Thanks to visit codestin.com
Credit goes to www.scribd.com

Scribd
Upload
10 views2 pages

Second Order Rotational System

The document discusses the modeling of a simplified DC servomotor, focusing on its electrical and mechanical dynamics. It presents the relationships between input voltage, armature current, torque, and angular displacement, leading to the derivation of transfer functions for both angular velocity and displacement. The transfer functions are simplified under the assumption that the electrical time constant is negligible compared to the mechanical time constant.

Uploaded by

Radha Mathurapathi Das Jps
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
10 views2 pages

Second Order Rotational System

The document discusses the modeling of a simplified DC servomotor, focusing on its electrical and mechanical dynamics. It presents the relationships between input voltage, armature current, torque, and angular displacement, leading to the derivation of transfer functions for both angular velocity and displacement. The transfer functions are simplified under the assumption that the electrical time constant is negligible compared to the mechanical time constant.

Uploaded by

Radha Mathurapathi Das Jps
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 2

11

5. Real-World Transfer Functions

Simplified DC servomotor (ignoring back emf and inductor)


The figure below shows a simple diagram for deriving the model of a DC servomotor, which is a
rotational electromechanical system. On the circuit side, v(t) is the input armature voltage, L is the
inductance constant, R is the resistance constant, and i(t) is the armature circuit current. On the rotational
mechanical side, J is the lumped rotational inertia of the motor shaft and load, cR is the rotational viscous
damping coefficient, and the output is angular displacement (t) (whose time derivative is angular velocity
(t)).

L R
 cR J
v(t) i(t)

 (t)  (t)
(t)

From an earlier derivation, the RL series circuit model is:


di ( t )
L  Ri ( t )  v ( t )
dt

where we have ignored the motor back emf voltage. Usually the time constant for the electrical system is
much smaller than the time constant for the rotational mechanical system, which means that the electrical
system current i(t) rises much faster than the mechanical displacement (t). Therefore, we can ignore the
circuit dynamics ( L  0 ), so the electrical circuit model simplifies to Ri (t )  v (t ) , which is simply Ohm’s
Law.
In a DC servomotor, the generated motor torque is proportional to the circuit current, a linear
proportional relationship that holds good for nearly the entire range of operation of the motor:
 (t )  KT i(t )

KT is the motor torque constant, which is stamped on the motor housing, available from the motor
manufacturer, or determinable by experiment.
The rotational mechanical system dynamic model is derived from a free-body diagram of the
rotating motor shaft, using Euler’s rotational dynamics law  M  J(t ) :
J (t )  c  (t )   (t )
R

Substituting the electrical models into the rotational mechanical system dynamic model yields:
K (s) KT R
J ( t )  c R ( t )   ( t )  K T i ( t )  T v ( t ) G ( s )  
R V ( s ) s ( Js  c R )

This is a linear, lumped-parameter, constant-coefficient, second-order ODE. The same model written for
angular velocity (t) output is a first-order model:
K (s) KT R
J  ( t )  c R  ( t )  T v ( t ) G ( s )  
R V ( s ) Js  cR
12
DC Servomotor1

L R J(t )  cR(t )   (t )  KT i(t )


 cR J
di (t )
v(t) i(t) L  Ri (t )  v(t )  vB (t )  v(t )  K B(t )
 dt
 (t)  (t)
(t)

( s ) K
G ( s )  
V ( s ) ( Ls  R )( Js  cR )  K 2
KT  K B  K
( s ) K
G ( s )  
V ( s ) s  ( Ls  R )( Js  cR )  K 2 

L J
If we set the armature circuit time constant to zero relative to the mechanical system time constant
R cR
(since the mechanical system dominates), the above transfer functions are simplified to first- and second-
order, respectively (rather than the original second- and third-order systems):

( s ) K
G ( s )  
V ( s ) JRs  ( RcR  K 2 )

( s ) K
G ( s )  
V ( s )  JRs  ( RcR  K 2 )  s

1
R.L. Williams II and D.A. Lawrence, 2007, Linear State-Space Control Systems, John Wiley & Sons, Inc.

You might also like