9/23/2015

Mechatronics Today’s topic

ME 475
Mechatronics Transfer Function

Semester: February 2015

Dr. Sumon Saha

Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Wednesday, September 23, 2015

Mechatronics Transfer function Mechatronics Transfer function

•A transfer function (TF) relates one input and one output:

u (t ) y (t )
→ system →
U (s) Y (s)

Transfer function of a system, G(s), is defined as the ratio of the Laplace

Transform (LT) of the output variable, Y(s), to the LT of the input
variable, U(s), with all the initial conditions are assumed to be zero.
Y ( s)
G(s) =
U (s)
where:
Y ( s) = L[ y (t ) ]
U ( s ) = L[ u (t ) ]

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Mechatronics Properties of Transfer Mechatronics Example: Transfer Functions

Functions
Step Input: 0 t =0 dy
x(t ) = 
• Additive property
M t > 0 τ + y = Kx ( t )
dt
– Y(s) = G1(s)U1(s)+ G2(s)U2(s) y (t ) = 0 t = 0
Laplace transform:
• Multiplicative property
dx n
τ  sY ( s ) − y ( 0 ) + Y ( s ) = KX ( s )
– Y2(s) = G1(s)G2(s)U(s) = sn X ( s )
dt n
Y (s) K
• ODE equivalence K = steady state gain G (s) = =
τ = time constant
X (s) τ s +1
Y (s) b1 s + b0
Transfer function = G (s) = 1  Y ( s) = G (s) X ( s)
U (s) a2 s + a1 s + a0
2
L−1   = 1  1  − at
L−1  =e
d2y dy du s  s + a  K M 1 τ 
a2 2 + a1 + a0 y = b1 + b0 u = = KM  −
Equivalent ODE
dt dt dt Step input : X ( s ) =
M τ s +1 s  s τ s + 1 
s
⇒ y (t ) = KM (1 − e − t /τ )
MuPAD Notebook: ilaplace(K*M/(s*(tau*s + 1)), s, t)

Mechatronics Example: Transfer Functions Mechatronics Problem

0 t =0 A system has a transfer function,
Ramp Input: u (t ) =  50
G (s) =
dy
 at t > 0 τ + y = Ku ( t )
y (t ) = 0 t = 0 dt s + 50
Laplace transform:
dx n
τ  sY ( s ) − y ( 0 ) + Y ( s ) = KU ( s ) For step response, find the time constant, settling time and rise
= sn X ( s ) time.
Y (s)
dt n Y (s) K G (s) = =
K
G (s) = = Answer: Time constant: τ = 0.02 s X (s) τ s +1
U (s) τ s +1 Settling time: Ts = 4τ = 0.08 s
Rise time: Tr = 2.2τ = 0.044 s
a Y ( s ) = G ( s )U ( s )
Ramp input : X ( s ) = >> c = tf([50],[1 50]) >> stepinfo(c)
s2 K a  τ2 τ 1
= = Ka τ s + 1 − s + s 2  c= ans =
1 τ s +1 s2  
L−1  2  = t 50 RiseTime: 0.0439
s 
y (t ) = Kaτ ( e − t /τ − 1) + Kat ------ SettlingTime: 0.0782
MuPAD Notebook: ilaplace(K*a/(s^2*(tau*s + 1)), s, t) s + 50

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Mechatronics Problem Mechatronics Problem

Find the transfer function G(s) of the following differential Find the transfer function G(s) of the following differential
equation: equation:
dc dc
+ 2c = r + 2c = r
dt dt
Using G(s), find the response c(t) to an input r(t) = u(t), a unit Using G(s), find the response c(t) to an input r(t) = u(t), a unit
step, assuming zero initial condition. step, assuming zero initial condition.
Answer: Taking Laplace transform assuming zero initial Answer: Now,
1 1 1 / 2 1/ 2
condition,
C (s) = G (s) R (s) = = −
sC ( s ) + 2C ( s ) = R ( s ) s+2 s s s+2
C (s) 1 Taking inverse Laplace transformation,
G (s) = = 1 
L−1   = 1 or u ( t )
R (s) s+2 1 s
c ( t ) = u ( t ) − e −2 t 
2  1  − at
L−1  =e
 s + a 
MuPAD Notebook: ilaplace(1/(s*(s + 2)), s, t)

Mechatronics Second order system Mechatronics Second order system

Write down the response equation for this system. Question: Obtain the complete solution for equation:
d2 f df
What is the transfer function for this system? 2
+ 2ςωn + ωn2 f = ωn2 K
k dt dt
With ζ = 0 using Laplace transformation. Assume all initial
conditions are zero.
m m
Taking Laplace transform: ωn2 K
s 2 F ( s ) + 2ζωn sF ( s ) + ωn2 F ( s ) =
s
ωK 2

c F (s) = n

ζ = 0 (No damping) s ( s 2 + 2ζωn s + ωn2 )

