EE-379

LINEAR CONTROL SYSTEMS

Lecture No 4

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2
(Transfer Functions of Rotational
Systems and Systems with Gears)

Instructor: Dr. Iftikhar Ahmad

Class: BEE 5D

Electrical Engineering Department

1
Transfer Functions for
Rotational Mechanical
Systems

2
 Mechanical Rotational Systems
The mechanical rotational systems are treated in the same way as the
mechanical translational systems with the following changes:
• Mass (M) is replaced by moment of inertia (J)
• Force (F) is replaced by Torque (T)
• Displacement ‘X’ by angular displacement ‘θ’

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 Examples
Mechanical Rotational Systems
-Applications

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5
6
7
Example 2.19

Physical system

Schematic

Block diagram

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 Final free-body
diagram for J1

Torques on J1 due only Torques on J1 due only

to the motion of J1 to the motion of J2

( )
J1s 2 + D1s + K q1 ( s ) - Kq 2 ( s ) = T ( s )
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 Final free-body
diagram for J2
Torques on J2 due only Torques on J2 due only
to the motion of J2 to the motion of J1

( )
- Kq1 ( s ) + J 2 s + D2 s + K q 2 ( s ) = 0
2

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 ( 1 + D1s + K ) q1 (s) - Kq2 (s) = T (s)
J s 2

- Kq1 ( s) + ( J 2 s 2 + D2 s + K ) q 2 ( s) = 0

�
(
�J1s 2 + D1s + K ) -K ��
q1 ( s ) � �
�� �= � �
T ( s)
�
�
� -K ( ) �q ( s )
J 2 s + D2 s + K ��2 � � �
2 0

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 �
(
�J1s 2 + D1s + K ) -K ��
q (s) �
��1 �
T ( s) �
�=� �
�
� -K ( 2
)
J 2 s + D2 s + K �
�
q 2 ( s ) � �0 �
�

(�J1s 2 + D1s + K )
� -K � AB = C
A= �
� ( J 2 s + D2 s + K ) � -1
-K
B=A C
2
� �
�q ( s) � �T ( s) �
B = �1 � ; C=� �
�q2 (s)� �0 �

syms s J1 D1 K T J2 D2 theta1 theta2;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0];

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%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];
B=[theta1; theta2];
C=[T; 0]; G1 =

B=inv(A)*C; K/(D1*K*s + D2*K*s + D1*D2*s^2 + D1*J2*s^3 + D2*J1*s^3 +

theta1=B(1); J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)
theta2=B(2);

G1 = theta2/T; G2 =
G2 = theta1/T;
'G1'; G1 (J2*s^2 + D2*s + K)/(D1*K*s + D2*K*s + D1*D2*s^2 +
'G2'; G2 D1*J2*s^3 + D2*J1*s^3 + J1*J2*s^4 + J1*K*s^2 + J2*K*s^2)

K
G1 =
(
s J1 J 2 s 3 + ( D1 J 2 + D2 J1 ) s 2 + ( D1D2 + J1K + J 2 K )s + ( D1 K + D2 K ) )
J 2 s 2 + D2 s + K
G2 =
(
s J1 J 2 s 3 + ( D1 J 2 + D2 J1 ) s 2 + ( D1D2 + J1K + J 2 K ) s + ( D1K + D2 K ) ) 13
%Example 2.19

syms s J1 D1 K T J2 D2 theta1 theta2;

J1=1; J2=1, D1=1; D2=1;K=1;

A=[(J1*s^2+D1*s+K) -K; -K (J2*s^2+D2*s+K)];

B=[theta1; theta2];
C=[T; 0];

B=inv(A)*C;
theta1=B(1); G1 = 1/(s4 + 2s3 + 3s2 + 2s)
theta2=B(2);

G1 = theta2/T;
G2 = theta1/T; G2 = (s2 + s + 1)/(s4 + 2s3 + 3s2 + 2s)
'G1'; G1
'G2'; G2

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 q
τ
J
d 2q (t ) dq (t )
T (t ) = J 2
+B + Kq time domain
B dt dt

K T ( s) = Js 2q + Bsq + Kq s - domain

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Home Assignment (don’t submit)

Write the Transfer Function

q3 (s)
G (s) =
T (s)

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Transfer Functions for Systems
with Gears

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N 1 T1 q 2
= =
N 2 T2 q1
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A gear system

r1q1 = r2q 2

r1 q 2
=
r2 q1

N1 q 2
=
N 2 q1

T1 q 2
=
T2 q1
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Transfer functions for
a. angular displacement in lossless gears and
b. torque in lossless gears
N 1 T1 q 2
= =
N 2 T2 q 1
N1
q2 = q1
N2

N2
T2 = T1
N1
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Which system has More Torque
Less Speed? Why?

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 N 1 T1 q 2 N2
= =  T2 = T1
N 2 T2 q 1 N1

(
T2 = Js 2 + Ds + K q 2 )
Gears Eliminated

(a) Rotational system driven by gears (b) Equivalent system at the output
(input torque reflected to output)
N1
T1 = T2
N2
d 2q 2 dq  N1 
T2 = J 2 + D 2 + Kq 2  also q = q1 
dt dt 
2
N 2 
2
 N 1   d 2q1 d q1 
 T1 =   J 2 +D + K q1 
 N 2   dt dt  Gears Eliminated
2
 N1 
or T1 = 
N
 ( Js 2
)
+ Ds + K q1 (c) Equivalent system at the input 22
 2 (impedances reflected to input)
Example 2.21 system after reflection of torques
and impedance to the output shaft

Rotational mechanical system with gears

2
�N �
J e = J1 � 2 �+ J 2
�N1 � block diagram

2
�N �
De = D1 � 2 �+ D2
�N1 �

Ke = K2
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Gear train
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a. System using a gear train;
b. equivalent system at the input;
c. block diagram

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???
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