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CHAPTER#4
4. Description of physical system
4.1. Components of a mechanical system: Mechanical systems are of two types, i.e. (i)
translational mechanical system and (ii) rotational mechanical system.
4.1.1. Translational mechanical system
There are three basic elements in a translational mechanical system, i.e. (a) mass, (b)
spring and (c) damper.
(a) Mass: A mass is denoted by M. If a force f is applied on it and it displays
d 2x
distance x, then f M 2 as shown in Fig.4.1.
dt
Fig.4.1. Force applied on a mass with displacement in one direction
If a force f is applied on a massM and it displays distance x1in the direction of f and
d2x d2x
distance x2 in the opposite direction, then f M 21 22 as shown in Fig.4.2.
dt dt
X2 X1
M f
Fig.4.2. Force applied on a mass with displacement two directions
(b) Spring: A spring is denoted by K. If a force f is applied on it and it displays
distance x, then f Kx as shown in Fig.4.3.
Fig.4.3. Force applied on a spring with displacement in one direction
If a force f is applied on a springK and it displays distance x1in the direction of f and
distance x2 in the opposite direction, then f K x1 x2 as shown in Fig.4.4.
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Fig.4.4. Force applied on a spring with displacement in two directions
(c) Damper: A damper is denoted by D. If a force f is applied on it and it displays
dx
distance x, then f D as shown in Fig.4.5.
dt
Fig.4.5. Force applied on a damper with displacement in one direction
If a force f is applied on a damperD and it displays distance x1in the direction of f and
dx dx
distance x2 in the opposite direction, then f D 1 2 as shown in Fig.4.6.
dt dt
Fig.4.6. Force applied on a damper with displacement in two directions
4.1.2. Rotational mechanical system
There are three basic elements in a Rotational mechanical system, i.e. (a) inertia, (b)
spring and (c) damper.
(a) Inertia: A body with aninertia is denoted by J. If a torqueT is applied on it and it
d 2
displays distanceӨ, then T J 2 . If a torqueT is applied on a body with inertia
dt
J and it displays distance Ө1 in the direction of T and distance Ө2 in the opposite
d 2 d 2
direction, then T J 21 22 .
dt dt
(b) Spring: A spring is denoted by K. If a torqueT is applied on it and it displays
distanceӨ, then T K . If a torqueT is applied on a body with inertia J and it
displays distance Ө1 in the direction of T and distance Ө2 in the opposite
direction, then T K 1 2 .
(c) Damper: A damper is denoted by D. If a torqueT is applied on it and it displays
d
distanceӨ, then T D . If a torqueT is applied on a body with inertia J and it
dt
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displays distance Ө1 in the direction of T and distance Ө2 in the opposite
d d
direction, then T D 1 2 .
dt dt
4.2. Components of an electrical system: There are three basic elements in an electrical system,
i.e. (a) resistor (R), (b) inductor(L) and (c) capacitor (C). Electrical systems are of two types,
i.e. (i) voltage source electrical system and (ii) current source electrical system.
4.2.1. Voltage source electrical system: If i is the current through a resistor(Fig.4.7) and v
is the voltage drop in it, then v Ri .
If i is the current through an inductor (Fig.4.7) and v is the voltage developed in it,
di
then v L .
dt
If i is the current through a capacitor(Fig.4.7) and v is the voltage developed in it,
1
then v
C idt .
Fig.4.7. Current and voltage shown in resistor, inductor and capacitor
4.2.2. Current source electrical system:
v
If i is the current through a resistor and v is the voltage drop in it, then i .
R
If i is the current through an inductor and v is the voltage developed in it, then
1
i
L vdt .
If i is the current through a capacitor and v is the voltage developed in it, then
dv
iC .
dt
4.2.3. Work out problems:
Q.4.1. Find system transfer function betweenvoltage drop across the capacitanceand
input voltage in the followingRC circuit as shown in Fig.4.8.
Fig.4.8.
