Transfer function and state space model are developed for torque applied on a mass through gear train.
|(output)||θ1(t)||=||top gear angle||unknowns|
|τ2(t)||=||torque on mass due to τ1|
|θ2(t)||=||mass rotational position|
|r1||=||top gear radius|
|r2||=||bottom gear radius|
3 unknowns so 3 equations are needed. During the process of formulating these equations, a new unknown variable, f(t), is introduced; therefore, a total of 4 equations are prepared.
Laplace transform (eq. 1), (eq. 2), (eq. 3), (eq. 4):
Solve for the 4 unknowns:
Transfer functions for block diagram is derived using Laplace equations from previous section:
When a mass is present in a system, its position and velocity are commonly chosen as state variables. Similarly for the rotational case, angle and angular velocity are chosen for state variables. It can also be noted that applied torque (input), angle, and angular velocity are sufficient to determine this system's future angle (output). This confirms the selected state variables are valid for this system.
Rewrite (eq. 1), (eq. 2), (eq. 3), (eq. 4) in these new notations:
Rearrange equations to express ẋ(t) and y(t) in terms of x(t) and u(t):
Rearrange in matrix format: