INC 341 – Feedback Control Systems

Modelling of
Mechanical Systems

S Wongsa

sarawan.won@kmutt.ac.th
 Transfer Functions of Physical Systems

Today’s goal

Review of the Laplace transform & transfer function

Mechanical system models

Translation Rotation
 Transfer Functions of Physical Systems

Linear time-invariant systems

The system is called time-invariant if system parameters do not change in time.

Input System Output

time t y(t)
x(t)
∫ x (τ ) h (t − τ ) d τ
domain y (t ) = x (t ) * h (t ) =
0

X(s) Y (s) = X (s) H (s) Y(s)

frequency
domain
 Transfer Functions of Physical Systems

Laplace transform
∞
F ( s ) = L{ f (t )} = ∫ f (t )e − st dt
0−

F(s) is the frequency domain representation of f(t)

s is a complex number
s = σ + jω
where σ and ω are real numbers with units of frequency, i.e. Hz.

Inverting the Laplace transform

1 σ + j∞
y (t ) = L [Y ( s ) ] =
−1
∫σ Y ( s ) e st ds
2πj − j∞

Using tables is much easier!

 Transfer Functions of Physical Systems

Why the Laplace transform?

We can transform an ordinary differential equation (ODE) into an algebraic equation
(AE) and easily find the rather complicated solution of the ODE.

t - domain s - domain
L
ODE AE
1

L-1
Solution to ODE Partial fraction
expansion
3
 Transfer Functions of Physical Systems

Laplace transform of some commonly used functions

Impulse function / Dirac function

Properties

Unit energy
+∞
∫−∞
δ (t ) = 1

Sifting
+∞
∫ −∞
δ (t ) f (t ) = f (0)

From Table 2.1, Nise, Norman S., Control Systems Engineering. 5th Ed. John Wiley, 2008.
 Transfer Functions of Physical Systems

Laplace transform of some commonly used functions

6.

From Table 2.1, Nise, Norman S., Control Systems Engineering. 5th Ed. John Wiley, 2008.
 Transfer Functions of Physical Systems

Properties of Laplace Transform

From Table 2.2, Nise, Norman S., Control Systems Engineering. 5th Ed. John Wiley, 2008.
 Transfer Functions of Physical Systems

The Transfer Function

Given a nth-order, LTI differential equation,

d n c(t ) d n −1c(t ) d m r (t ) d m −1r (t )
an + an −1 + ... + a0 c(t ) = bm + bm −1 + ... + b0 r (t )
dt n dt n −1 dt m dt m −1

If all initial conditions are zero, taking the Laplace transform of

both sides gives

C ( s) bm s m + bm −1s m −1 + ... + b0
= G (s) =
R(s) an s n + an −1s n −1 + ... + a0

G(s) is known as the transfer function.

 Transfer Functions of Physical Systems

The Transfer Function

Transfer functions permit cascaded interconnection of several

subsystems.
 Transfer Functions of Physical Systems

Mechanical system components : translation

 Transfer Functions of Physical Systems

Example: One degree of freedom

G (s)

M&x&(t ) + f v x& (t ) + Kx(t ) = f (t ) Ms 2 X ( s ) + f v sX ( s ) + KX ( s ) = F ( s )

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

 Transfer Functions of Physical Systems

Example : Two degrees of freedom

Forces on M1

(a) Forces on M1 due only to motion of M1

(b) Forces on M1 due only to motion of M2

(c) All forces on M1

[ M 1s 2 + ( f v1 + f v3 ) s + K1 + K 2 ] X 1 ( s ) − [ f v3 s + K 2 ] X 2 ( s ) = F ( s )
 Transfer Functions of Physical Systems

Example : Two degrees of freedom

Forces on M2

(a) Forces on M2 due only to motion of M2

(b) Forces on M2 due only to motion of M1

(c) All forces on M2

− [ f v3 s + K 2 ] X 1 ( s) + [ M 2 s 2 + ( f v2 + f v3 ) s + K 2 + K 3 ] X 2 ( s) = 0
 Transfer Functions of Physical Systems

Example : Two degrees of freedom

Equations of motion

[ M 1s 2 + ( f v1 + f v3 ) s + K1 + K 2 ] X 1 ( s ) − [ f v3 s + K 2 ] X 2 ( s) = F (s)
− [ f v3 s + K 2 ] X 1 ( s ) + [ M 2 s 2 + ( f v 2 + f v3 ) s + K 2 + K 3 ] X 2 ( s ) = 0
 Transfer Functions of Physical Systems

Equations of motion can also be formulated by inspection

Forces on M1
[sum of imp. connected to the motion at x1 ] X 1 ( s) − [sum of imp. between x1 and x 2 ] X 2 ( s) =
[sum of applied forces at x1 ]

[ M 1s 2 + ( f v1 + f v3 ) s + K1 + K 2 ] X 1 ( s ) − [ f v3 s + K 2 ] X 2 ( s ) = F ( s )

Forces on M2
[sum of imp. connected to the motion at x 2 ] X 2 ( s) − [sum of imp. between x1 and x 2 ] X 1 ( s) =
[sum of applied forces at x 2 ]

− [ f v3 s + K 2 ] X 1 ( s) + [ M 2 s 2 + ( f v2 + f v3 ) s + K 2 + K 3 ] X 2 ( s ) = 0
 Transfer Functions of Physical Systems

