referred to the motor shaft.

When J0 and b0 + AK2 K3Ra B are multiplied by 1/n2, the inertia and
viscous-friction coefficient are expressed in terms of the output shaft. Introducing new parameters
defined by
J = J0n2 = moment of inertia referred to the output shaft

B = C b0 + AK2 K3Ra B Dn2 = viscous-friction coefficient referred to the output shaft

K = K0 K1 K2nRa
the transfer function G(s) given by Equation (351) can be simplified, yielding

K
G(s) =
Js2 + Bs
or
Km
G(s) =
sATm s + 1B
where
K J Ra J0
Km = , Tm = =
B B Ra b0 + K2 K3

The block diagram of the system shown in Figure 329(b) can thus be simplified as shown in
Figure 329(c).

PROBLEMS

B31. Obtain the equivalent viscous-friction coefficient B32. Obtain mathematical models of the mechanical sys-
beq of the system shown in Figure 330. tems shown in Figures 331(a) and (b).

x (Output)
b2

k u(t)
b1 m
(Input force)

b3

x y No friction
(a)
Figure 330
Damper system. x (Output)

k1 k2 u(t)
m
(Input force)

No friction
(b)

Figure 331
Mechanical systems.

Problems 97
B33. Obtain a state-space representation of the mechan- y y
ical system shown in Figure 332, where u1 and u2 are the
inputs and y1 and y2 are the outputs. x
u
x
G
k1
u1 O x

m1 u M
k2
y1

b1
u2
Figure 334 Inverted-pendulum system.

B36. Obtain the transfer functions X1(s)/U(s) and

m2 X2(s)/U(s) of the mechanical system shown in Figure 335.

y2 u x1 x2

Figure 332 Mechanical system.

k1 k3 k2
m1 m2
B34. Consider the spring-loaded pendulum system shown
in Figure 333. Assume that the spring force acting on the b1 b2
pendulum is zero when the pendulum is vertical, or u=0.
Assume also that the friction involved is negligible and the
angle of oscillation u is small. Obtain a mathematical model Figure 335 Mechanical system.
of the system.
B37. Obtain the transfer function Eo(s)/Ei(s) of the elec-
trical circuit shown in Figure 336.

R1 R2
a

u
ei L C eo
k k
i1 i2

Figure 336 Electrical circuit.

B38. Consider the electrical circuit shown in Figure 337.

mg
Obtain the transfer function Eo(s)/Ei(s) by use of the block
Figure 333 Spring-loaded pendulum system. diagram approach.
R1 R2
B35. Referring to Examples 35 and 36, consider the
inverted-pendulum system shown in Figure 334. Assume
that the mass of the inverted pendulum is m and is evenly
ei C1 C2 eo
distributed along the length of the rod. (The center of
gravity of the pendulum is located at the center of the rod.) i1 i2
Assuming that u is small, derive mathematical models for
the system in the forms of differential equations, transfer
functions, and state-space equations. Figure 337 Electrical circuit.

98 Chapter 3 / Mathematical Modeling of Mechanical Systems and Electrical Systems

B39. Derive the transfer function of the electrical circuit C A
shown in Figure 338. Draw a schematic diagram of an +
analogous mechanical system.
B
R2
R1 C1 ei R1 eo

R3
R2

ei eo

C2 Figure 340 Operational-amplifier circuit.

B312. Using the impedance approach, obtain the trans-

Figure 338 Electrical circuit. fer function Eo(s)Ei(s) of the op-amp circuit shown in
Figure 341.

R1
B310. Obtain the transfer function Eo(s)Ei(s) of the
op-amp circuit shown in Figure 339.
R1 A

R2 C
+
B
C R1
A eo
ei R2

ei
eo

Figure 341 Operational-amplifier circuit.

B313. Consider the system shown in Figure 342. An

Figure 339 Operational-amplifier circuit.
B311. Obtain the transfer function Eo(s)Ei(s) of the
op-amp circuit shown in Figure 340.
armature-controlled dc servomotor drives a load consisting
of the moment of inertia JL . The torque developed by the
motor is T. The moment of inertia of the motor rotor is Jm .
The angular displacements of the motor rotor and the load
element are um and u, respectively. The gear ratio is
n = uum . Obtain the transfer function Q (s)Ei(s).

L R

um T
ei Jm

u
JL

Figure 342 Armature-controlled dc servomotor system.

Problems 99