EE 448

Control Systems, Sensors and

Actuators
Lecture 4. Transfer functions of some
typical systems
Instructor : Hunh Vit Thng <thang143@gmail.com>
TA
: Li T. Kim Phng
LA
: V Vn Thanh
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Transfer Functions of Physical Systems

Electrical networks
Translational mechanical systems
Rotational mechanical systems
Gearing Systems
Electromechanical systems
Electric Circuit Analogs

Electrical Networks

Please review Operational Amp. in Examples 2.14 and 2.15.

Ex. 2.14: Inverting OP-AMP Circuit

PID controller
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Exercise
Find the transfer function

Rotational Mechanical System

Transfer Functions

T: Torque
M-men lc [Nm]
(m men xon)

: angular velocity
Vn tc gc [rad/s]

: angular displacement
Gc quay [rad]

K: spring constant
Hng s l xo [Nm/rad]

D: coefficient of viscous friction

J: moment of inertia
M-men qun tnh [kgm2]

Transfer Functions for Systems with Gears

Rotational systems (especially those driven by motors) are
often associated with gear trains driving the load
Gears provide mechanical advantage to rotational systems
Example: riding a bicycle with gears
Going uphill, you shift to provide more torque and less speed
On the straightaway, you shift to obtain more speed and less torque

Thus, gears allow you to match the drive system and the load

a trade-off between speed and torque!

Transfer Functions for Systems with Gears

(cont.)
An input gear with radius r1 and N1 teeth is rotated through
angle 1(t) due to a torque T1(t).
An output gear with radius r2 and N2 teeth responds by
rotating through angle 2(t) and delivering a torque T2(t).

Electromechanical System
Transfer Functions
Electromechanical systems: systems that are hybrids of
electrical and mechanical variables
DC motor, DC servo motor

Applications: motor controller, robot controls, sun and star

trackers, computer tape and disk-drive position controls
DC Motor

DC motor

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Electromechanical System
Transfer Functions (cont.)
Review question
What are the component parts of the mechanical
constants of a motor's transfer function?

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DC Motor Transfer function

Transfer function

Simplified form:

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DC Motor parameters

Ea: applied armature voltage [V]

m: angular displacement [rad]
Tm: torque [N-m]
m: angular velocity [rad/s]
Kt: motor torque constant [N-m/A]
Kb: back emf constant [V-s/rad]
Jm: equivalent inertia at the armature [kg-m2]
Dm: equivalent viscous damping [N-m-s/rad]
Ra: resistance of armature []
La: inductance of armature [H]

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Torque Speed relation

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Torque Speed relation (cont.)

Laplace domain

Time domain

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Torque Speed relation (cont.)

Meaning of Equation (2.159)?

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Torque Speed relation (cont.)

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Example 2.23 & Exercise

Please read example 2.23 in page 83 (NISE) (~30 mins.)

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Example 2.23 & Exercise (cont.)

Please read example 2.23 in page 83 (NISE) (~30 mins.)
Re-do example 2.23 with new parameters for the system:

Ja = 3 kg-m2
Da = 2 N-m s/rad
N1 = 50
N2 = 800
JL = 1000 kg-m2
DL = 600 N-m s/rad

Note: Parameters that are not mentioned hold the old values as in
example 2.23.

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Homework

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Case study: Antenna Control

Transfer Function

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Pre-amplifier & Power Amplifier

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Motor and Load

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System responses with LTI Viewer

Your task: use Matlab and LTIviewer to plot the step response
and impluse response of some subsystems in the antenna
position control system:
Power amplifier subsystem
Motor and Load subsystem

How?
define the transfer function of corresponding subsystem in Matlab
workspace (use tf)
use LTIviewer to show and analyze the responses (you should also give
your own comments to the receiving figures)
document your work electronically in MS Word or MS power-point
slides
in groups of 2 students
Due time: 10h30 TODAY
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