ωn2 K C C 
F (s) = = ωn2 K  1 + 2 2 2 
s ( s + ωn )
2 2
 s s + ωn 
1 s
Here, C1 = , C2 = −
ω 2
n
ωn2

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Mechatronics Second order system Mechatronics Second order system

Question: Obtain the complete solution for equation: Question: Obtain the complete solution for equation:
d2 f df d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K 2
+ 2ςωn + ωn2 f = ωn2 K
dt dt dt dt
With ζ = 0 using Laplace transformation. Assume all initial With ζ = 1 using Laplace transformation. Assume all initial
conditions are zero. conditions are zero.
Taking Laplace transform: ωn2 K
1 s  s 2 F ( s ) + 2ζωn sF ( s ) + ωn2 F ( s ) =
F ( s) = K  − 2 2 
s
 s s + ωn  ωK 2

F (s) = n

Taking inverse Laplace transform, ζ = 1 (Critical damping) s ( s + 2ζωn s + ωn2 )

2

 s 
L−1  2 = cos α t ωn2 K ωn2 K
f ( t ) = K (1 − cos ωn t )  s + α  F (s) = =
2

s ( s + 2ωn s + ωn ) s ( s + ωn )
2 2 2

MuPAD Notebook: ilaplace(wn*wn*K/(s*(s^2+wn^2)), s, t) C

= ωn2 K  1 +
C2
+
C3 
2 
1 1
Here, C1 = 2 , C2 = − 2 , C3 = −
1
 s s + ωn ( s + ωn )  ωn ωn ωn

Mechatronics Second order system Mechatronics Second order system

Question: Obtain the complete solution for equation: Question: Obtain the complete solution for equation:
d2 f df d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K 2
+ 2ςωn + ωn2 f = ωn2 K
dt dt dt dt
With ζ = 1 using Laplace transformation. Assume all initial With ζ < 1 using Laplace transformation. Assume all initial
conditions are zero. conditions are zero.

1 Taking Laplace transform: ωn2 K

1 ωn  s 2 F ( s ) + 2ζωn sF ( s ) + ωn2 F ( s ) =
F ( s) = K  − − 2  s
 s s + ωn ( s + ωn ) 
ωK 2

F (s) = n

Taking inverse Laplace transform,  1 

ζ < 1 (Under damping) s ( s + 2ζωn s + ωn2 )
2

L−1  2 
= te − at
f ( t ) = K (1 − e − ωn t
− ωnte − ωn t
)  ( s + a )  ωn2 K C C s + C3 
F (s) = =K 1+ 2 2 2 
s ( s + 2ζωn s + ωn )  s s + 2ζωn s + ωn 
MuPAD Notebook: ilaplace(wn*wn*K/(s*(s+wn)^2), s, t)
2 2

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Mechatronics Second order system Mechatronics Second order system

Question: Obtain the complete solution for equation: Question: Obtain the complete solution for equation:
d2 f df d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K 2
+ 2ςωn + ωn2 f = ωn2 K
dt dt dt dt
With ζ < 1 using Laplace transformation. Assume all initial With ζ > 1 using Laplace transformation. Assume all initial
conditions are zero. conditions are zero.
 ζ  a = −ζωn Taking Laplace transform: ωn2 K
 ( s + ζωn ) + ωn 1 − ζ 2  s 2 F ( s ) + 2ζωn sF ( s ) + ωn2 F ( s ) =
1 1−ζ 2
ωd = ωn 1 − ζ 2 s
F (s) = K  − 
s ( s + ζωn ) + ωn2 (1 − ζ 2 )
2
 ωn2 K a = −ζωn
  F (s) =



 L−1 
s−a
 = e cos α t
at ζ > 1 (Over damping) s ( s + 2ζωn s + ωn ) b = ωn ζ 2 − 1
2 2

( )
2
 s − a + α 2

 1 ( s − a ) − ( a / ωd ) ωd 
=K −  
L−1 
α  at
 = e sin α t
F (s) =
(a 2
− b2 ) K C C2 C3 
( s − a ) + ωd2  =K 1+ +
2
 s  ( s − a ) + α 
2

a + b 
2

Taking inverse Laplace transform, s ( s − a − b )( s − a + b )  s s − a − b s −

f = K 1 − e at {cos ωd t − ( a / ωd ) sin ωd t }

Mechatronics Second order system Mechatronics Problem

Question: Obtain the complete solution for equation: For the system shown below do the following:
d2 f df
2
+ 2ςωn + ωn2 f = ωn2 K x
dt dt k
With ζ > 1 using Laplace transformation. Assume all initial k = 33 N / m
conditions are zero.
m c = 15 Ns / m
1  a − b  1  a+b 1  m = 3kg
F (s) = K  +   −  
 s  2b  s − ( a + b )  2b  s − ( a − b )  c
i. Find the transfer function G(s) = X(s) / F(s).
Taking inverse Laplace transform,  1  at ii. Find the system equation for transient response subjected
L−1  =e
 s − a  to a unit step input.
f = K 1 + {( a − b ) / 2b} e( a + b )t − {( a + b ) / 2b} e( a −b )t  iii. Find ωn, ζ, %OS, Ts, Tp, and Tr.

