Department of Mechanical & Aerospace Engineering

System Dynamics Lab–MECH 450

Spring 2024

Experiment 1: Mechanical System

(DC Motor)
Lab Assignment # 2: Finding the
Transfer Function
Section: 51

Students’ Names IDs Grade

Shahad Albedwawi 201904439

201700430
Mahaba Alteneiji
201804597
Mouza Alameri
201808014
Sara Alblooshi

Submitted to:
Eng. Rihab K. Hamza
Date of Submission: 15/2/2024
MECH 450 Laboratory Assignment 1 2/15

Table of Contents
1) What is a Mathematical modelling? and why needed? ...................................................... 3
2) Obtaining the modeling equation of the DC motor system described above using first
principles. Draw free body diagram for all sub systems to show your work. .............................. 4
3) Then, Take Laplace to find the Transfer function of the speed of the DC motor system that
related the output of the system (ωo) to the input of the system vin (the motor Volt). Which
order is your system? .................................................................................................................. 6
4) Finding the analytical solution of the system and using the analytical solution to suggest a
procedure for finding the open loop gain Ko and the time constant τ. ...................................... 7
5) What is a step response? How can be implemented? What is the range of possible
voltage for the step? .................................................................................................................... 8
6) Give full details of the LabVIEW program used to conduct an experimental open loop step
response in the real system and recording the process response. Explain how the program
works. ........................................................................................................................................ 10
7) Arranging the data collected to represent a step response of an incremental system by
shifting the data to start from zero. Plot the graphs and use it to find the system gain Ko and
time constant from each graph and take the average. (Show the 3 plots for the different step
response conducted at the Lab. Must show your work on the graph). .................................... 12
8) Now write the Transfer function of your system in terms of the angular speed and motor
voltage with the known parameters. ........................................................................................ 15

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MECH 450 Laboratory Assignment 1 3/15

The below schematic diagram is a model for a geared DC motor. The gearbox has a gear
ratio N, and connects the motor shaft to the output shaft. The motor shaft, which
includes the motor armature, has mass moments of inertia Jm and a friction-damping
coefficient Bm, while the output shaft includes the external load and has a mass
moments of inertia Jo and a friction-damping coefficient Bo. The armature circuit model
is also shown in the figure and has a resistance R and a back emf constant Kb. The
angular velocities of the motor shaft and the output shaft ωn and ωo are positive in the
direction shown.

1) What is a Mathematical modelling? and why needed?

Mathematical modeling is a process that uses math concepts to explain systems functions. The
control systems can be represented with a set of mathematical equations known as mathematical
model. These models are useful for analysis and design of control systems. Analysis of control
system means finding the output when we know the input and mathematical model. moreover,
design of control system means finding the mathematical model when we know the input and the
output. Also we can know the order of the system theoretically and find parameters of function
like the gain, k_° and time constant to find system step response. Differential equation model,
Transfer function model and State space model are mathematical models are mostly used.

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MECH 450 Laboratory Assignment 1 4/15

2) Obtaining the modeling equation of the DC motor system described

above using first principles. Draw free body diagram for all sub
systems to show your work.

To find transfer function for the system getting the mathematical model as first
step. In our system have electrical model and a mechanical model.

The mathematical symbols and explain that will be used:

𝑉a = input voltage to the motor. K = constant value

𝑉𝑏 = back emf voltage T = applied Torque
𝑅𝑎= resistance 𝐾e= back emf constant
𝐼𝑎 = current in the armature b = viscous friction constant for the
motor ϴ = Position of the motor J = moment of inertia
𝐿𝑎 = inductance 𝐾𝑡= motor torque constant

Electrical Model system:

• Apply KVL:
∑𝑉 = 0
𝑉𝑖𝑛 = + + 𝑉𝐵 1

𝑉𝑖𝑛 = 𝑉𝑅 + 𝑉𝐵
𝑉𝑖 = 𝑖𝑎𝑅𝑎 + 𝐾𝑒𝜔𝑚 2

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MECH 450 Laboratory Assignment 1 5/15

