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Control System#3

For the rotational system shown: 1) The transfer function relating θ6(s) to θ1(s) is derived from the equations of motion. 2) Reflecting impedances and applying the inspection method leads to an expression for θ6(s) in terms of θ5(s). 3) θ5(s) can be expressed in terms of θ1(s) using the gear ratios, allowing the transfer function to be written in terms of system parameters.

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jawad ahmad
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381 views

Control System#3

For the rotational system shown: 1) The transfer function relating θ6(s) to θ1(s) is derived from the equations of motion. 2) Reflecting impedances and applying the inspection method leads to an expression for θ6(s) in terms of θ5(s). 3) θ5(s) can be expressed in terms of θ1(s) using the gear ratios, allowing the transfer function to be written in terms of system parameters.

Uploaded by

jawad ahmad
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Question #33:- For the rotational system shown in Figure the transfer function, G(s)=ϑ2 (𝑠)/𝑇(𝑠) .

Solution:-

Solving for impedances on ϑ2 (𝑠) sides:-


𝑁 2 𝑁 2 𝑁 2 𝑁 2 𝑁 2 𝑁
{[ 𝐽2 + 𝐽1 (𝑁2 ) + 𝐽3 (𝑁3 ) ] 𝑠 2 + [𝑓2 + 𝑓1 (𝑁2 ) + 𝑓3 (𝑁3 ) ] 𝑠 + [ 𝐾 (𝑁3 ) ]} 𝜃2 (𝑠) = 𝑇(𝑠) 𝑁2
1 4 1 4 4 1

Now putting values in above equation:-


1 2 1 2 1 2
{[1 + 2(3)2 + 16 ( ) ] 𝑠 2 + [2 + 1 (3)2 + 32 ( ) ] 𝑠 + 64 ( ) } 𝜃2 (𝑠) = 𝑇(𝑠)(3)
4 4 4

Now we can derive from that:-


𝜃2 (𝑠) 3
𝑇(𝑠)
= 20𝑠2 +13𝑠+4 Answer

𝜃 (𝑠)
Question #34:- Find the transfer function, G(s)= 2 ⁄𝑇(𝑠) , for the rotational mechanical system
shown in Figure.

Solution:-we will calculate impedances for θ2 (𝑠)………


50 2 5 50 2 2 5 50 2 50 2 50
[200 + 3 ( 5 ) + 200 (25 𝑥 5
) ]𝑠 + [1000 (25 𝑥 5
) ]𝑠 + [250 + 3 ( 5 ) ] = ( 5 ) 𝑇(𝑠)

𝜃2 (𝑠)
From the above equation we can calculate 𝑇(𝑠)
........
𝜃2 (𝑠) 10
𝑇(𝑠)
= 1300𝑠2 +4000𝑠+550 Answer

𝜃 (𝑠)
Question #35:- Find the transfer function, G(s)= 4 ⁄𝑇(𝑠) , for the rotational system shown in Figure.

Solution:-

The equation for the above diagram is given below.

The equation by inspection method will be given below.

2𝜃2 (𝑠) − 2𝜃3 (𝑠) = 4.231𝑇(𝑠)


−2𝜃2 + (0.955𝑠 + 2)𝜃3 (𝑠) = 0
We will solve it for 𝜃3 (𝑠),
2 4.231𝑇(𝑠)
| | 8.463𝑇(𝑠) 4.43𝑇(𝑠)
−2 0
𝜃3 (𝑠) = 2 −2 = 1.91𝑠
= 𝑠
|−2 (0.955𝑠+2)|

𝜃3 (𝑠) 4.43 𝜃4 (𝑠) 0.851


𝑇(𝑠)
= 𝑠
But,𝜃4 (𝑠) = 0.192𝜃3 (𝑠) … . 𝑇ℎ𝑢𝑠 𝑇(𝑠)
= 𝑠
Answer

𝜃𝐿 (𝑠)
Question #36:- For the rotational system shown in Figure. find the transfer function, G(s)= ⁄𝑇(𝑠)
Solution:- the reflecting impedances and applied torque of the above circuit becomes………

The equation by inspection method will becomes.