MuPAD: ilaplace(wn*wn*K/(s*(s^2+2*z*wn*s+wn^2)), s, t)

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Mechatronics Problem Mechatronics Problem

For the system shown below do the following: For the system shown below do the following:
x x
k k
k = 33 N / m k = 33 N / m
m c = 15 Ns / m m c = 15 Ns / m
m = 3kg m = 3kg
c c
i. Find the transfer function G(s) = X(s) / F(s). ii. Find the system specifications for transient response
subjected to a unit step input.
k c c 5
ωn = = 11 ζ = = = 1 ωn2
m cc 2 mk 2 11 a = −ωnζ = −5 / 2 X ( s) =
k s ( s 2 + 2ζωn s + ωn2 )
ωn2 / k 1 ωd = ωn 1 − ζ 2 = 19 / 2
G ( s) = = x (t ) =
1
1 − eat {cos ωd t − ( a / ωd ) sin ωd t }
s 2 + 2ζωn s + ωn2 3 ( s 2 + 5s + 11) k

Mechatronics Problem Mechatronics Problem

For the system shown below do the following: For the system shown below do the following:
x x
k k
k = 33 N / m k = 33 N / m
m c = 15 Ns / m m c = 15 Ns / m
m = 3kg m = 3kg
c c
ii. Find the system specifications for transient response iii. Find ωn, ζ, %OS, Ts, Tp, and Tr. % OS = e − ζπ / 1−ζ 2 × 100 = 2.72
subjected to a unit step input.
a = −ωnζ = −5 / 2 π 4
Tp = = 1.44 sec Ts = = 1.6 sec
ωd = ωn 1 − ζ 2 = 19 / 2 ω 1−ζ 2 ζω n
n

1    π −β  ωd 
x ( t ) = 1 − e−5t / 2 cos
33  
( )
19t / 2 +
5
19
sin ( )
19t / 2 

Tr =
ωd
= 1.11 sec β = tan − 1 
 σ 
 = 0 .7 2 rad

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Mechatronics Problem Mechatronics Example: Transfer Function

For the system shown below do the following: Question: Consider the transfer function for a feedback system
x given below 25
k G ( s) =
k = 33 N / m s 2 + 6s + 25
m c = 15 Ns / m Calculate the transient response specifications for the system,
when the system subjected to a unit step input. Here, ωd = ωn √(1-
m = 3kg ζ2) and σ = ζωn.
2

ωn2 / k
c
1 RiseTime: 1.1133 ω n = 5, ζ = 0 .6 < 1 %OS = e −ζπ / 1−ζ × 100 = 9.5
G ( s) = 2 =
s + 2ζωn s + ωn 3 ( s + 5s + 11)
2 2 SettlingTime: 1.7204 ω d = ω n 1 − ζ 2 = 4 , σ = ζ ω n = 3 Ts =
4
= 1.33 sec
SettlingMin: 0.0303 ξωn
>> g = tf([1],[3 15 33]) SettlingMax: 0.0311 Underdamped system π
>> damp(g) Overshoot: 2.7224 Tp = = 0.785 sec
>> stepinfo(g,'Risetimelimits',[0 1]) Undershoot: 0 ωn 1 − ζ 2
>> step(g) ω  π −β
Peak: 0.0311 β = ta n − 1  d  = 0 .9 3 ra d Tr = = 0.55 sec
PeakTime: 1.4411  σ  ωd

Mechatronics Home Work Mechatronics Home Work

For the system shown below do the following: For the system shown below do the following:

a) Find the transfer function G(s) = X(s) / F(s). b) Find ωn, ζ, %OS, Ts, Tp, and Tr.
b) Find ωn, ζ, %OS, Ts, Tp, and Tr. Solution: (b) 2
% OS = e − ζπ / 1−ζ × 100 = 50.76
Solution: (a)
ζ =
c
=
5
= 0.211 < 1 π 4
Tp = = 1.36 sec Ts = ≈ 8 sec
2 mk 2 5 × 28 ωn 1 − ζ 2 2.36 × 0.211
k 28 ωn2 / k 0.2 π −β  ωd 
ωn = = = 2.36 rad/s G ( s ) = 2 = 2 Tr = = 0.773 sec β = tan − 1   = 1 .35 8 rad
m 5 s + 2ζωn s + ωn s + s + 5.6
2 ωd  σ 