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Solution
Voltage across resistance, eR (t ) i(t ) R
1
Voltage across capacitance, eC (t ) i(t ) dt
C
1
Total voltage drop, ei eR eC i (t ) R i(t )dt
C
1
Laplace transform of above equation, Ei ( s) I ( s ) R
Cs
System transfer function betweenvoltage drop across the capacitanceand input
EC ( s ) 1 1
voltage,
Ei ( s ) RCs 1 s 1
where, RC is the time-constant
Q.4.2. Find system transfer function betweenfunction between the inductance
currentto the source currentin the followingRL circuit as shown in Fig.4.9.
Fig.4.9.
e( t )
Voltage across the Resistance, e(t ) iR R iR
R
diL 1
Voltage across the Inductance, e(t ) L iL e(t )dt
dt L
e(t ) 1
Total current, ia iR iL e(t )dt
R L
Laplace transform of the current source,
1 1 E
I a ( s ) E ( s ) and I L ( s )
R Ls Ls
Transfer function between the inductance current to the source current,
I L (s) 1 1
L
I a ( s) s 1 s 1
R
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L
where is the time-constant
R
Q.4.3. Find system transfer function betweenfunction between the capacitance
voltageto the source voltage in the followingRLC circuit as shown in Fig.4.10.
Fig.4.10.
Voltage across the Resistance, eR (t ) iR
di
Voltage across the Inductance, eL (t ) L
dt
1
Voltage across thecapacitance, eC (t ) idt
C
di 1
Total voltage, e t iR L idt
dt C
1
Laplace transform of the voltage source, E ( s) I ( s) R Ls
Cs
Transfer function between capacitance voltage and source voltage
EC ( s ) 1 n2
E (s)
Cs R Ls
1 s2 2n s n2
Cs
1 R
where n and
LC L
2
C
Q.4.4.Find the transfer function of the following Spring-mass-damperas shown
in Fig.4.11.
Fig.4.11.
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Solution
X (s) 1 1
2
F ( s) ms cs k m s 2n s n2
2
4.3. Analogous system: Fig.4.12 shows a translational mechanical system, a rotational control
system and a voltage-source electrical system.
(a)
(b)
(c)
Fig.4.12. (a) a voltage-source electrical system,(b) a translational mechanical system and (c) a rotational control
system
From Fig4.12 (a), (b) and (c), we have
d 2q dq 1
L 2
R q v t
dt dt C
d 2 d
J 2 D K T Equation Chapter 8 Section 0(4.1)
dt dt
d2x dx
M 2 D Kx f
dt dt
Where,
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q idt (4.2)
The solutions for all the above three equations given by eq (4.2) are same. Therefore, the
above shown three figures are analogous to each other. There are two important types of
analogous systems, i.e. force-voltage (f-v) analogy and force-current analogy. From eq (4.2),
f-v analogy can be drawn as follows.
Translational Rotational Electrical
Force (f) Torque (T) Voltage (v)
Mass (M) Inertia (J) Inductance (L)
Damper (D) Damper (D) Resistance (R)
Spring (K) Spring (K) Elastance (1/C)
Displacement (x) Displacement (Ө) Charge (q)
Velocity (u) = x Velocity (u) = Current (i) = q
Similarly, f-i analogy that can be obtainedfrom eq (4.1), can be drawn as follows.
Translational Rotational Electrical
Force (f) Torque (T) Current (i)
Mass (M) Inertia (J) Capacitance (C)
Damper (D) Damper (D) Conductance (1/R)
Spring (K) Spring (K) Reciprocal of Inductance (1/L)
Displacement (x) Displacement (Ө) Flux linkage (ψ)
Velocity (u) = x Velocity (u) = Voltage (v) =
4.4. Mathematical model of armature controlled DC motor: The armature control type speed
control system of a DC motor is shown in Fig.4.6. The following components are used in this
system.
Ra=resistance of armature
La=inductance of armature winding
ia=armature current
If=field current
Ea=applied armature voltage
Eb=back emf
Tm=torque developed by motor
Ө=angular displacement of motor shaft
J=equivalent moment of inertia and load referred to motor shaft
f=equivalent viscous friction coefficient of motor and load referred to motor shaft
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J,
f
Fig.4.6. Schematic diagram of armature control type speed control system of a DC motor
The air-gap flux is proportional of the field current i.e.
