 2
N d  Eliminate Gears
 T1  J  1   21
  N 2   dt
  (c) Equivalent system at the input after
reflection of impedances
a. Rotational mechanical system with gears;
b. system after reflection of torques and impedance to the output
shaft;
c. block diagram
Gear train
a. System using a gear train;
b. equivalent system at the input;
c. block diagram