MATHEMATICAL MODELLING OF

ELECTROMECHANICAL SYSTEMS
• Armature control of dc servomotor : consider the armature controlled of dc servomotor, the field current is held constant, we have:
• 𝑅𝑎 = armature resistance (Ω)
• 𝐿𝑎 = Armature inductance (H)
• 𝑖𝑓 = field current (A)
• e𝑎 = applied armature voltage (V)
• 𝑒𝑏 = back emf (V)
• 𝜃 = angular displacement of the motor shaft (rad)
• T = torque developed by the motor (Nm)
• J = moment inertia of the motor and the load referred to the motor shaft (kg 𝑚2 )
• b = viscous coefficient of the motor and load referred to the motor shaft (Nm/rad/s)
• The torque can be written as :
T= 𝐾𝑓 𝑖𝑓 𝐾𝐼 𝑖𝑎 where 𝐾𝐼 and 𝐾𝑓 are constant ; 𝐾𝑓 𝑖𝑓 is the air gap flux
For a constant field, the flux becomes constant, therefore the torque becomes
directly proportional to the armature current, so
T= K𝑖𝑎
• When the armature is rotating, for a constant flux the induced voltage 𝑒𝑏 is directly
proprtional to the angular velocity, written as

• 𝑒𝑏 = 𝐾𝑏 𝑑𝜃
𝑑𝑡
; where 𝑒𝑏 is the back emf and 𝐾𝑏 is a back emf constant
• The differential equation for the armature circuit is written as
• 𝐿𝑎 𝑑𝑖𝑑𝑡𝑎 + 𝑅𝑎 𝑖𝑎 + 𝑒𝑏 = e𝑎
• The armature current procedures to the torque that is applied to the inertia and friction, hence
𝑑2 𝜃 𝑑𝜃
•J 𝑑𝑡 2
+b
𝑑𝑡
= T = K𝑖𝑎
• The back emf increases the effective damping of the system may be rewritten as

This is the laplace function from the equation before and the transfer function for the dc
servomotor, where
𝐾
• 𝐾𝑚 =
𝑅𝑎 𝑏+𝐾𝐾𝑏
= motor gain constant

𝑅𝑎 𝐽
• 𝑇𝑚 =
𝑅𝑎 𝑏+𝐾𝐾𝑏
= motor time constant
GEAR TRAIN

• Gear train are frequently used in mechanical system to reduce speed, to

magnfiy torque, or to obtain the most efficient power transfer by matching the
drving member to the given load.
• As seen on the figure, if the radian of gear 1 and gear 2 are r1 and r2, and
the numbers of teeth on gear 1 and gear 2 are n1 and n2 respectively then

• 𝑟𝑟1 = 𝑛𝑛1
2 2

• Because the surface speeds at the point must be identical, we have

𝑟1 𝜔1 = 𝑟2 𝜔2
• Therefore we can get
𝑟1 𝑛1 𝜔2
= =
𝑟2 𝑛2 𝜔1

Then, if the torque applied, we get

𝑇1 𝜔1 = 𝑇2 𝜔2