INC 341 Feedback Control Systems

Modelling of
Mechanical Systems
S Wongsa
sarawan.won@kmutt.ac.th
Transfer Functions of Physical Systems
Todays goal
Mechanical system models
Review of the Laplace transform & transfer function
Translation Rotation
Transfer Functions of Physical Systems
Linear time-invariant systems
Input
Output
System
X(s)
Y(s)
x(t)
y(t)
) ( ) ( ) (
) ( ) ( ) ( * ) ( ) (
0
s H s X s Y
d t h x t h t x t y
t
=
= =


The system is called time-invariant if system parameters do not change in time.
time
domain
frequency
domain
Transfer Functions of Physical Systems
Laplace transform
{ } dt e t f t f s F
st

= =
0
) ( ) ( ) ( L
F(s) is the frequency domain representation of f(t)
s is a complex number
j s + =
where and are real numbers with units of frequency, i.e. Hz.
Inverting the Laplace transform
| | ds e s Y
j
s Y t y
j
j
st

= =

) (
2
1
) ( ) (
1
L
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.
ODE AE
Partial fraction
expansion
Solution to ODE
t - domain s - domain
L
-1
L
1
2
3
Transfer Functions of Physical Systems
Laplace transform of some commonly used functions
From Table 2.1, Nise, Norman S., Control Systems Engineering. 5
th
Ed. John Wiley, 2008.
Impulse function / Dirac function
Properties
Unit energy
Sifting

+

=1 ) (t

+

= ) 0 ( ) ( ) ( f t f t
Transfer Functions of Physical Systems
Laplace transform of some commonly used functions
From Table 2.1, Nise, Norman S., Control Systems Engineering. 5
th
Ed. John Wiley, 2008.
2
3
4
5
6.
7
Transfer Functions of Physical Systems
Properties of Laplace Transform
From Table 2.2, Nise, Norman S., Control Systems Engineering. 5
th
Ed. John Wiley, 2008.
Transfer Functions of Physical Systems
The Transfer Function
Given a nth-order, LTI differential equation,
) ( ...
) ( ) (
) ( ...
) ( ) (
0
1
1
1 0
1
1
1
t r b
dt
t r d
b
dt
t r d
b t c a
dt
t c d
a
dt
t c d
a
m
m
m
m
m
m
n
n
n
n
n
n
+ + + = + + +

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

both sides gives
0
1
1
0
1
1
...
...
) (
) (
) (
a s a s a
b s b s b
s G
s R
s C
n
n
n
n
m
m
m
m
+ + +
+ + +
= =

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
[sum of impedances] X(s)=[sum of applied forces]
) ( ) ( ) ( ) ( t f t Kx t x f t x M
v
= + + & & &
L
) ( ) ( ) ( ) (
2
s F s KX s sX f s X Ms
v
= + +
) (s G
Transfer Functions of Physical Systems
Example : Two degrees of freedom
(a) Forces on M
1
due only to motion of M
1
(b) Forces on M
1
due only to motion of M
2
(c) All forces on M
1
Forces on M
1
) ( ) ( ] [ ) ( ] ) ( [
2 2 1 2 1
2
1
3 3 1
s F s X K s f s X K K s f f s M
v v v
= + + + + +
Transfer Functions of Physical Systems
(a) Forces on M
2
due only to motion of M
2
(b) Forces on M
2
due only to motion of M
1
(c) All forces on M
2
Forces on M
2
0 ) ( ] ) ( [ ) ( ] [
2 3 2
2
2 1 2
3 2 3
= + + + + + + s X K K s f f s M s X K s f
v v v
Example : Two degrees of freedom
Transfer Functions of Physical Systems
Example : Two degrees of freedom
Equations of motion
0 ) ( ] ) ( [ ) ( ] [
) ( ) ( ] [ ) ( ] ) ( [
2 3 2
2
2 1 2
2 2 1 2 1
2
1
3 2 3
3 3 1
= + + + + + +
= + + + + +
s X K K s f f s M s X K s f
s F s X K s f s X K K s f f s M
v v v
v v v
Transfer Functions of Physical Systems
Equations of motion can also be formulated by inspection
] at x forces applied of sum [
) ( ] x and between x imp. of sum [ ) ( ] at x motion the to connected imp. of [sum
1
2 2 1 1 1
= s X s X
) ( ) ( ] [ ) ( ] ) ( [
2 2 1 2 1
2
1
3 3 1
s F s X K s f s X K K s f f s M
v v v
= + + + + +
Forces on M
1
] at x forces applied of sum [
) ( ] x and between x imp. of sum [ ) ( ] at x motion the to connected imp. of [sum
2
1 2 1 2 2
= s X s X
Forces on M
2
0 ) ( ] ) ( [ ) ( ] [
2 3 2
2
2 1 2
3 2 3
= + + + + + + s X K K s f f s M s X K s f
v v v
Transfer Functions of Physical Systems
Example : Two degrees of freedom
Equations of motion
0 ) ( ] ) ( [ ) ( ] [
) ( ) ( ] [ ) ( ] ) ( [
2 3 2
2
2 1 2
2 2 1 2 1
2
1
3 2 3
3 3 1
= + + + + + +
= + + + + +
s X K K s f f s M s X K s f
s F s X K s f s X K K s f f s M
v v v
v v v
Transfer function
|
|