Mechanical Model system:

∑ 𝐽𝛼 = 𝝉

𝜏𝑚 − 𝜏𝜊 − 𝑏𝑚 𝜔𝑚 = 𝐽𝑚 𝜔̇ 𝑚 3

𝑁𝜏𝜊 − 𝑏𝜊 𝜔𝜊 = 𝐽𝜊 𝜔̇ 𝜊 4

𝑏𝑜𝜔𝑜+𝐽𝑜𝜔̇𝑜 5
𝜏𝑜 =
𝑁

Substituting in equation (3) to get :

𝑏𝑜𝜔𝑜+𝐽𝑜𝜔̇ 𝑜
𝜏𝑚 − 𝑁
− 𝑏𝑚𝜔𝑚 = 𝐽𝑚𝜔̇𝑚 6

To solve for output angular speed 𝜔𝑚, Since 𝜏𝑚 = 𝐾𝑡𝑖𝑎and 𝜔𝑚 = 𝑁𝜔̇ 𝑜, so:
𝑏𝑜𝜔𝑜+𝐽𝑜𝜔̇ 0
𝑘𝑡 𝑖𝑎 − − 𝑏𝑚 𝜔𝑚 = 𝐽𝑚 𝜔̇ 𝑚 7
𝑁

Rewrite equation (7) in terms of current:

𝑏𝑜𝜔𝑜+𝐽𝑜𝜔̇0 1
𝑖𝑎 = + (𝑏𝑚 𝑁𝜔𝑚 + 𝐽𝑚 𝑁𝜔̇ 𝑜) ( ) 8
𝑁 𝑘𝑡

Substitute equation (8) in the electric equation (2)

𝑉𝑖𝑛 = 𝑖𝑎𝑅𝑎 + 𝐾𝑒𝜔𝑚

𝑏𝑜𝜔𝑜 + 𝐽𝑜𝜔̇0 1
𝑉𝑖𝑛 = + (𝑏𝑚 𝑁𝜔𝜊 + 𝐽𝑚 𝑁𝜔̇ 𝑜) ( ) 𝑅𝑎 + 𝐾𝑒𝑁𝜔𝑜 9
𝑁 𝑘𝑡

Then by multiplying above equation by 𝐾𝑡:

𝑏𝑜𝜔𝑜+𝐽𝑜𝜔̇ 0
𝑉𝑖𝑛 =(
𝑁
+ (𝑏𝑚 𝑁𝜔𝜊 + 𝐽𝑚 𝑁𝜔̇ 𝑜)) + 𝑅𝑎 + 𝐾𝑒𝑁𝜔𝑜 10

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MECH 450 Laboratory Assignment 1 6/15

Rewrite equation (10) letting𝐾𝑡 = 𝐾𝑜:

𝐾𝑡𝑉𝑖𝑛 = (𝐽𝑚𝑁𝑅𝑎 +( 𝐽o/𝑁)𝑅𝑎) 𝑎𝑛𝑑 1 = ((𝑏o/𝑁)𝑅𝑎 + 𝑅𝑎𝑏𝑚𝑁+𝜔̇o)𝑅𝑎 + 𝐾𝑒𝐾𝑡𝑁𝜔𝑜

𝐾𝑜 𝑉𝑖𝑛 = 𝜏𝜔̇o + 𝜔o

𝜏 = 𝐽𝑚𝑁𝑅𝑎 +( 𝐽o/𝑁)𝑅𝑎 and 1 = ((𝑏o/𝑁)𝑅𝑎 + 𝑅𝑎𝑏𝑚𝑁 + 𝐾𝑒𝐾𝑡𝑁)

applying the Laplace Transform for equation 9 we will get the speed transfer
function equation
𝐾𝑜 𝜔(𝑠)
𝐺(𝑠) = = 11
𝜏𝑠 + 1 𝑣𝑖𝑛

3) Then, Take Laplace to find the Transfer function of the speed of the
DC motor system that related the output of the system (ωo) to the
input of the system vin (the motor Volt). Which order is your system?

