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Transfer Functions Lecture Ch02

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54 views

Transfer Functions Lecture Ch02

ecu

Uploaded by

Minh Nhut Trinh
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Control Systems

Engineering
Seventh Edition

Norman S. Nise

Chapter 2
Modeling in the Frequency Domain

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Laplace Transform

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Partial Fraction Expansion

Solution of a differential equation:

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The Transfer Function

Example:

Sol:

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Electrical Network Transfer Functions

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Using Kirchhoff’s laws:
1. Sum voltages or around loops or sum currents at nodes (least effort in algebraic).
2. Write the differential equations for the cct.
3. Take Laplace transforms.
4. Solve for the transfer function.

Example:

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
To develop a technique for simplifying the solution for future problems, take the Laplace transform of the
equations in the voltage-current column of Table 2.3, assuming zero initial conditions.

For the capacitor

For the resistor

For the inductor

Impedance TF

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Laplace-transformed network

while,

Solve for I(s); then substitute into Eq. 2.74,


Eq. 2.66 is obtained after the simplifications.

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Operational Amplifiers:

The transfer function of the inverting operational amplifier is:

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Translation Mechanical System Transfer Functions

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Example: Find the transfer function, X(s)/F(s), for the system in Fig. (a)

- What is the relationship between the input and output acc. to (table 2.4)?

Force-displacement
1. Assume the mass is traveling toward the right.
2. Thus only the applied force points to the right.
3. All other forces act to opposite side.
4. Spring, viscous damper, and force due to acceleration point are to the left.

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Using Newton’s law: sum of forces on body equals zero

Taking the Laplace transform, assuming zero initial conditions:

or

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Notice that Eq. 2.110 is of the form:

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Skill-Assessment Exercise 2.8

We can write the equation of the motion using:


[sum of impedances] X(s) = [Sum of applied forces]

… for M1
… for M2

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Rotational Mechanical System Transfer Functions
Same way as translation mechanical systems, except:
- Torque replaces Force
- Angular displacement replaces displacement
- Same components, except which undergo rotation

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
From Fig., as gears turn, because of same distance
is travelled along each gear’s circumference, thus:

or

Assuming gears are lossless:


translation energy of force F(t) x displacement X(t) = rotational energy of torque T(t) x angular displacement θ(t)

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Electromechanical System Transfer Functions

armature-controlled dc servomotor

where vb(t) is back emf, Kb is back emf constant, dθm(t)/dt=ωm(t) is the angular velocity of
motor. Taking Laplace transform:

write in a loop equation:

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Electromechanical System Transfer Functions

The developed torque by the motor:

Kt is motor torque constant which is equal to Kb in consistent set of units. By


substituting Eqs. (2.145) and Ia(s) from (2.147) into (2.146), the transfer function of
the motor is:

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
Electrical Circuit Analogs
- Series Analog:

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
- Parallel Analog:

Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.

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