Transfer Function

LTI System
d nc d n 1c dc
an n
a n 1 n 1
a 1 a 0 c
dt dt dt

Modeling d mr d m1r dr
bm m
b m 1 m 1
b1 b0 r
dt dt dt
C s b s m bm1 s m1 b1 s b0
M. Sami Fadali G s m n
R s zero IC a n s a n 1 s n 1 a 1 s a 0
Professor of Electrical Engineering
Example
University of Nevada

1 2

Response of LTI System Example: Transfer Function of Point Mass

f ( t ) m x x
Convolution Theorem: = impulse response
L F ( s) m s 2 X ( s)

X ( s) 1 f
G ( s)
L F ( s) m s 2
Impulse Input m
L F(s) 1 s

The transfer function and the impulse response 1 1 t2

X (s) 2 x(t )
are Laplace transform pairs. ms s 2m
3 4
 Analytical Modeling
Physical systems store and dissipate energy.
Lumped idealized elements: represent energy
dissipation and energy storage separately.
Physical elements may approximate the
behavior of the idealized elements.
Physical elements are not lumped. They
involve both energy dissipation and energy
storage.
Relations
Constitutive (elemental) Relations
Govern the behavior of the idealized elements.
Hold only approximately for physical elements.
Connective Relations
Govern connections of elements.
Often derived from conservation laws.

5 6

Electrical Systems Constitutive Relations for R, L, C

Table 2.3
Ideal R: energy dissipation. Impedance Admittance
Ideal L: magnetic energy storage.
Ideal C: electrostatic energy storage.
Connective Relations: Kirchhoffs Laws
Current Law: conservation of charge
Voltage Law: conservation of energy

7 8
 Mesh Analysis Cramers Rule
a11 a12 x1 b1
1. Replace passive elements with Z(s).
a
2. Define clockwise current for each mesh. 21 a22 x2 b2
3. Write KVL in matrix form with source Provided that a solution exists
voltages that drive clockwise current b1 a12 a11 b1
positive. b2 a22 a b
x1 , x2 21 2
4.Use Cramers rule to solve for the transfer a11 a12 a11 a12
function. a21 a22 a21 a22
a11 a12
a11a22 a12a21
a21 a22
9 10

Example: Mesh Analysis Cramers Rule

Z 1 1 sC Vi
Z 1 L1 s R1 R2
1 sC 0
R2 L1 s R1 + I 2 ( s)
Z 1 1 sC 1 sC
i

i
C
L1 s R1 R2 1 sC R3 L2 s 1 sC

Z(s)I(s) Vi (s) G(s)

Vo R3 I 2 ( s )

Z1 1 sC 1 sC I1 (s) Vi (s)
Vi Vi
1 sC R L s 1 sC I (s) 0 R3 sC
3 2 2
Vo (s) R3 I 2 (s) Z1 1 sC R3 L2 s 1 sC 1 sC 2
11 12
 Node Analysis Example: Node Analysis
1.Replace passive elements with Y(s).
2. For each node, define a node voltage relative
to a reference node.
3. Write KCL in matrix form with source
currents that drive current into a node
positive. R1
4.Solve for the transfer function using Change voltage Vs/Rs
Cramers rule. source to L1 L2
Rs R3
current source. R2

13 14

Node Equations Gs G1
1

1 Vs
Va sL1 sL1 Rs
Y(s)V(s) I(s)
R1
Vo 1 1 1 1
Vs/Rs G2 0
L1 Vs sL1 sL1 sL2
G 1/ R,Vo Vc Rs Vb
L2
R3 G1
1
0
R2
V sL2
G ( s) o
Vs 1 1
1 1 Gs G1 G1
Gs G1 sL
sL1
G1 sL1 sL1
1
Va ( s ) Vs ( s )Gs
1
G2
1

1

1

1
G2
1

1

1 V ( s ) 0 sL1 sL1 sL2 sL2
sL1 sL1 sL2 sL2 b 1 1
1
1 c
V ( s ) 0 G1 G1 G3
G1 G1 G3 sL2 sL2
sL2 sL2

15 16
 a) Ideal Spring
Translational Mechanical Systems
Elastic energy (neglect plastic deformation)
Ideal Damper b: energy dissipation. Linear element: force proportional to the
Ideal Spring k: potential energy storage. deformation . k
Pure Mass m: kinetic energy storage. No energy dissipation f
Connective Relations: Newtons 2nd Law No mass x x
1 2

17 18

b) Ideal Viscous Damper c) Point Mass

f
Energy dissipation
x1 b x2 Perfectly rigid f
m
No mass
No elastic deformation No dissipation
x
Linear element: force proportional to rate of Linear element
deformation .

