System Modeling Coursework

Class 28: Modeling of Gear Train

P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
 WARNING!

• I claim no originality in all these notes. These are the

compilation from various sources for the purpose of
delivering lectures. I humbly acknowledge the
wonderful help provided by the original sources in
this compilation.
• For best results, it is always suggested you read the
source material.

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 Contents

• Uses of Gear Trains

• Description
• Derivation of Gear Ratio
• Numerical

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 Use of Gear Trains

• Gear Trains are used in control systems to alter the speed to

torque ratio of the rotational power transmitted from motor
to load. This is necessary to match the torque requirement
of the load to that of the motor.
• Usually a servomotor operates at high speed but has low
torque. To drive a load with high torque and low speed
using a servomotor, the torque magnification and speed
reduction are achieved by gear trains.
• The gear train in mechanical rotational system is analogous
to transformer in electrical system.

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 Description

• Consider the motor driving

a load through a gear train
as shown in figure.
• Let the gear train consists
of two gears with teeth N1
and N2.
• The gear connected to
motor shaft is called
primary gear and the gear
connected to the load shaft
is called the secondary gear.
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 Notations

• N1- Number of teeth in Gear 1

• r1 – Radius of Gear 1
• θ1 – Angular displacement of the shaft
• J1 – Moment of inertia of motor and Gear 1
• B1 – Viscous friction coefficient of motor and Gear 1
• T1 – Load Torque on Gear 1
• Tm – Torque developed by motor
• Tl – Load Torque
Similarly, N2 , r2 , θ2 ,J2 , B2 ,T2 can be respectively defined for
Gear 2

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 Torque equations

• The torque developed by motor is balanced by the sum of load

torque requirement on Gear 1 and opposing torques due to J1 and
B1. Hence, the torque balance equation for motor shaft is given by,
d 2θ1 dθ1
J1 2 + B1 + Tl = Tm
dt dt
• The torque transmitted to Gear 2 is balanced by the sum of load
torque and opposing torques due to J2 and B2. Hence the torque
balance equation for load shaft is given by
d 2θ 2 dθ 2
J 2 2 + B2 + Tl = T2
dt dt

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 Relation for displacement

• When the motor drives the load, the linear distance traveled by
each gear is the same. The linear distance traveled by a gear is
given by the product of the radius and angular displacement.
• Linear distance traveled by the gear =θ1r1=θ2r2. Therefore
θ 2 r1
=
θ1 r2
• The number of gears in each gear is proportional to its radius.
i.e. N1αr1 and N2αr2. Hence,
N1 r1 θ 2
= =
N 2 r2 θ1
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 Work done by the gears

• In ideal gear train system, there is no power loss in

transmission. Hence work done by both the gears is
equal. The work done by a gear is given by the product of
torque action on it and its angular displacement.
• Work done by the gear = T1θ1=T2θ2. Therefore

T1 θ 2
=
T2 θ1

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 Work done by the gears

• Differentiating the equation of work done, we get

dθ1 dθ 2
T1 = T2
dt dt
T1ω1 = T2ω2
• Differentiating one more time, the relation will become
T1 ω2 a2
= =
T2 ω1 a1

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 Summing up…

N1 r1 θ 2 T1 ω2 a2
= = = = =
N 2 r2 θ1 T2 ω1 a1

• When N1>N2, the gear train increase the speed and reduce
the torque
• When N1=N2, there is no change in speed and torque.
• When N1<N2, the gear train decrease the speed and
increase the torque

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 Numerical

• A gear train consisting of two gears is used to drive a load.

One gear consists of 20 teeth and the other has 10 teeth.
a) What is the ratio of the diameters of the gears?
b) If Gear 1 is rotated by an angle of 400, then what will be the
angular displacement of Gear 2
c) If the angular speed of Gear 1 is 30 rad/sec then what is the
value of angular speed of Gear 2?
d) If the angular acceleration of Gear 2 is 4 rad/sec2 then find the
angular acceleration of Gear 1
e) If the torque acting on Gear 1 is 5N-m, then find the torque on
Gear 2.

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 Answers

a) What is the ratio of the diameters of the gears?

The diameter of the gear is proportional to radius. Hence the
ratio of the radius is equal to the ratio of the diameters.
From the equation of the gear ratio,
N1 r1
=
N 2 r2
where r1, r2 = radius of Gear 1 and Gear 2
N1, N2=Number of teeth in Gear 1 and Gear 2.
Therefore, the ratio of diameters = N1 = r1 = 20 = 2
N2 r2 20

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 Answers

b) If Gear 1 is rotated by an angle of 400, then what will be the

angular displacement of Gear 2
N1 θ 2
=
N 2 θ1

Displacement for Gear 2 is ,

N1 20
θ2 = × θ1 = × 40 = 80
0 0

N2 10

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 Answers

c) If the angular speed of Gear 1 is 30 rad/sec then what is the

value of angular speed of Gear 2?
N1 ω 2
=
N 2 ω1
Angular speed of gear 2,

N1 20
ω2 = ω1 = × 30 = 60rad / sec
N2 10

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 Answers

d) If the angular acceleration of Gear 2 is 4 rad/sec2 then

find the angular acceleration of Gear 1
N1 a 2
=
N 2 a1
Angular acceleration of Gear 1 is

N2 10
a1 = a2 = × 4 = 2rad / sec 2
N1 20

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 Answers

e) If the torque acting on Gear 1 is 5N-m, then find the torque

on Gear 2.
N1 T1
=
N 2 T2
Torque acting on Gear 2,
N2 10
T2 = T1 = × 5 = 2.5 N − m
N1 20

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 References

• Control Systems – A. Nagoor Kani – RBA

Publications, Chennai

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 And, before we break…

• Oh! The worst of all tragedies is not to die young,

but to live until I am seventy five and yet not ever
truly to have lived.
– Martin Luther King Jr.

Thanks for listening…

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