Control Engineering

Sec 2

Mathematical Modeling of
Mechanical Systems
 Mechanical Systems
➢ Modeling and simulation are methods for getting information about
how the interaction of the parts of a system with the whole system
without actually testing it in real life.
➢ Mechanical systems can be either:
❑ Translational Mechanical Systems (Linear Motion)
❑ Rotational Mechanical Systems (Rotational Motion)

Linear Motion Rotational Motion

 Basic Elements of Translational Mechanical Systems
➢ Translational systems analysis is based on Newton’s second law
σ 𝑭 = 𝒎𝒂 where (m) is body mass and (a) is acceleration of body
 Translational Spring
➢ A translational spring is an elastic element that stores mechanical
energy, and it can be deformed by an external force.
➢ Hooke's Law states that the force needed to compress or extend a
spring is directly proportional to the displacement caused by this force
with a direction opposite to the direction of displacement.
➢ Hooke's Law can be represented by this equation (F = k * x) where:
❑ F is the force that affects on the spring
❑ x is the displacement caused by the force F.
❑ k is the rate, spring constant, force constant or stiffness of the spring
(N/m)
❑ k is a positive real number and depends on the spring's material and
construction.
 Translational Spring in Parallel
➢ If F is the applied force on this spring.

x1
x2

➢ 𝑋1 is the displacement if 𝑋2 = 0 Or (𝑋1 − 𝑋2 ) is the displacement if

𝑋2 ≠ 0.
Parallel
 Translational Spring in Series

Series
 Translational Dashpot
➢ A dashpot is a mechanical device consists of a piston that moves in a
closed cylinder through a viscous fluid to resist motion via viscous
friction.
➢ The force needed to move a piston in a closed cylinder through a
viscous fluid (Damping force) is proportional to the velocity of the
piston with a direction opposite to the direction of motion.
➢ The damping force (F) can be represented by this equation
(𝐅 = 𝐛 ∗ 𝐯 = 𝐛 ∗ 𝐱 . ) or (𝐅 = 𝐛 ∗ 𝐯 = 𝐛 ∗ (𝐱𝟏. −𝒙𝟐. ) .

❑ b is damping coefficient (𝑁/𝑚𝑠 −1 ).

❑ v the velocity of the piston.
Translational Dashpot in Parallel

𝑭 = 𝒃𝒆𝒒 ∗ 𝒙.

𝑭 = (𝒃𝟏 + 𝒃𝟐 ) ∗ 𝒙.
Translational Dashpot in Series

𝑭 = 𝒃𝒆𝒒 ∗ 𝒙.

𝒃𝟏 𝒃𝟐
𝑭= ∗ 𝒙.
𝒃𝟏 + 𝒃𝟐
 Translational Mass

➢ There is no mechanical system without mass.

➢ If a force F is applied to a mechanical body and it is displaced to x
meters, the relation between the force and the displacement is given
by Newton’s second law. σ 𝑭 = 𝒎𝒂 = 𝒎𝒙.. where (m) is body mass
and (a) is acceleration of body.
➢ The bigger the mass the greater the force required to give it a specific
acceleration.
 Rotational Mechanical Systems

Basic Elements of Rotational Mechanical Systems

Rotational Dashpot Rotational Spring Moment of Inertia

C 1 
1
2 2 J T
T

T = C (1 − 2 ) T = k (1 −  2 ) T = J

❑ J is the moment of inertia of the load [kg.𝒎𝟐 ].

❑ b is the viscous (friction) coefficient [Newton / (rad /sec)].
❑ ω is the angular velocity [rad / sec].
❑ T is the torque applied to the system [Newton.m].
 Example 1
➢ Consider the spring-mass-dashpot system mounted on a massless cart
Example 2