6 1

Transfer Functions
Transfer Functions
446
446
-
-
6
6
Prof. Neil A.
Prof. Neil A.
Duffie
Duffie
University of Wisconsin
University of Wisconsin
-
-
Madison
Madison
Neil A. Neil A. Duffie Duffie, 1996 , 1996
All rights reserved All rights reserved
6 2
Transfer Functions
Transfer Functions

The transfer function of a system is

The transfer function of a system is
defined as the ratio of the
defined as the ratio of the
Laplace
Laplace
transform of the output variable to the
transform of the output variable to the
Laplace
Laplace
transform of the input variable
transform of the input variable
-
-
applies to a linear, stationary system
applies to a linear, stationary system
(a
(a
nonstationary
nonstationary
system has time
system has time
-
-
varying parameters)
varying parameters)
-
-
all initial conditions assumed to be zero
all initial conditions assumed to be zero
-
-
describes input
describes input
-
-
output dynamics
output dynamics
(not the systems internal structure).
(not the systems internal structure).
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DC Motor
DC Motor
-
-
Amplifier System
Amplifier System
(t)
(t)
v(t)
e(t),i(t)
(t),(t)
Motor torque
T(t)
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Electro
Electro
-
-
Mechanical System
Mechanical System
(t)
(t)
v(t)
e(t),i(t)
(t),(t)
T(t)

(t) = rotational position

(t) = rotational position

(t) = rotational velocity

(t) = rotational velocity
T(t) = motor torque
T(t) = motor torque
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Electro
Electro
-
-
Mechanical System
Mechanical System
i(t) = motor current
i(t) = motor current
e(t) = amplifier output voltage
e(t) = amplifier output voltage
v(t) = amplifier input voltage
v(t) = amplifier input voltage
J = motor inertia
J = motor inertia
K
K
t t
= torque constant
= torque constant
R = motor resistance
R = motor resistance
L = motor inductance
L = motor inductance
K
K
e e
= back emf constant
= back emf constant
K
K
v v
= tachometer gain
= tachometer gain
6 6
Motor
Motor
-
-
Amplifier Equations
Amplifier Equations
e(t) = Ri(t) + L
di(t)
dt
+ K
e
(t)
T(t) = K
t
i(t)
J
d(t)
dt
= T(t)
(t) =
d(t)
dt
e(t) = K
a
v(t) K
v
(t)
( )
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Transforms of Equations
Transforms of Equations
E(s) = RI(s) +LsI(s) + K
e
(s)
T(s) = K
t
I(s)
Js(s) = T(s)
(s) = s(s)
E(s) = K
a
V(s) K
v
(s)
( )
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System Transfer Function
System Transfer Function
Transform of System Model:
Transform of System Model:
LJs
3
K
t
+
RJs
2
K
t
+ K
e
+ K
a
Kv
( )
s








(s) = K
a
V(s)
(s)
V(s)
=
K
a
LJs
3
K
t
+
RJs
2
K
t
+ K
e
+ K
a
Kv
( )
s








System transfer function (output/input):
System transfer function (output/input):
The transfer function is valid of all inputs
The transfer function is valid of all inputs
(not just one specific input).
(not just one specific input).
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Nonlinear Tank System
Nonlinear Tank System
q
q
i i
(t
(t
)
)
q
q
0 0
(t)
(t)
h(t)
h(t)
Tank area = A
Tank area = A

(t)
(t)
Valve
Valve
Tank
Tank
Outlet
Outlet
flow
flow
Inlet
Inlet
flow
flow
q
0
(t) = k(t) h(t)
Nonlinear behavior of valve flow:
Nonlinear behavior of valve flow:
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Linearized Tank Model
Linearized Tank Model
q
o
(t) q
o
+ k h ((t) )
k
2 h
(h(t) h )
(q
o
(t) q
o
) k h ((t) )
k
2 h
(h(t) h )
q
o
(t) = k h (t)
k
2 h
h(t)
q
s
(t) = q
i
(t) q
o
(t) where q
i
= q
o
A
dh(t)
dt
q
i
(t) + k h (t)
k
2 h
h(t)
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Linearized Tank Model
Linearized Tank Model
AsH(s) = Q
i
(s) + k h (s)
k
2 h
H(s)
AsH(s) +
k
2 h
H(s) = Q
i
(s) + k h (s)
As +
k
2 h






H(s) = Q
i
(s) + k h (s)
H(s) =
1
As +
k
2 h






Q
i
(s) +
k h
As +
k
2 h






(s)
Output is a function of two inputs!
Output is a function of two inputs!
6 12
Tank Transfer Functions
Tank Transfer Functions
Relationship between h(t) and
Relationship between h(t) and

(t):
(t):
(q
(q
i i
(t) = 0)
(t) = 0)
H(s)
(s)
=
k h
As +
k
2 h






Relationship between h(t) and q
Relationship between h(t) and q
i i
(t):
(t):
(
(

(t) = 0)
(t) = 0)
H(s)
Q
i
(s)
=
1
As +
k
2 h