Mathematical Model of Systems:

TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS

Now that we are able to find the transfer function for rotational systems, we
realize that these systems, especially those driven by motors, are rarely seen
without associated gear trains driving the load. This section covers this important
topic.
Gears provide mechanical advantage to rotational systems. Anyone who has
ridden a 10-speed bicycle knows the effect of gearing. 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.

For many applications, gears exhibit backlash, which occurs because of the
loose fit between two meshed gears. The drive gear rotates through a small
angle before making contact with the meshed gear.
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
The result is that the angular rotation of the output gear does not occur until a
small angular rotation of the input gear has occurred. In this section, we
idealize the behavior of gears and assume that there is
no backlash.

The linearized interaction between two gears is depicted in Figure 1. An input

gear with radius r1 and N1 teeth is rotated through angle 1(t) due to a torque,
T1(t).

Figure 1

An output gear with radius r2 and N2 teeth responds by rotating through angle 2(t)
and delivering a torque, T2(t).
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS

Let us now find the relationship between the rotation of Gear 1, 1(t) , and Gear
2, 2(t) .
From Figure 1, as the gears turn, the distance traveled along each gear’s
circumference is the same. Thus,

r11 = r22 . Equation 1

Equation 2

since the ratio of the number of teeth along the circumference is in the same
proportion as the ratio of the radii. We conclude that the ratio of the angular
displacement of the gears is inversely proportional to the ratio of the number of
teeth.
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
What is the relationship between the input torque, T1, and the delivered
torque, T2? If we assume the gears are lossless, that is they do not absorb or store
energy, the energy into Gear 1 equals the energy out of Gear 2. Since the
translational energy of force times displacement becomes the rotational energy of
torque times angular displacement,

Equation 3

Solving Equation 3 for the ratio of the torques and using Equation 2, we get

Equation 4
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Thus, the torques are directly proportional to the ratio of the number
of teeth. All results are summarized in Figure 2
Figure 2

(a) (b)
Transfer functions for angular Transfer functions for torque in
displacement in lossless gears lossless gears

Let us see what happens to mechanical impedances that are driven by gears.
Figure 3(a) shows gears driving a rotational inertia,
spring, and viscous damper. For clarity, the gears are shown by an end-on
view. We want to represent Figure 3(a) as an equivalent system at 1 without
the gears
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS

equivalent system at the output after reflection of

Rotational system driven by gears; input torque;

equivalent system at the input after reflection of

impedances

Figure 3
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS

From Figure 2(b), T1 can be reflected to the output by multiplying by N2/N1 .

The result is shown in Figure 3(b), from which we write the equation of motion
as
Equation 5

Now convert 2(s) into an equivalent 1(s) , so that Equation 5 will look as if
it were written at the input. Using Figure 2(a) to obtain 2(s) in terms of 1(s) ,
we get
Equation 6

After simplification

Equation 7
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
which suggests the equivalent system at the input and without gears shown in
Figure 3(c). Thus, the load can be thought of as having been reflected from the
output to the input.

Generalizing the results, we can make the following statement: Rotational

mechanical impedances can be reflected through gear trains by multiplying the
mechanical impedance by the ratio

where the impedance to be reflected is attached to the source shaft and is being
reflected to the destination shaft.
In the example we will demonstrates the application of the concept of reflected
impedances as we find the transfer function of a rotational mechanical system with
gears.
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Transfer Function—System with Lossless Gears
PROBLEM: Find the transfer function, 2(s) /T1(s), for the system of Figure 4.

Figure 4

SOLUTION: It may be tempting at this point to search for two simultaneous

equations corresponding to each inertia. The inertias, however, do not undergo
linearly independent motion, since they are tied together by the gears. Thus, there
is only one degree of freedom and hence one equation of motion.
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Transfer Function—System with Lossless Gears
Let us first reflect the impedances (J1 and D1) and torque (T1) on the input shaft to
the output as shown in Figure 5,

Figure 5

where the impedances are reflected by (N2/N1)2 and the torque is reflected by
(N2/N1). The equation of motion can now be written as

Equation 8
where
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Transfer Function—System with Lossless Gears
Solving for 2(s) /T1(s), the transfer function is found to be

Equation 9

As shown in Figure 6

Figure 6
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS

In order to eliminate gears with large radii, a gear train is used to implement large
gear ratios by cascading smaller gear ratios. A schematic diagram of a gear train is
shown in Figure 7. Next to each rotation, the angular displacement relative to 1
has been calculated. From Figure 7,

Figure 7
For gear trains, we conclude that the equivalent gear ratio is the product of the
individual gear ratios. We now apply this result to solve for the transfer function
of a system that does not have lossless gears.
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Transfer Function—Gears with Loss
PROBLEM: Find the transfer function, 1(s) /T1(s), , for the system of Figure 8

Figure 8

SOLUTION: This system, which uses a gear train, does not have lossless gears.
All of the gears have inertia, and for some shafts there is viscous friction.

To solve the problem, we want to reflect all of the impedances to the input
shaft, 1. The gear ratio is not the same for all impedances.
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Transfer Function—Gears with Loss
For example, D2 is reflected only through one gear ratio as D2(N1/N2)2, whereas J4
plus J5 is reflected through two gear ratios as
(J4 + J5) [(N3/N4)(N1/N2)]2.
The result of reflecting all impedances to 1 is shown in Figure 9,

Figure 9
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Transfer Function—Gears with Loss
from which the equation of motion is
Equation 10

where

Equation 11

and

From Equation 10, the transfer function is

 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Skills Assessment
PROBLEM: Find the transfer function, G(s) = 2(s) /T(s), , for the rotational
mechanical system with gears shown in Figure 10.

Figure 10

SOLUTION: We have to find Je, De and Ke

Je = 1 50 2
+0 Je = 4
25
 Mathematical Model of Systems:
TRANSFER FUNCTIONS FOR SYSTEMS WITH GEARS
Skills Assessment

De = 1 50 2
+0
25
De = 4 Ke = 4
From Equation 9:

2
= 50/25 =
4(s2 + s + 1)
4s2 + 4s + 4
1/2
= (s2 + s + 1)