𝐾𝑜 𝑉𝑖𝑛 = 𝜏𝜔𝑜̇ + 𝜔𝑜

Laplace Transform:

𝐿{𝑓 ′ (𝑡)} = 𝑠𝐿{𝑓(𝑡)} − 𝑓(0) → 𝐾𝑜 𝑉𝑖𝑛 (𝑠) = 𝜏𝑠(𝜔𝑜 (𝑠)) + 𝜔𝑜 (𝑠)

𝜔𝑜 (𝑠) 𝐾𝑜
→ 𝐾𝑜 𝑉𝑖𝑛 (𝑠) = (𝜏𝑠 + 1)𝜔𝑜 (𝑠) → =
𝑉𝑖𝑛 (𝑠) 𝜏𝑠 + 1
Jo
τ = Jm NR a ( ) R a
N

Our system is a first order system.

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MECH 450 Laboratory Assignment 1 7/15

4) Finding the analytical solution of the system and using the analytical
solution to suggest a procedure for finding the open loop gain Ko and
the time constant τ.

Transfer Function:
𝜔𝑜 (𝑠) 𝐾𝑜 𝐾𝑜
𝐺(𝑠) = = → 𝜔𝑜 (𝑠) = × 𝑉𝑖𝑛 (𝑠)
𝑉𝑖𝑛 (𝑠) 𝜏𝑠 + 1 𝜏𝑠 + 1

Add a step input:

𝐾𝑜 𝐴
𝜔(𝑠) = ×
𝜏𝑠 + 1 𝑠
Partial fraction expansion:
𝐵 𝐶
𝜔(𝑠) = × → 𝐵𝑠 + 𝐶(𝜏𝑠 + 1) = 𝐴
𝜏𝑠 + 1 𝑠
1
𝑠=− → 𝐵 = −𝐴𝐾𝑜 𝜏 | 𝑠 = 0 → 𝐶 = 𝐴𝐾𝑜
𝜏
𝐴𝐾𝑜 𝜏 𝐴𝐾𝑜 𝐴𝐾𝑜 𝜏 𝐴𝐾𝑜
𝜔(𝑠) = − + =− +
𝜏𝑠 + 1 𝑠 1 𝑠
𝑠+𝜏

Inverse Laplace Transform:

1 1
𝐿−1 {𝜔(𝑠)} = −𝐴𝐾𝑜 𝑒 −𝜏 𝑡 + 𝐴𝐾𝑜 → 𝜔(𝑡) = 𝐴𝐾𝑜 (1 − 𝑒 −𝜏 𝑡 )

Steady state means 𝑡 → ∞:

𝜔(∞)
𝜔(𝑡) = 𝐴𝐾𝑜 (1 − 0) = 𝐴𝐾𝑜 → 𝐾𝑜 =
𝐴
Time constant = 63% of the final value:

𝜔(𝑡) = 𝐴𝐾𝑜 (1 − 𝑒 −1 ) → 𝜔(𝑡) = 0.63𝐴𝐾𝑜

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MECH 450 Laboratory Assignment 1 8/15

5) What is a step response? How can be implemented? What is the

range of possible voltage for the step?

In the context of finding the transfer function of a system, a step response refers to the
reaction of the system to an instantaneous change or step input in its input signal. This
input change is typically a sudden transition from one steady-state value to another.The
step response provides valuable information about the system's dynamic behavior, such
as its settling time, overshoot, and stability. By analyzing the step response, engineers
can deduce important system characteristics and parameters, which are essential for
deriving the system's transfer function. During a step response experiment, the input
signal is abruptly changed, and the system's output response is observed over time until
it reaches a new steady-state condition. This observed response data is then used to
construct plots and analyze the system's behavior, ultimately leading to the
determination of its transfer function.

