Chapter 2: Modeling in the Frequency Domain

2-24

(Jeqs2+Deqs)3(s) = T(s) (

N4 N2
)
N3 N1

Thus,

N 4N 2
3 (s)
N3 N1
=
2
T (s) Jeq s + Deqs
where

N 2
N N 2
4
4 2
+ J1
, and
N3
N3 N1

Jeq = J4+J5+(J2+J3)

Deq = (D4 + D5 ) + (D2 + D3 )(

33.

N4 2
NN
) + D1 ( 4 2 ) 2
N3
N 3 N1

Reflecting all impedances to 2(s),

2

N2
N3
N3
N2
2
{[J2+J1(NN21 ) +J3 (N3
N4 ) ]s + [f2+f1(N1 ) +f3(N4 ) ]s + [K(N4 ) ]}2(s) = T(s)N1
Substituting values,
2

{[1+2(3)2+16(14 ) ]s2 + [2+1(3)2+32(14 ) ]s + 64(14 ) }2(s) = T(s)(3)

Thus,

2(s)

3
T(s) = 20s2+13s+4

34.

Reflecting impedances to 2,

2
2
200 + 3 50 + 200 5 x 50 s 2 + 1000 5 x 50 s + 250 + 3 50 = 50 T (s)
5
25 5
25 5
5 5

Thus,

2 (s)
T( s)

10
1300s + 4000s + 550
2

35.
Reflecting impedances and applied torque to respective sides of the spring yields the following
equivalent circuit:

Copyright 2011 by John Wiley & Sons, Inc.

Solutions to Problems 2-25

0.955

Writing the equations of motion,

22(s) -2 3(s) = 4.231T(s)

-22(s) + (0.955s+2)3(s) = 0
Solving for 3(s),

2 4.231T ( s )
2
0
8.462T ( s ) 4.43T ( s )
3 ( s) =
=
=
2
2
s
1.91s
2 ( 0.955s + 2 )

Hence,

3 ( s)
T (s)

( s) 0.851
4.43
. But, 4 ( s ) = 0.1923 ( s ) . Thus, 4
=
.
T ( s)
s
s

36.
Reflecting impedances and applied torque to respective sides of the viscous damper yields the
following
equivalent circuit:

Writing the equations of motion,

( s 2 + 2 s ) 2 ( s ) 2s 3 ( s ) = 3T ( s )
2s 2 ( s ) + (2s + 3)3 ( s ) 3 4 ( s ) = 0
33 ( s ) + ( s + 3) 4 ( s ) = 0
Solving for 4 (s) ,

Copyright 2011 by John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2-26

2s
3T ( s )
s ( s + 2)
2s
(2s + 3)
0
0
3
0
18T ( s )
4 ( s) =
=
2 s
0
s ( s + 2)
s (2s 2 + 9s + 6)
2s
3
(2s + 3)
3
0
( s + 3)
But, L (s) = 5 4 (s) . Hence,

4 ( s)
T ( s)

90
s (2s + 9 s + 6)
2

37.
Reflect all impedances on the right to the viscous damper and reflect all impedances and torques on the
left to the spring and obtain the following equivalent circuit:

Writing the equations of motion,

(J1eqs2+K)2(s) -K3(s) = Teq(s)
-K2(s)+(Ds+K)3(s) -Ds4(s) = 0
-Ds3(s) +[J2eqs2 +(D+Deq)s]4(s) = 0
N2
where: J1eq = J2+(Ja+J1) N
1

( )

N3
; J2eq = J3+(JL+J4) N
4

( )

N3
; Deq = DL N
4

N1
N2 .

Copyright 2011 by John Wiley & Sons, Inc.

( )

; 2(s) = 1(s)

Solutions to Problems 2-27

38.
Reflect impedances to the left of J5 to J5 and obtain the following equivalent circuit:

Writing the equations of motion,

[Jeqs2+(Deq+D)s+(K2+Keq)]5(s)

-[Ds+K2]6(s) = 0

-[K2+Ds]5(s) + [J6s2+2Ds+K2]6(s) = T(s)

From the first equation,

6(s) Jeqs2+(Deq+D)s+ (K2+Keq)

5(s) N1N3
=
. But,
=
. Therefore,
Ds+K
2
5(s)
1(s) N2N4
6(s) N1N3 Jeqs2+(Deq+D)s+ (K2+Keq)
=

,
Ds+K2

1(s) N2N4

N4N2
where Jeq = J1 N N
3 1

[ (

Deq = D

[(NN43NN21 )

N4
+ (J2+J3) N
3

N4
+ N
3

( )

( )

N4
+ (J4+J5) , Keq = K1 N
3

+1 .