19 20
 Constitutive Relations for Spring,
Mass, Damper Ex. Mass-Spring-Damper
m x f f s f d
f k x b x
m x b x kx f

X s 1 k m b
G s 2
F s ms bs k
f(t)
x

21 22

Example 2.11 Transfer Function (Cramers Rule)

x 1 b1 x 1 b3 x 1 x 2 k 1 x 1 k 2 x 1 x 2 f
m1
X2
G s
x 2 b2 x 2 b3 x 2 x 1 k 3 x 2 k 2 x 2 x 1 0
m2 F
1 m1s b1 b3 s k1 k 2 F
2

F b3 s k 2 0

m1 s 2 b1 b3 s k1 k 2 b3 s k 2 X 1 F m1s b1 b3 s k1 k 2
2
b3 s k 2

b3 s k 2 m2 s b2 b3 s k 2 k 3 X 2 0
2
b3 s k 2 m2 s b2 b3 s k 2 k3
2

b3 s k 2

m1s b1 b3 s k1 k2 m2 s 2 b2 b3 s k2 k3 b3 s k2 2
2

23 24
 3-D.O.F. Translational
Rotational Mechanical Systems
Mechanical System

Three equations of motion.

25 26

Example 2.19
Transfer Function (Cramers Rule)
J11 D11 K 1 2
1 J1s D1s K
2

J 22 D22 K 2 1 0 G ( s)
2


K 0
J1s D1s K
2
K
J1s2 D1s K K 1 K J 2 s 2 D2 s K
0
K J2s2
D2s K 2 K


J1s 2 D1s K J 2 s 2 D2 s K K 2

27 28
 Example 2.20 Gears N1

Assume: 1 1
J
1- No losses.
J11 D11 K 1 2
2- No inertia. N2 2 2
J 22 D2 2 3 K 2 1 0
3- Perfectly rigid.
J 33 D2 3 2 D33 0
Single velocity at point of contact
J1s D1s K
2
K 0 1 Equal arc length

K J2 s2
D2 s K D2 s 2 0
0 D2 s J3s2 D2 D3s3 0
29 30

Energy Balance Energy Storage

Assume no losses Translation

Mass

Trade speed for torque

Spring
N2 > N1 : output side slower but delivers Rotation
more torque
Inertia
N2 < N1 : output side faster but delivers
Spring
less torque
31 32
 Equivalent Inertia
Energy Dissipation N1
1 1
E J 112 J 2 22
Power dissipated 2 2
2 2 1 , 1
Translation J 1 2 N1 J

J 2 1 N 2 N2 2 , 2
2
Rotation N Equivalent to
J e J1 J 2 1 inertia on
N2
output side
2
no. teeth of destination
Je J
no. teeth of source
33 34

Effect of Loading Output Side on Input Side

N1
Damper and Spring

1 , 1
Damper
J
2 2
Inertia N no. teeth of destinatio n
N2 De 1 D 1 D
2 , 2 1
N2 no. teeth of source
2 J2
N2 N Spring
1 J 1 1 1
N1 N2
2
N
2 2
N no. teeth of destinatio n
Je 1 J 1 1 , 1 Ke 1 K 1 K
1
N2 1 N2 no. teeth of source
2
no. teeth of destinatio n 2 , 2
J 2
no. teeth of source
35 36
 Example (Special Case) Example
,m Db N1

Jb Jg

2 L
JL
K
DL
N2

N Two equations of motion.

J s
e
2
De s K 2 ( s ) T2 ( s ) 2 T1 ( s )
N1 Cannot simply add all rotational masses!
37 38

Solution Gear Train

Redraw the schematic with l 2 3 l
1 N1
1 1 2 l 1
N3
(i) added e for elements (and variables)
N2 2 l-1
moved, and (ii) gears removed. N N N 3
1 3 2l 3

N 2 N 4 N 2l 2 N4 l
e,me Dbe
2 L ne
Jbe Jge JL l 1
K
DL 1 ne
J l ne2 J1 Bl ne2 B1 K l ne2 K1
39 40
 TFs of Electromechanical Systems DC Motor
Electrical Subsystem
Varies with motor type
armature (rotor) conductors current
field (stator) conductors or permanent magnet
Mechanical Subsystem DC motor armature
Varies with load. (rotor)
Write equations of motion.
DC motor.
National Instruments:
http://zone.ni.com/devzone/cda/ph/p/id/52
41 42

