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    2.4-Rotational Mechanical System Transfer Functions: Table 3

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    طه حسن شاكر محمود
    This document discusses rotational mechanical systems and their transfer functions. It notes that rotational systems are handled similarly to translational systems, but with torque replacing force and angular displacement replacing linear displacement. Table 3 shows the rotational equivalents of springs, dampers, and inertia and their relationships between torque, angular velocity, and angular displacement. Degrees of freedom also apply to rotational systems by examining how many points can rotate independently. Equations of motion are formed by summing the torques on each point of rotation in a free-body diagram. Transfer functions are defined for springs, dampers, and inertia relating torque and angular displacement. Impedance is also defined for rotational components.

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    2.4-Rotational Mechanical System Transfer Functions: Table 3

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    طه حسن شاكر محمود
    49 views5 pages
    This document discusses rotational mechanical systems and their transfer functions. It notes that rotational systems are handled similarly to translational systems, but with torque replacing force and angular displacement replacing linear displacement. Table 3 shows the rotational equivalents of springs, dampers, and inertia and their relationships between torque, angular velocity, and angular displacement. Degrees of freedom also apply to rotational systems by examining how many points can rotate independently. Equations of motion are formed by summing the torques on each point of rotation in a free-body diagram. Transfer functions are defined for springs, dampers, and inertia relating torque and angular displacement. Impedance is also defined for rotational components.

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    This document discusses rotational mechanical systems and their transfer functions. It notes that rotational systems are handled similarly to translational systems, but with torque replacing force and angular displacement replacing linear displacement. Table 3 shows the rotational equivalents of springs, dampers, and inertia and their relationships between torque, angular velocity, and angular displacement. Degrees of freedom also apply to rotational systems by examining how many points can rotate independently. Equations of motion are formed by summing the torques on each point of rotation in a free-body diagram. Transfer functions are defined for springs, dampers, and inertia relating torque and angular displacement. Impedance is also defined for rotational components.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    49 views5 pages

    2.4-Rotational Mechanical System Transfer Functions: Table 3

    Uploaded by

    طه حسن شاكر محمود
    This document discusses rotational mechanical systems and their transfer functions. It notes that rotational systems are handled similarly to translational systems, but with torque replacing force and angular displacement replacing linear displacement. Table 3 shows the rotational equivalents of springs, dampers, and inertia and their relationships between torque, angular velocity, and angular displacement. Degrees of freedom also apply to rotational systems by examining how many points can rotate independently. Equations of motion are formed by summing the torques on each point of rotation in a free-body diagram. Transfer functions are defined for springs, dampers, and inertia relating torque and angular displacement. Impedance is also defined for rotational components.

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    of 5

    Control system/4th

    Class‐Lecture (4)
    page 1 of 5
    2.4- Rotational Mechanical System Transfer Functions
    Having covered electrical and translational mechanical systems, we now
    move on to consider rotational mechanical systems. Rotational mechanical systems
    are handled the same way as translational mechanical systems, except that torque
    replaces force and angular displacement replaces translational displacement. The
    mechanical components for rotational systems are the same as those for translational
    systems, except that the components undergo rotation instead of translation.
    Table 3 shows the components along with the relationships between torque and
    angular velocity, as well as angular displacement. Notice that the symbols for the

    TABLE 3 Torque-angular velocity, torque-angular displacement, and impedance


    rotational relationships for springs, viscous dampers, and inertia

    -The concept of impedance


    Components look the same as translational symbols, but they are undergoing
    rotation and not translation. Also notice that the term associated with the mass is
    replaced by inertia. The values of K, D, and J are called spring constant, coefficient
    of viscous friction, and moment of inertia, respectively. The impedances of the
    mechanical components are also summarized in the last column of Table 3. The
    values can be found by taking the Laplace transform, assuming zero initial
    conditions, of the torque-angular displacement column of Table 3.
    page 2 of 5

    The concept of degrees of freedom carries over to rotational systems, except


    that we test a point of motion by rotating it while holding still all other points of
    motion. The number of points of motion that can be rotated while all others are held
    still equals the number of equations of motion required to describe the system.

    Writing the equations of motion for rotational systems is similar to writing


    them for translational systems; the only difference is that the free-body diagram
    consists of torques rather than forces. We obtain these torques using superposition.

    First, we rotate a body while holding all other points still and place on its free-
    body diagram all torques due to the body’s own motion. Then, holding the body still,
    we rotate adjacent points of motion one at a time and add the torques due to the
    adjacent motion to the free-body diagram. The process is repeated for each point of
    motion. For each free-body diagram, these torques are summed and set equal to zero
    to form the equations of motion.

    For the Spring, TK(s) = K ϴ(s)

    For the Viscous damper, TD(s) = D S ϴ (s)

    For the Inertia, TJ(s) = J S2 ϴ (s)

    If we define impedance for Rotational components as:

    ZM(s) = T(s) / ϴ(s)

    2.4.1 Status of Rotational Components:


    page 3 of 5
    page 4 of 5
    page 5 of 5

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