KfIf (4.3)
The torque Tm developed by the motor is proportional to the product of armature current and
air gap flux i.e.
Tm = k1 K f I f ia (4.4)
In armature-controlled D.C. motor,the field current is kept constant,so that eq(4.4) can be
written as follows.
Tm =K t ia (4.5)
The motor back emf being proportional to speed is given as follows.
d (4.6)
Eb = K b
dt
The differential equation of the armature circuit is
di
La a Ra ia Eb Ea (4.7)
dt
The torque equation is
d 2 d
J 2
dt f Tm K t I a (4.8)
dt
Taking the Laplace transforms of equations (4.6), (4.7) and (4.8), assuming zero initial
conditions, we get
Eb s = sK b s (4.9)
sLa +Ra I a s Ea s Eb s (4.10)
( s 2 J sf ) ( s ) Tm ( s ) K t I a (4.11)
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From eq(4.9) to (4.11) the transfer function of the system is obtained as,
(s ) Kt
G s (4.12)
Ea ( s ) s Ra sLa sJ f K t K b
Eq(4.12) can be rewritten as
Kt
( s ) Ra sLa sJ f 1
G s (4.13)
Ea ( s ) Kt Kb s
1 R sL sJ f
a a
The block diagram that is constructed from eq (4.13) is shown in Fig.4.7.
1 1 1 s
sL R
a a
sJ f s s
Fig.4.7. Block diagram of armature control type speed control system of a DC motor
The armature circuit inductance La is usually negligible. Therefore, eq(4.13) can be
simplifiedas follows.
(s ) K Kt Kb
s2 t J s f (4.14)
Ea ( s) Ra Ra
Kt Kb
The term f indicates that the back emf of the motor effectively increases the
Ra
viscous friction of the system. Let,
Kt Kb
f f (4.15)
Ra
Where f be the effective viscous friction coefficient. The transfer function given by eq(4.15)
may be written in the following form.
s Km
(4.16)
Ea s s s 1
Kt J
Here K m = = motor gain constant, and = motor time constant.Therefore, the motor
Ra f f
torque and back emf constant Kt, Kb are interrelated.
4.5. Mathematical model of field controlled DC motor: The field control type speed control
system of a DC motor is shown in Fig.4.8. The following components are used in this system.
Rf=Field winding resistance
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Lf=inductance of field winding
If=field current
ef=field control voltage
Tm=torque developed by motor
Ө=angular displacement of motor shaft
J=equivalent moment of inertia and load referred to motor shaft
f=equivalent viscous friction coefficient of motor and load referred to motor shaft
Ia
Rf (constant)
Lf Tm
If M
ef
Ө
J,
f
Fig.4.8. Block diagram of field control type speed control system of a DC motor
In field control motor the armature current is fed from a constant current source.The air-gap
flux Φ is proportional of the field current i.e.
Kf If (4.17)
The torque Tm developed by the motor is proportional to the product of armature current and
air gap flux i.e.
Tm =k1K f I f I a Kt I f (4.18)
The equation for the field circuit is
dI f
Lf Rf I f Ef (4.19)
dt
The torque equation is
d 2 d
J 2
f Tm K t I f (4.20)
dt dt
Taking the Laplace transforms of equations (4.19) and (4.20) assuming zero initial conditions,
we get the following equations
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L s R I s E s
f f f f (4.21)
and
Js 2
fs s Tm s Kt I f s (4.22)
From eq(4.21) and (4.22) the transfer function of the system is obtained as
s Kt
G s (4.23)
E f s s R f sL f Js f
The transfer function given by eq(4.23) may be written in the following form.
s Kt Km
(4.24)
Ea s s L f s R f Js f s s 1 s 1
Kt Lf J
Here K m = motor gain constant, and = time constant of field circuit and
Rf f Rf f
= mechanical time constant.For small size motors field control is advantageous.The block
diagram that is constructed from eq (4.24) is shown in Fig.4.9.
1 Kt
Ef(s) Ө(s)
sL R
f f
s sJ f
Fig.4.9. Block diagram of field control type speed control system of a DC motor