\
|
=
|
|

\
|
|
|

\
|
0
) (
) (
) (
2
1
s F
s X
s X
d c
b a
|
|

\
|
|
|

\
|
=
|
|

\
|

0
) (
) (
) (
1
2
1
s F
d c
b a
s X
s X

|
|

\
|
|
|

\
|

=
|
|

\
| 0
) (
) (
) (
2
1
s F
a c
b d
s X
s X

+
= =
) (
) (
) (
) (
2 3 2
K s f
s G
s F
s X

= =
) (
) (
) (
) (
2
s cF
s G
s F
s X
d c
b a
=
where
See Example 2.18 and try Skill-assessment Exercise 2.8
Transfer Functions of Physical Systems
K-Spring constant, D coefficient of viscous friction, J moment of inertia
Mechanical system components : Rotation
Transfer Functions of Physical Systems
Example : Two equations of rotational motion
(a) Torques on J
1
due only to motion of J
1
(b) Torques on J
1
due only to motion of J
2
(c) All torques on J
1
Torques on J
1
) ( ) ( ] [ ) ( ] [
2 1 1
2
1
s T s K s K s D s J = + +
Transfer Functions of Physical Systems
Example : Two equations of rotational motion
(a) Torques on J
2
due only to motion of J
2
(b) Torques on J
2
due only to motion of J
1
(c) All torques on J
2
Torques on J
2
0 ) ( ] [ ) ( ] [
2 2 2 2 1
= + + + s K s D s J s K
Transfer Functions of Physical Systems
Example : Two equations of rotational motion
) ( ) ( ] [ ) ( ] [
2 1 1
2
1
s T s K s K s D s J = + +
0 ) ( ] [ ) ( ] [
2 2 2 2 1
= + + + s K s D s J s K
Equations of motion
Transfer Functions of Physical Systems
Lets get this done by inspection
] at torques applied of sum [
) ( ] and between imp. of sum [ ) ( ] at motion the to connected imp. of [sum
1
2 2 1 1 1

= s s
) ( ) ( ] [ ) ( ] [
2 1 1
2
1
s T s K s K s D s J = + +
See Example 2.20 and try Skill-assessment Exercise 2.9
] at torques applied of sum [
) ( ] and between imp. of sum [ ) ( ] at motion the to connected imp. of [sum
1
2 2 1 1 1

= s s
0 ) ( ] [ ) ( ] [
2 2 2 2 1
= + + + s K s D s J s K
Torques on J
1
Torques on J
2
Transfer Functions of Physical Systems
Mechanical system components: rotation: gears
2
1
2
1
2
1
1
2
T
T
N
N
r
r
= = =

Transfer Functions of Physical Systems

Gear transformations
) ( ) ( ) (
2 2
2
s T s K Ds Js = + +
1
2
1 2
2
) ( ) ( ) (
N
N
s T s K Ds Js = + +
1
2
1 1
2
1
2
) ( ) ( ) (
N
N
s T s
N
N
K Ds Js = + +
(1) (2)
(3)
) ( ) (
1 1
2
2
1
2
2
1
2
2
2
1
s T s
N
N
K s
N
N
D s
N
N
J =
(
(

|
|

\
|
+
|
|

\
|
+
|
|

\
|

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
) ( ) (
1
1
2
2 2 2 1
2
1
2
2
2 1
2
1
2
s T
N
N
s K s D D
N
N
s J J
N
N
|
|

\
|
=
(
(

+
|
|

\
|
+
|
|

\
|
+
|
|

\
|
+
|
|

\
|

See Example 2.22 and try Skill-assessment Exercise 2.10

Transfer Functions of Physical Systems
Using the Laplace transform to solve ODEs
From 2.004 Dynamics & Control II, MIT OCW, Fall 2007.
The motor applies torque T
s
(t) as the following step function:
) (
0 ,
0 , 0
) (
0
0
t u T
t T
t
t T
s

<
=
J = The shaft inertia.
b = Coefficient of viscous friction applied by the bearings.
= The shaft rotational speed.
) ( ) ( ) ( ) (
0
t u T t T t b t J
s
= = + &
) (

) (
) (
) ( ) (
2 1
0
0
b Js
K
s
K
b Js s
T
s
s
T
s b Js
+
+ =
+
=
= +
|
|
|
|

\
|
+
=
J
b
s
s b
T
s
1 1
) (
0
( )

/
0
1 ) (
t
e
b
T
t

=
where = J/b
1 /
0
= b T
-1
L
L
Partial
fraction
expansions
force response
natural response
Summary
Laplace transform
Transfer functions & impedances of mechanical systems
{ } dt e t f t f s F
st

= =
0
) ( ) ( ) ( L
K Ds Js + +
2
1
T(s) (s)
ODE AE
Partial fraction
expansion
Solution to ODE
t - domain s - domain
L
-1
L
1
2
3
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!
Transfer Functions of Physical Systems