School of Electrical Engineering

and Computer Science

Department of Electrical
Engineering
EE-379 : Control Systems
Lecture#07,08
(Transfer Functions of Rotational
Systems and Systems with Gears)
Chapter #02
Text Book: Control Systems Engineering by
Norman S. Nise 5th Edition

Instructor: Ms Neelma Naz

Class: BEE 6 A/B

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

3
 Examples
Mechanical Rotational Systems
-Applications

4
Steam Turbine Blades
6
Summary of elements involved in linear mechanical systems

7
8


J
d 2 (t ) d (t )
T (t ) J 2
B K time domain
B dt dt

K T ( s ) Js 2 Bs K s domain

9
Example 2.19

Physical system

Schematic

Block diagram

10
 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

1 D1s K 1 (s) K2 (s) T (s)

J s 2

11
 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

K1 ( s ) J 2 s D2 s K 2 ( s ) 0
2

12

J1s 2 D1s K 1 ( s) K 2 ( s) T ( s)

K1 ( s) J 2 s 2 D2 s K 2 ( s) 0

J1s 2 D1s K K ( s )
1
T ( s )


K (
J 2 s D2 s K 2
2 s ) 0

13

J1s 2 D1s K K ( s )
1
T ( s )


K (
J 2 s D2 s K 2
2 s ) 0

J1s 2 D1s K K

AB C
A

K J s2
2
D2 s K
1 ( s ) T ( s )
1
B
(
2 s ) ; C
0

BA C

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];

14
%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;
(J2*s^2 + D2*s + K)/(D1*K*s + D2*K*s + D1*D2*s^2 +
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 ( D1K 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 )
15
%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);
theta2=B(2);
G1 =
1/(s^4 + 2*s^3 + 3*s^2 + 2*s)
G1 = theta2/T;
G2 = theta1/T;
G2 =
(s^2 + s + 1)/(s^4 + 2*s^3 + 3*s^2 + 2*s)

16

s(s)T)
(G 3
Home Assignment (submit)

Write the Transfer Function

17
Transfer Functions for Systems
with Gears

18
Manual Transmission
Mechanism
The mechanism also
called as stick shift is
used in cars to change
gears manually

19
N T1212
12 20
A gear system

r11 r2 2

r1 2

r2 1

N1 2

N 2 1

T1 2

T2 1
21
 N T12122N
12 12
Transfer functions for
a. angular displacement in lossless gears and
b. torque in lossless gears

T2
N2
N1
T1
22
 T1212
T21N

12
N 2
1
o1r11112Jd2ts2D

T
TN
1 T
N2
2
d 2 2
dt
d
T2 J 2 D 2 K 2
dt
dt1K
11

(a) Rotational system driven by gears (b) Equivalent system at the output

also 2

N1

T2 Js 2 Ds K 2
Gears Eliminated

(input torque reflected to output)

1
N2

Gears Eliminated

(c) Equivalent system at the input

(impedances reflected to input)
24
Example 2.21 system after reflection of torques
and impedance to the output shaft

Rotational mechanical system with gears

2
N 2
J e J1 J2
N
1 block diagram

2
N
De D1 2 D2
N1

Ke K2
25
Gear train
26
a. System using a gear train;
b. equivalent system at the input;
c. block diagram

27
28