Torque Equation
Field Control
Magnetic flux Wb
Changing and fixing
Force
r Back EMF (Faradays Law)
= conductor length
Voltage induced in moving coil proportional to the
= magnetic flux density
f rate of cutting of lines of magnetic flux.
= armature (rotor) current
is only approximately constant through the use of
high resistance (inefficient)
Control
Vary torque by changing or
43 44
 Armature Control Schematic
Changing and fixing Za

Used in practice. Za
ea vb 1
N1
KVL
ea vb D2

J2
J1, D1 L
2 N2
K

45 46

Mechanical Subsystem Matrix Form

Equations of motion for rotational system

J11 D11 K e 1 L' K t ia

J 11 D11 K e 1 L' K t ia J 2 eL' D2 eL' K e L' 1 0
J 2 eL' D2 eL' K e L' 1 0
Kb s 0 La s Ra 1 Ea
, 1 D2e
J s2 D s K Ke K t 'L 0
D1 1 1 e

J1 J2e L Ke J 2 e s D2 e s K e
2
0 I a 0
Ke

47 48
 Transfer Function Evaluation of Motor Parameters
Dynamometer measure speed & torque for constant
' N N
G(s) L L 1 2 Dynamometer Test gives speed-torque curves
Ea Ea
Kbs Ea La s Ra Assume supplied by manufacturer
1 2
N1 N2 J1s D1s Ke 0 Kt
Ea
Ke 0 0 500

=stall torque
Kb s 0 La s Ra 400

J1s2 D1s Ke Ke Kt =no-load speed

Torque (N-m)
300
ea= 100 V
Ke J2e s D2es Ke
2
0
200

N1 N 2 K e K t 100

La s Ra J1s 2 D1s K e J 2e s 2 D2e s K e K e2 K t K b sJ 2e s 2 D2e s K e 0

0 10 20 30 40 50
Speed (rad/s)
49 50

Solve for Parameters Transfer Function

Ra

Ea ( s ) K b m ( s )
ea vb J e s De m ( s) K t I a ( s) K t
Ra
Stall torque: m (s) K t Ra
G(s)
Ea ( s ) J e s De K t Ra K b

T, m
Da
No-load speed: J e J a J Le
Ja JLe
De Da DLe
DLe
51 52
 Linearity Nonlinearities
(i) Homogeneity

(ii) Additivity

Affine

53 54

Linearization Equilibrium Point

System at an equilibrium stays there unless perturbed.
1st order approximation (in the vicinity of )
Set all derivatives equal to zero for equilibrium.

80

60 = value of forcing function at equilibrium

40 Cancel constants and
20

for small 0
0 2 4 6 8

55 56
 In the Vicinity of the Equilibrium Linearized Differential Equation
Special case: nonlinearity in output only
dc d c c0 dc d i c d i c
Similarly i , i 1,2,, n
dt dt dt dt i dt
d n c d n 1 c d c df
d c
n n 1
d c dc a n1 n1
a 1 a 0 c r , a 0
a n 1 a1 f ( c ) f ( c 0 ) r r0 r
n
n n 1
dt dt dt dc c0
dt dt dt

1st order approximation Linear: can Laplace transform to get the TF

d n c d n1c dc df C 1
a a1 c r G ( s) n
n n 1 n 1 R s a n 1 s a n 2 s n 2 a 1 s a 0
n1
dt dt dt dc c0
57 58

Example: Pendulum
Procedure
Moment of inertia
1. Determine the equilibrium point(s).
Equation of Motion
2. Find the first order approximation of all
nonlinear functions.
3. Rewrite the system differential equation in Linearize about = 30o
sin( )
terms of perturbations canceling the Equilibrium at = 30o
constants using Step 1.

59 60
 Linearization Potentiometer
Using Trigonometric Identity
sin 30 o sin 30 o cos cos30 o sin 10 turns
1 2 3 2 1 turn = 2 rad
cos 1 sin
20 V
Using 1st order approximation formula
Pot Gain = 20/(10 X 2 )
d sin
sin sin30 o sin30 o cos30 o = (1/ ) V/rad
d 30o

J B mgl 1 2 3 2 0
J B mgl 3 2
61 62

Fluid Systems
Linearized Model qi
h=Rq
Conservation of Mass h
dCh
Q qin Q qo H
qo
dt
C Area
dh h dh
C qin h Rqin
dt R dt

h( s ) R

qin ( s ) s 1
63