39.
Draw the freebody diagrams,

Copyright 2011 by John Wiley & Sons, Inc.

( )

2
, and

Chapter 2: Modeling in the Frequency Domain

2-28

Write the equations of motion from the translational and rotational freebody diagrams,
-fvrs(s) = F(s)

(Ms2+2fv s+K2)X(s)

-fvrsX(s) +(Js2+fvr2s)(s) = 0
Solve for (s),

Ms 2+2fvs+K
(s) =

F(s)

-fvrs
Ms 2+2fvs+K
-fvrs

(s)
From which, F(s) =

0
=
2

-fvrs

fvrF(s)
2

JMs +(2Jfv+Mfvr2)s 2+(JK +fvr2)s+K fvr2

2
2

Js +fvr2s
fvr

JMs3+(2Jfv+Mfvr2)s2+(JK2+fv2r2)s+K2fvr2

40.
Draw a freebody diagram of the translational system and the rotating member connected to the
translational system.

From the freebody diagram of the mass, F(s) = (2s2+2s+3)X(s). Summing torques on the rotating
member,
(Jeqs2 +Deqs)(s) + F(s)2 = Teq(s). Substituting F(s) above, (Jeqs2 +Deqs)(s) + (4s2+4s+6)X(s) =
X(s)
Teq(s). However, (s) = 2 . Substituting and simplifying,
Jeq
D
2 + eq +4 s+6 X(s)
+4
s
Teq =
2
2

[(

) (

) ]

But, Jeq = 3+3(4)2 = 51, Deq = 1(2)2 +1 = 5, and Teq(s) = 4T(s). Therefore,

Copyright 2011 by John Wiley & Sons, Inc.

Solutions to Problems 2-29

[ 59 s2 + 13 s+6]X(s) = 4T(s). Finally, X(s)

T(s)
2

8
.
59 s + 13s + 12
2

41.
Writing the equations of motion,
(J1s2+K1)1(s)

- K12(s)
= T(s)
2
-K11(s) + (J2s +D3s+K1)2(s) +F(s)r -D3s3(s) = 0
-D3s2(s) + (J2s2+D3s)3(s) = 0

where F(s) is the opposing force on J2 due to the translational member and r is the radius of J2. But,
for the translational member,
F(s) = (Ms2+fvs+K2)X(s) = (Ms2+fvs+K2)r(s)
Substituting F(s) back into the second equation of motion,
(J1s2+K1)1(s)

- K12(s)

= T(s)

-K11(s) + [(J2 + Mr2)s2+(D3 + fvr2)s+(K1 + K2r2)]2(s)

-D3s3(s) = 0

-D3s2(s) + (J2s2+D3s)3(s) = 0
Notice that the translational components were reflected as equivalent rotational components by the
square of the radius. Solving for 2(s), 2 (s ) =

K1 ( J3 s 2 + D3 s)T( s)
, where is the

determinant formed from the coefficients of the three equations of motion. Hence,

2 (s)

K1 (J3 s2 + D3 s)
=
T(s)

Since

X(s) = r 2 (s),

X(s) rK1 (J 3 s2 + D3 s)
=
T (s)

42.

Kt Tstall 100
Ea
50 1
=
=
= 2 ; Kb =
=
=
Ra Ea
no load 150 3
50
Also,
Jm = 5+18
Thus,

m (s )
Ea (s)

Since L(s) =

(1)
3

= 7; Dm = 8+36

( 1 ) = 12.
3

2/7
2/7
=
1
2
38
s ( s + (12 + )) s ( s + )
7
3
21

1
m(s),
3

Copyright 2011 by John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2-30

2
L (s)
21
=
.
38
Ea (s)
s( s + )
21
43.
The parameters are:

Kt Ts 5
Ea
5
=
= = 1; Kb =
=
=
Ra Ea 5
600 2 1
60

2
2
2
1
1
1

1
; Jm = 16 + 4 + 1 = 3; Dm = 32 = 2
4
2
4
4
Thus,

1
m (s)
3
=
=
Ea (s) s(s + 1 (2 + (1)( 1 ))) s(s + 0.75)
3
4
1
3

Since 2(s) =

1
m(s),
4
1
2 (s)
12
=
.
Ea (s) s(s + 0.75)