Example : Two degrees of freedom

Equations of motion
[ M 1s 2 + ( f v1 + f v3 ) s + K1 + K 2 ] X 1 ( s) − [ f v3 s + K 2 ] X 2 ( s) = F ( s)
− [ f v3 s + K 2 ] X 1 ( s ) + [ M 2 s 2 + ( f v 2 + f v3 ) s + K 2 + K 3 ] X 2 ( s ) = 0

Transfer function
 d − b  F ( s )  X 2 (s) − cF ( s )
 a b  X 1 ( s)   F ( s )     = G (s) =
   =    X 1 ( s )   − c a  0  F (s) ∆
  =
 c d  X 2 ( s )   0  X ( s ) ∆
 2 

−1 where
 X 1 (s)   a b   F (s)  a b X 2 (s) ( f s + K2 )
  =     ∆= = G ( s) = 3
 X 2 ( s)   c d   0  F (s) ∆
c d

See Example 2.18 and try Skill-assessment Exercise 2.8

 Transfer Functions of Physical Systems

Mechanical system components : Rotation

K-Spring constant, D – coefficient of viscous friction, J – moment of inertia

 Transfer Functions of Physical Systems

Example : Two equations of rotational motion

Torques on J1

(a) Torques on J1 due only to motion of J1

(b) Torques on J1 due only to motion of J2

(c) All torques on J1

[ J1s 2 + D1s + K ]θ1 ( s ) − [ K ]θ 2 ( s ) = T ( s )

 Transfer Functions of Physical Systems

Example : Two equations of rotational motion

Torques on J2

(a) Torques on J2 due only to motion of J2

(b) Torques on J2 due only to motion of J1

(c) All torques on J2

− [ K ]θ1 ( s ) + [ J 2 s2 + D2 s + K ]θ 2 ( s ) = 0
 Transfer Functions of Physical Systems

Example : Two equations of rotational motion

Equations of motion

[ J1s 2 + D1s + K ]θ1 ( s ) − [ K ]θ 2 ( s ) = T ( s )

− [ K ]θ1 ( s ) + [ J 2 s2 + D2 s + K ]θ 2 ( s ) = 0
 Transfer Functions of Physical Systems

Let’s get this done by inspection

Torques on J1
[sum of imp. connected to the motion at θ1 ]θ1 ( s ) − [sum of imp. between θ1 and θ 2 ]θ 2 ( s ) =
[sum of applied torques at θ1 ]

[ J1s 2 + D1s + K ]θ1 ( s ) − [ K ]θ 2 ( s ) = T ( s )

Torques on J2
[sum of imp. connected to the motion at θ1 ]θ1 ( s) − [sum of imp. between θ1 and θ 2 ]θ 2 ( s ) =
[sum of applied torques at θ1 ]

− [ K ]θ1 ( s) + [ J 2 s2 + D2 s + K ]θ 2 ( s) = 0

See Example 2.20 and try Skill-assessment Exercise 2.9

 Transfer Functions of Physical Systems

Mechanical system components: rotation: gears

θ 2 r1 N1 T1
= = =
θ1 r2 N 2 T2
 Transfer Functions of Physical Systems

Gear transformations
N2
(1) ( Js 2 + Ds + K )θ 2 ( s) = T2 ( s ) (2) ( Js 2 + Ds + K )θ 2 (s) = T1 (s)
N1

(3) ( Js 2 + Ds + K ) N1 θ1 ( s) = T1 ( s) N 2   N 2 2 2

N2 N1  N   N 
 J  1
 s + D
2 1
 s + K  1
 θ1 ( s ) = T1 ( s )
  2 
N N
 2  2  
N

Rotational mechanical impedances can be

reflected through gear trains by multiplying
the mechanical impedance by the ratio

(Number of destination teeth/Number of source teeth)2

 Transfer Functions of Physical Systems

Example: Reflected impedances

  N  2    N 2   N 

  2  
 J 1 + J 2 s + 
2 2 
 D1 + D2 s + K 2 θ 2 ( s ) =  2 T1 ( s )
  N1  

  N1 


   N1 
 

See Example 2.22 and try Skill-assessment Exercise 2.10

 Transfer Functions of Physical Systems

Using the Laplace transform to solve ODEs

The motor applies torque Ts(t) as the following step function:

0 ,t < 0
Ts (t ) =  ≡ T0u (t )
T0 ,t ≥ 0

J = The shaft inertia.

b = Coefficient of viscous friction applied by the bearings.

ω = The shaft rotational speed.
natural response

Jω& (t ) + bω (t ) = Ts (t ) = T0u (t ) ω (t ) =
T0
b
(
1 − e −t /τ ) T0 / b = 1
force response
L where τ = J/b

( Js + b)Ω( s) =
T0
Partial L-1
s fraction
T0 expansions
Ω( s ) =  
s( Js + b) T0  1 1 
K K2 Ω( s ) =  − 
= 1+ b s s+ b 
s ( Js + b)  
 J 
From 2.004 Dynamics & Control II, MIT OCW, Fall 2007.
 Transfer Functions of Physical Systems

Summary

Laplace transform t - domain s - domain
L
ODE AE
∞
F ( s ) = L{ f (t )} = ∫ f (t )e dt
− st
1
0−

2
-1
L
Solution to ODE Partial fraction
expansion

Transfer functions & impedances of mechanical systems

T(s) Ω(s)
1
Js + Ds + K
2
 Transfer Functions of Physical Systems

Next class

Transfer functions of electrical systems (2.1-2.4 of Ch 2).

Transfer functions of electro-mechanical (DC motor) systems (2.8 of Ch2).

Nonlinearities & linearisation (2.10 & 2.11 of Ch2 and 4.9 of Ch4).

You are highly recommended to read these topics before coming to the next class!