Concept Of Transfer function:

Selected Selection Of System Output

Input Parameters

• In any system ,first the system parameters are designed and their values
are selected as per the requirements.

• The input is selected next to see the performance of the design system.

• Effect of system parameters = output

Input

• Mathematically such a function explaining the effect of system parameters

on input to produce output is called Transfer function.
 Definition of Transfer Function

R(s) C(s)
T(s)

• Mathematically it defined as the ratio of Laplace transform of output of

the system to the Laplace transform of input under the assumption that all
initial condition are zero.

• T(s)= Laplace transform of the output = C(s)

Laplace transform of the input R(s)
 Advantages:
• Individual analysis of various components is possible by the transfer
function approach.
• As it uses a Laplace's approach, it converts time domain equations
to simple algebraic equation.
•It suggests operational method of expressing equations which relate
output to input.
•Once transfer function is known, output response for any type of
reference input can be calculated.

Disadvantages:
•Only applicable to Linear Time Invariant system.
•It does not provide any information concerning the
physical structure of the system. i.e. whether it is
mechanical or electrical cannot be judged.
•Effects arising due to initial conditions are totally
neglected.
 Procedure to determine the transfer function
of a system:
•Write down the time domain equations for the system by introducing
different variables in the system.

•Take the Laplace transform of the system equation assuming all initial
conditions to be zero.

•Identify the system input and output variables.

•Eliminating the introduced variables, get the resultant equation in

terms of input and output variables.

•Take the ratio of Laplace transform of output variable to Laplace

transform of input variable to get the transfer function model of the
system.
Transfer function of separately excited D.C.Motor

Electro Mechanical System

R a = Armature Resistance ,Ω
L a=Armature inductance, H
I a = Armature current, A
Va =Armature Voltage, V
R f = Field Resistance ,Ω
L f = Field inductance, H
I f = Field current, A
Vf = Field Voltage, V
eb = Back E.M.F, V
K t = Torque constant, N-m/A
T = Torque Developed by motor, N-M
ω = Angular displacement of shaft,
radians
J = Moment of inertia, Kg-m²/rad
B= Frictional Co-Efficient of motor
and load, N-M (rad/Sec)
K b = Back E.M.F constant, V (rad/sec)
Equivalent circuit of armature ( field excitation kept constant)

The differential equation governing

the mechanical system is given by
By kvl, we can write :
Jd2ω/d2t+ B dω / dt…….(3)
ia Ra + La d(Ia ) + eb = Va …….(1)
dt The back emf of d.c.motor

Torque of d.c motor is eb is proportional to dω/dt

proportional to the product of eb=kb dω….(4)
flux and current . Since the
flux is constant in this system dt
, the torque is proportional to By taking laplace transform of
ia alone. equation (1),(2),(3)&(4)

T is proportional to Ф ia
Torque (T) =Kt ia……(2)
ia(s)Ra+La(s) + eb(s) =Va(s)……….(5)

T(s) = kt . ia(s)…………………………..(6)

Js2 ω(s) + B s ω(s) = T(s) )………….(7)

eb (s) = Kb s ω(s)………………….....(8)

La
Ra = ĩa = Electrical time constant

J
B = ĩm = mechanical time constant
 Transfer function of separately excited D.C.Motor

Generalized theory system

The generalized mathematical model

is as shown in fig above. The voltage
QR= Armature coil = A , rqs = ra , Lqs =
equations for this model can be writtenLa
as
ds DS= Field coil = F , rds = rf , Lds = Lf
Vds Rdsqr
+ Lds ids
ds
Vqr
=
qr iqr Md = Mutual inductance between coil DS
Rqr + Lqr P & QR
Md ω r

ωr = Speed in radians/sec
General Torque Convention
After substituting the equivalent
parameters we get
Vf= (rf+Lfp)if  (2)
Vt=Mdωr if+ (ra+Lap)ia  (2)

Torque Equations

Tm=mechanical torque of the machine results in the rotation of shaft in

the reference positive direction for ωr.
Te=electromagnetic torque of the machine results in the rotation of shaft
in the reference positive direction ωr.
These torques have to overcome inertia and damping torques as shown
in figure
Te+Tm=Jpωr+D ωr
TL= load torque, causes the torque to flow out of the machine at positive
speed.
TL= -Tm
Equation
Te=Jp ωr+D ωr+TL
J=polar moment of inertia of motot and load in kgm2
For obtaining Transfer function

Here the armature voltage control with constant field excitation is

considered. Since the field current is constant if is replaced by If .The
transfer function relating the speed ωr & armature terminal voltage vt
can be obtained from equations 2&3. From equation 3&2 friction torque
Dωr , Load torque TL & Armature inductance La are neglected for
simplicity. So equations reduces to:

Vt=Md ωrIf+ra Ia

MdIfia=Jp ωr

Vt=km ωr+raia (4)

Kmia=Jpωr (5)

elimination of ia from the equation we get

 The transfer function in s-domian

Finally block diagram of d.c. separately excited motor

Transfer function of separately excited D.C.Generator

Electro Mechanical System Consider a separately excited generator

Rf = field resistane in ,ohms

Lf = field inductance in H.
Vf =applied voltage in V.
Ea = generated voltage in V.
For a generator
Ea = ФZNP
60A

Ea proportional to Ф
Ea proportional to if
Let Ka be the generator constant so,
Ea = Ka if --------(1)
By KVL to field circuit
Vf=if.Rf+Lf d(if/dt)-------- (2)
Taking Laplace Transform both equations (1) & ( 2)
Ea(s) = Ka.If (s)
Vf(s)= RfIf(s)+Lf(s). If(s)

If(s)= vf(s)
Rf+sLf

Ea(s)=Ka.Vf(s)
Rf+sLf

Ea(s) = Ka
Vf(s) (Rf+sLf)
 Transfer function of separately excited D.C.Generator
Generalized theory system

The generalized mathematical model QR= Armature coil = A , rqs = ra , Lqs =

is as shown in fig above. The voltage
equations for this model can be written
La
as
ds DS= Field coil = F , rds = rf , Lds = Lf
Vds Rdsqr+Lds Ids
=
ds (1 Md = Mutual inductance between coil DS
Vqr qr iqr
Rqr + Lqr P ) & QR
Md ω
ωr = Speed in radians/sec
r
 No load operation: ia = 0
On load operation: iqr = -ia

For a load impedance(RL+Lfp) of

armature

Transfer function in s-domain is

The armature current in s- domain

Block diagram of no-load operation

Block diagram of on-load operation