44.
The following torque-speed curve can be drawn from the data given:

T
100
55
50

v
500
600

Therefore,

1333.33
1000

Kt Tstall 100
Ea
12
1 2
=
=
; Kb =
=
. Also, Jm = 7+105( ) = 9.92; Dm =
Ra Ea
no load 1333.33
12
6

3. Thus,

100 1

m (s)
L (s)
0.84
1
0.14
12 9.92
=
=
. Since L(s) = m(s),
=
.
1
Ea (s)
Ea (s) s ( s + 0.31)
s
(
s
+
0.31)
6
s( s +
(3.075))
9.92

Copyright 2011 by John Wiley & Sons, Inc.

Solutions to Problems 2-31

45.
From Eqs. (2.45) and (2.46),
RaIa(s) + Kbs(s) = Ea(s)

(1)

Also,
Tm(s) = KtIa(s) = (Jms2+Dms)(s). Solving for (s) and substituting into Eq. (1), and simplifying
yields

Dm
)
Ia (s) 1
Jm
=
Ea (s) Ra s + Ra Dm + K b Kt
Ra J m
(s +

(2)

Using Tm(s) = KtIa(s) in Eq. (2),

Dm
)
Tm (s) Kt
Jm
=
Ea (s) Ra s + Ra Dm + K b Kt
Ra J m
(s +

46.
For the rotating load, assuming all inertia and damping has been reflected to the load,
(JeqLs2+DeqLs)L(s) + F(s)r = Teq(s), where F(s) is the force from the translational system, r=2 is
the radius of the rotational member, JeqL is the equivalent inertia at the load of the rotational load and
the armature, and DeqL is the equivalent damping at the load of the rotational load and the armature.
Since JeqL = 1(2)2 +1 = 5, and DeqL = 1(2)2 +1 = 5, the equation of motion becomes, (5s2+5s)L(s)
+ F(s)r = Teq(s). For the translational system, (s2+s)X(s) = F(s). Since X(s) = 2L(s), F(s) =
(s2+s)2L(s). Substituting F(s) into the rotational equation, (9s2+9s) L(s) = Teq(s). Thus, the
equivalent inertia at the load is 9, and the equivalent damping at the load is 9. Reflecting these back
Kt
9
9
to the armature, yields an equivalent inertia of 4 and an equivalent damping of 4 . Finally, R = 1;
a
4
4
2
m(s)
L(s)
9
9
9
1
=
.
Since

(s)
=

(s),
Kb = 1. Hence, E (s) =
L
m
Ea(s) =
49
13
13 . But
2
a
s(s+9(4+1))
s(s+ 9 )
s(s+ 9 )
4
X(s)
9
X(s) = rL(s) = 2L(s). therefore,
=
.
E (s) s(s+13)
a
9

Copyright 2011 by John Wiley & Sons, Inc.

Chapter 2: Modeling in the Frequency Domain

2-32

47.
The equations of motion in terms of velocity are:

K1 K2
K
+ ]V1 (s) 2 V2 (s) fv 3V3 (s) = 0
s
s
s
K
K
2 V1 (s) + [M2 s + ( fv 2 + f v 4 ) + 2 ]V2 (s) f v4 V3 (s) = F(s)
s
s
f v3 V1 (s) f v4 V2 (s) + [M3 s + fV 3 + fv 4 ]V3 (S) = 0

[M1s + ( fv1 + fv 3 ) +

For the series analogy, treating the equations of motion as mesh equations yields

In the circuit, resistors are in ohms, capacitors are in farads, and inductors are in henries.
For the parallel analogy, treating the equations of motion as nodal equations yields

In the circuit, resistors are in ohms, capacitors are in farads, and inductors are in henries.
48.
Writing the equations of motion in terms of angular velocity, (s) yields

Copyright 2011 by John Wiley & Sons, Inc.