(𝑠 2 + 2𝑠)𝜃2 (𝑠) − 2𝑠𝜃3 (𝑠) = 3𝑇(𝑠)

−2𝑠𝜃2 (𝑠) + (2𝑠 + 3)𝜃3 (𝑠) + 3𝜃4 (𝑠) = 0


−3𝜃3 (𝑠) + (𝑠 + 3)𝜃3 (𝑠) = 0
Now 𝜃4 (𝑠): −
𝑠(𝑠+2) −2𝑠 3𝑇(𝑠)
[ −2𝑠 (2𝑠+3) 0 ]
0 −3 0 18𝑇(𝑠)
𝜃4 (𝑠) = 𝑠(𝑠+2) −2𝑠 0
= 𝑠(2𝑠2 +9𝑠+6)
[ −2𝑠 (2𝑠+3) −3 ]
0 −3 (𝑠+3)

But 𝜃𝐿 (𝑠) = 5𝜃4 (𝑠) … ….


𝜃4 (𝑠) 90
= Answer
𝑇(𝑠) 𝑠(2𝑠2 +9𝑠+6)

Question #37:- For the rotational system shown in Figure , 3, write the equations of motion from which
𝜃 (𝑠)
the transfer function, G(s)= 1 ⁄𝑇(𝑠) can be found.
Solution:-

The equation by inspection method.

(𝐽1𝑒𝑞 𝑠 2 + 𝐾)𝜃2 (𝑠) − 𝐾𝜃3 (𝑠) = 𝑇𝑒𝑞 (𝑠)

−𝐾𝜃2 (𝑠) + (𝐷𝑠 + 𝐾)𝜃3 (𝑠) − 𝐷𝑠𝜃4 (𝑠) = 0

−𝐷𝑠𝜃3 (𝑠) + [𝐽2𝑒𝑞 𝑠 2 + (𝐷 − 𝐷𝑒𝑞 )𝑠𝜃4 (𝑠) = 0

𝑁 2 𝑁 2 𝑁 𝑁1
Where:𝐽1𝑒𝑞 = 𝐽2 + (𝐽𝑎 + 𝐽1 ) ( 2 ) ; 𝐽2𝑒𝑞 = 𝐽3 + (𝐽𝐿 + 𝐽4 ) ( 3 ) ; 𝐷𝑒𝑞 = 𝐷𝐿 ( 3 )2 ; 𝜃2 (𝑠) = 𝜃1 (𝑠)
𝑁1 𝑁4 𝑁4 𝑁2

Question #38:- Given the rotational system shown in Figure , find the transfer function , 𝐺(𝑠) =
𝜃6 (𝑠)
⁄𝜃 (𝑠)
1
Solution:- Reflect impedances to the left of 𝐽5 to 𝐽5 and obtain the following equivalent circuit:

The equation by inspection method:-

[𝐽𝑒𝑞 𝑠 2 + (𝐷𝑒𝑞 + 𝐷)𝑠 + (𝐾2 + 𝐾𝑒𝑞 )]𝜃5 (𝑠)

−[𝐷𝑠 + 𝐾2 ]𝜃6 (𝑠) = 0


−[𝐾2 + 𝐷𝑠 ]𝜃5 (𝑠) + [𝐽6 𝑠 2 + 2𝐷𝑠 + 𝐾2 ]𝜃6 (𝑠) = 𝑇(𝑠)
𝜃 (𝑠) 𝐽𝑒𝑞 𝑠2 +(𝐷𝑒𝑞 +𝐷)𝑠+(𝐾2 +𝐾𝑒𝑞 ) 𝜃 (𝑠) 𝑁 𝑁
From the first equation, 𝜃6 (𝑠) = 𝐷𝑠 +𝐾2
𝐵𝑢𝑡, 𝜃5 (𝑠) = 𝑁1 𝑁3
5 1 2 4

𝜃6 (𝑠) 𝑁1 𝑁3 𝐽𝑒𝑞 𝑠2 +(𝐷𝑒𝑞 +𝐷)𝑠+(𝐾2 +𝐾𝑒𝑞 )


, = ( )
𝜃1 (𝑠) 𝑁2 𝑁4 𝐷𝑠 +𝐾2

𝑁 𝑁 2 𝑁 2 𝑁 2
Where 𝐽𝑒𝑞 = [𝐽1 (𝑁4 𝑁2 ) + (𝐽2 + 𝐽3 ) (𝑁4 ) + (𝐽4 𝐽5 )] , 𝐾𝑒𝑞 = 𝐾1 (𝑁4 ) ,
3 1 3 3

𝑁4 𝑁2 2 𝑁 2
𝑎𝑛𝑑 𝐷𝑒𝑞 = 𝐷[(( ) + ( 4 ) + 1]
𝑁3 𝑁1 𝑁3

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