Implementing a step response experimentally typically involves applying a step input to

the system and observing its output over time. This can be done in various ways
depending on the nature of the system under study. For this task, the LABVIEW program
was utilized to convert the motor's speed input voltage to degrees per second. Initially,
on the front page, the input voltage for the motor speed was entered, and the
corresponding output response was received. A numeric control icon was employed to
input the motor speed in voltage, which was then sent through the output DAQ assist
and amplified by a factor of 2 to drive the motor. A numeric indicator was used to
display the numeric data of the motor speed in degrees per second on the front panel.
Additionally, a waveform graph was utilized to display one or more plots of evenly
sampled measurements. Moving to the block diagram, the code was generated. A while
loop icon was selected, serving as a structure to execute a block of code repeatedly until
a given condition is met. The LabVIEW program's graphical source code was
incorporated. Finally, a stop button was implemented, appearing on the block diagram
and wired to the conditional terminal on the front page. In the block diagram, the output
option DAQ Assistant icon, which serves as a graphical interface for configuring
measurement tasks and channels and customizing scales, was utilized. Signals were
selected to generate, with the voltage analog output chosen. The supported physical
channel, a0, indicated that it would receive the output motor speed in voltage,
completing the connection between the motor and the DAQ. The generation mode was
set to one sample on demand. A second DAQ Assistant icon was selected, this time from
the input option, and the acquire signals and voltage analog input buttons were clicked.
The supported physical channel was again a0, signifying it would receive the input motor
speed in degrees per second. The generation mode was set to continuous sample. In the
block diagram, a multiply icon was used to multiply the data from the DAQ by our
system's tachometer gain, which was 35.6, to obtain the angular speed in degrees per
second. The multiply operation was then connected to the DAQ, with the output speed

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MECH 450 Laboratory Assignment 1 9/15

connected to the other side. A write measurement file icon was employed to save the
data in an Excel sheet. Specifying the file's location, such as the desktop, was crucial. The
append to file option was selected to ensure all readings were saved in a single file, and
it was linked using the input motor voltage and the output velocity.

The range of possible voltage for the step response in finding the transfer function
depends on the specific characteristics of the system being studied. In the provided
scenario, three trials were conducted with varying voltage ranges:

1. The first trial ranged from 3 to 10 volts.

2. The second trial ranged from 4 to 6 volts.

3. The third trial ranged from 6 to 8 volts.

These voltage ranges were selected to observe the system's response across different
input levels and to ensure that the step response adequately captures the system's
dynamics. However, the actual range of possible voltage inputs could vary depending on
factors such as the motor's specifications, system constraints, and experimental
objectives.

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MECH 450 Laboratory Assignment 1 10/15

6) Give full details of the LabVIEW program used to conduct an

experimental open loop step response in the real system and
recording the process response. Explain how the program works.

The research utilized LABVIEW software to translate the motor speed's input voltage into
degrees per second. Initially, users input the desired speed and observe the response on
the main page. The input, facilitated by a numeric control icon, is sent through the
output DAQ assist and amplified to initiate motor action. Subsequently, the front panel
displays numeric data indicating the motor speed in degrees per second. Additionally, a
waveform graph is employed to visualize one or more plots of evenly sampled
measurements. Afterwards, the code was generated within the block diagram. Moreover,
the "while loop" icon was selected, serving as a framework to continuously execute a
single line of code until meeting a predetermined condition. Subsequently, the graphical
source code of the LabVIEW program was integrated. Ultimately, the "stop button" in the
block diagram was connected to the conditional terminal. Within the block diagram, the
output functionality (represented by the DAQ Assistant icon) was employed. This
interface allows users to define measurement tasks, specify channels, and adjust scales.
Subsequently, signals to be generated were selected, including the voltage analog
output. The physical channel supported for this purpose was designated as a0, indicating
its role in receiving the voltage output for motor speed. With this configuration, the
connection between the motor and the DAQ was successfully established. Additionally,
the generation mode was configured to single sample on demand. Subsequently, a
second DAQ Assistant icon was selected, this time from the input menu, and signals were
acquired by pressing the voltage analog input buttons. The physical channel supported
for this task was also a0, signifying its role in receiving the input motor speed in degrees
per second. Moreover, the generation mode was adjusted to continuous sample. In the
block diagram, the data retrieved from the DAQ was multiplied by the tachometer gain
of our system using the multiplication icon. This process aimed to derive the angular
speed in degrees per second. Subsequently, the multiplication operation was connected
to the DAQ, and the resulting output speed was linked to the opposite side. For each
trial, starting from 3 to 10 volts, the system was allowed to reach a constant angular
speed before stopping the program and storing the values in an Excel file. Subsequently,
trials were conducted from 4 to 6 volts and finally from 6 to 8 volts. To save our data in
an Excel sheet, we employed the "Write measurement file" icon. It's essential to specify
the file's location, such as the desktop. Following that, we selected "add to file" to store
all readings in a single file. This was then connected with the input motor voltage and
output velocity. After recording the step response data for each trial, graphs will be
generated using the LabVIEW data. Finally, the final transfer function will be calculated
by averaging the gain and time constant.

