CHAPTER 4 MODELING IN FREQUENCY DOMAIN
Electric network transfer functions
Table 3-1: Voltage-current, voltage-charge, and impedance relationships for capacitors, resistors, and inductors.
Electric network transfer functions
From these relationships, we can write the differential equations for the circuit using KVL and KCL. Then, we can take the Laplace transforms of the differential equations and finally solve for the transfer function. In this topic, we will use the Mesh analysis and/or Node analysis to find the transfer function for a circuit.
Electric network transfer functions
Example 4-1 Using Mesh analysis and transform methods, find the transfer function relating the capacitor voltage, Vc(s), to the input voltage, V(s), in figure below.
Electric network transfer functions
Example 4-2 I ( s) Given the network of figure, find the transfer function, 2 V ( s)
OPERATIONAL AMPLIFIER
Operational amplifier is an active circuit that can be used to implement transfer functions. There are circuits built around an op-amp.
Operational amplifier
Inverting op-amp
Vo = A(V2 V1 )
Vo = AV1
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Inverting Operational Amplifier
I1 ( s ) = I 2 ( s )
I1 ( s ) = Vi ( s ) Z1 ( s ) I 2 ( s) = V0 ( s ) Z 2 ( s)
Vi ( s ) V ( s) = 0 Z1 ( s ) Z 2 (s)
V0 ( s ) Z ( s) = 2 Vi ( s ) Z1 ( s )
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Inverting Operational Amplifier
Example 4-3 Find the transfer function, Vo(s)/Vi(s), for the circuit in figure below
NonNon-Inverting Operational Amplifier
Vo ( s ) = A(Vi ( s ) V1 ( s ))
Using voltage-division:
V1 ( s ) =
Z1 ( s ) V0 ( s ) Z1 ( s ) + Z 2 ( s )
Non-inverting op-amp:
Vo ( s ) Z1 ( s ) + Z 2 ( s ) = Vi ( s ) Z1 ( s )
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Translation Mechanical System TF
Mechanical systems, like electrical networks, have three passive, linear components. Two of them: the spring and the mass, are energystorage elements. (inductor & capacitor) One of them: the viscous damper, dissipates energy. (resistance).
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Translation Mechanical System TF
fvs
Ms2
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Translation Mechanical System TF
Write transfer function for TMS:
Mechanical system requires just ONE differential equation, called the equation of motion, to describe it Begin by assuming a positive direction of motion (eg. To the right) Using the assumed direction of position motion, we first draw a free-body diagram. Placing on the body all forces that act on the body either in the direction of motion or appropriate to it Use newtons law to form a differential equation of motion, by summing the forces and setting the sum equal to zero. Take the Laplace transform of differential equation.
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Translation Mechanical System TF
Example 4-4 Find the transfer function, X(s)/F(s), for the circuit in figure below
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Translation Mechanical System TF
Solution Example 4-4 Step 1: Draw the free-body diagram shown in figure below
Step 2: write the differential equation of motion using Newtons law to sum all the forces. Step 3: Solving the transfer function.
G(s) =
X (s) 1 = 2 F ( s) Ms + f v s + k
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Translation Mechanical System TF
Example 4-5 Find the transfer function, X2(s)/F(s), for the circuit in figure below
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Translation Mechanical System TF
Example 4-6 Write the equations of motion for the mechanical network of figure below.
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Rotational Mechanical System TF
Handle the same way as translational mechanical system, except:
Rotational mechanical systems Torque, T(s) Angular displacement, (s) Inertia, J Translation mechanical systems Force, F(s) Translational displacement, X(s) Mass, M
Rotational mechanical systems undergo rotational.
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Rotational Mechanical System TF
Ds Js2
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Rotational Mechanical System TF
Example 4-7 Find the transfer function, 2(s)/T(s), for the circuit in figure below
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Rotational Mechanical System TF
Solution Example 4-7
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Rotational Mechanical System TF
Solution Example 4-7
J1
( J1s 2 + D1s + k )1 ( s ) k 2 ( s ) = T ( s )
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Rotational Mechanical System TF
Solution Example 4-7
J2
k1 ( s ) ( J 2 s 2 + D2 s + k ) 2 ( s ) = 0
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Rotational Mechanical System TF
Example 4-8 Write the Laplace transform equations for the system in figure below.
Answer:
( J1s 2 + D1s + k )1 ( s ) k 2 ( s) 0 3 ( s ) = T ( s)
k1 ( s) + ( J 2 s 2 + D2 s + k ) 2 ( s ) D2 3 ( s ) = 0 01 ( s) D2 s 2 ( s ) + ( J 3 s 2 + D3 s + D2 s) 3 ( s ) = 0
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TF for Systems with Gears
Gears provide mechanical advantages to rotational systems. The linearized interaction between two gears is depicted in figure below. an input gear with radius r1 and N1 teeth is rotated through angle 1 (t) due to torque, T1 (t).
an output gear with radius r2 and N2 teeth responds by rotating angle 2 (t) and delivering a torque, T2 (t).
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TF for Systems with Gears
Relationship between the rotation of gear 1, 1 (t) and gear 2, 2 (t) Relationship between the input torque, T1 and the delivered torque, T2
r 1 1 = r 2 2
r 1 1 = r 2 2
T2 1 N 2 = = T1 2 N1
2 r1 N1 = = 1 r2 N 2
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TF for Systems with Gears
Represent as equivalent system at 1 without the gears. (reflect the mechanical impedance from the output to the input ..)
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TF for Systems with Gears
reflect the mechanical impedance from the input to the output
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TF for Systems with Gears
Example 4-9 Find the transfer function, 2(s) / T1(s), for the system of figure below.
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TF for Systems with Gears
Solution Example 4-9
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