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MECH 450 Laboratory Assignment 1 11/15

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MECH 450 Laboratory Assignment 1 12/15

7) Arranging the data collected to represent a step response of an

incremental system by shifting the data to start from zero. Plot the
graphs and use it to find the system gain Ko and time constant 𝜏 from
each graph and take the average. (Show the 3 plots for the different
step response conducted at the Lab. Must show your work on the
graph).

The positional transfer function can be derived from the speed equation, as position is
the integral of speed. This equation represents a first-order transfer function, where 𝑘𝑜
represents the motor's open-loop steady-state gain and τ represents the time constant.

(3-10) motor speed data

249.21
𝐾= = 35.6
(10 − 3)
63% ∗ 249.2 = 156.996
𝑎𝑡 𝑦 = 156.996 , 𝑥 = 3.7 (𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)
𝑤 35.61
𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑎𝑡𝑖𝑜𝑛 ∶ =
𝑉𝑛 3.5𝑠 + 1

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MECH 450 Laboratory Assignment 1 13/15

(4-6) motor speed data

79.68
𝐾= = 39.84
(6 − 4)
63% ∗ 79.68 = 50.1984
𝑎𝑡 𝑦 = 50.1984 , 𝑥 = 4.1 (𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)
𝑤 39.84
𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑎𝑡𝑖𝑜𝑛 ∶ =
𝑉𝑛 4.1𝑠 + 1

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MECH 450 Laboratory Assignment 1 14/15

(6-8) motor speed data

68.29
𝐾𝑔𝑎𝑖𝑛` = = 34.143
(8 − 6)
63% ∗ 68.29 = 43.145
𝑎𝑡 𝑦 = 43.145, 𝑥 = 3.8 (𝑡𝑖𝑚𝑒 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)
𝑤 34.143
𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑓𝑢𝑛𝑐𝑎𝑡𝑖𝑜𝑛 ∶ =
𝑉𝑛 3.8𝑠 + 1

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MECH 450 Laboratory Assignment 1 15/15

8) Now write the Transfer function of your system in terms of the

angular speed and motor voltage with the known parameters.

Average value of Ko

35.6 + 39.84 + 34.143

𝐾𝑜.𝑎𝑣𝑔 = = 36.52
3
Average value of 𝝉

3.7 + 3.8 + 4.1

𝜏𝑎𝑣𝑔 = = 3.86
3

The transfer function of the system

𝑊𝑂 (𝑠) 𝐾𝑜,𝑎𝑣𝑔 36.52
𝐺(𝑆) = = =
𝑉𝑖𝑛 (𝑠) 𝜏𝑎𝑣𝑔 𝑠 + 1 3.86 𝑠 + 1

After analyzing the data gathered in the Excel file, the time constant and open-loop gain
were determined to finalize the transfer function. The data indicated a time constant of
under 4 seconds, illustrating the system's rapid response. Furthermore, the positive trend
in open-loop gain reflected a gradual increase in speed. It's worth noting that variations
in trial values may occur due to human reading errors or environmental factors such as
friction and vibration, which could potentially destabilize the system. Additionally,
oscillations observed in the graphs might be attributed to motor friction. Addressing this
issue and enhancing system response could involve transitioning from an open-loop to a
closed-loop system with feedback mechanisms.

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