MECHATRONICS

MECHANICAL SYSTEM MODEL

PUSHPARAJ MANI PATHAK
MECHANICAL & INDUSTRIAL ENGINEERING, IIT ROORKEE

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Mathematical Models

• Think of starting of a motor- motor will not get desired speed

immediately
• Filling of a water tank-water will not be filled immediately
• To understand the behaviour of system mathematical models
are needed.
• Mathematical models are equations which describe the
relationship between the input and output of a system.
• System can be made by using building blocks.

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• Each building block can be assumed to have single property or
function.
• By combing building blocks in different ways a variety of
systems can be built up.
• A system built-up in this way is called lumped parameter
system.

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Mechanical System Building Blocks

• The models which represent mechanical systems have

springs, dampers and masses as basic building blocks.
• Springs: They represent stiffness of a system
• Dampers: They represents the forces opposing the motion
• Masses: They represent the inertia or resistance to
acceleration

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• Any mechanical system does not to be made of springs,
dampers and masses.
• But it should have the properties of stiffness, damping and
inertia example: modelling of water tank.
• The building blocks having stiffness, damping and inertia can
be considered to have force as input and displacement as
output.

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Spring
• The stiffness of a spring is defined by the Force F
relationship between the force F that can
extend or compress a spring and the
resulting extension or compression x.
Change in length x
• For a linear spring F = kx
• k is here a constant or stiffness
Input Output
• Higher value of k implies greater force have F
Spring
x
to be applied to stretch or compress the
spring for given displacement.
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Damper
Fluid
• This building block represents the types Resist
of forces felt when one tries to push an ance
object through fluid or move against
frictional forces. Change in
position x
• Faster the object is pushed greater is the
resisting force. Input Output
Damper
• The damper which is used to represent F x
damping forces consist of a piston moving 𝑑𝑥
𝐹=𝑐
in a closed cylinder. 𝑑𝑡

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• When the piston is moved the fluid on other side tries to flow
through or past the friction
• This flow produces the resistive force.
• Ideally this damping force is proportional to the velocity of
the piston i.e. F = cv, where c is a constant.
𝑑𝑥
• Since velocity is rate of change of displacement x, 𝐹 = 𝑐 ,
𝑑𝑡
thus the relationship between output(x) and input (F)
depends on the rate of change of output.

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Mass

Force F Acceleration
• This building block shows the Mass

property that bigger is the mass,

greater will be the force required to
give a specific acceleration. Change in
displacement x
• The relationship between force and
acceleration comes from Newton’s Input Output
Mass
second law F = ma, where m is the F x
constant of proportionality. 𝑑2 𝑥
𝐹 = 𝑚𝑎 = 𝑚 2
𝑑𝑡

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Energy/Power

• Energy is required to stretch a spring, accelerate a mass and

move the piston inside a damper.
• In case of spring and mass energy is stored whereas in case of
damper it is dissipated.
• The spring when stretched stores energy. This energy is
released when spring come back to its original length.
• Energy stored in a spring for an extension x in it is given by
1 2 1 𝐹2
𝐸 = 𝑘𝑥 = (Since F= kx )
2 2 𝑘

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• Energy is stored in the mass when it is moving with a velocity
v. This energy is called kinetic energy.
• This energy is released when the mass stops moving.
1
• The kinetic energy of the mass is given by 𝐸 = 𝑚𝑣 2
2
• Energy is dissipated in a damper. It does not returns to
original position when input force is removed.
• The power dissipated depends on velocity and is given by
𝑃 = 𝐹𝑣 = 𝑐𝑣 2

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Rotational Systems

• In case of rotational systems the three basic building blocks

are torsional spring, a rotary damper and the moment of
inertia.
• In these building blocks input are torques and outputs are
angle rotated.
• For a torsional spring, the angle rotated (𝜃)is proportional to
the torque (𝜏) i.e.,
𝜏 = 𝑘𝜃, where k is torsional stiffness of spring.

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• For a rotary damper, a disc is rotated in a fluid and the resistive
torque (𝜏)is proportional to the angular velocity 𝜔. Or
𝑑𝜃
𝜏 = 𝑐𝜔 = 𝑐
𝑑𝑡
• The moment of inertia building block shows the property that
greater the moment of inertia I, more the torque required to
produce the required angular acceleration (𝛼) i.e.,
𝑑𝜔 𝑑2𝜃
𝜏 = 𝐼𝛼 = 𝐼 =𝐼 2
𝑑𝑡 𝑑𝑡
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Energy/Power

• In case of rotary system, torsional spring and rotating mass

stores energy whereas rotary damper dissipates energy.
• The energy stored by a torsional spring when it is twisted by
an angle 𝜃 is given by
1 1 𝜏2
𝐸= 𝑘𝜃 2 = ( Since 𝜏 = 𝑘𝜃)
2 2 𝑘

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• The energy stored by a mass of moment of inertia I, when
rotating with an angular velocity 𝜔 is given by
1 2
𝐸 = 𝐼𝜔
2
• This is called kinetic energy for rotary motion.
• The power dissipated by a rotary damper when it is rotating
with an angular velocity 𝜔 is given by
𝑃 = 𝜏𝜔 = 𝑐𝜔2 (Since 𝜏 = 𝑐𝜔)

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Building up a Mechanical System
Force due 𝑥
to spring
Force due to spring (𝑘𝑥)

Mass F Mass F
𝑑𝑥
Force due to damper (𝑐 )
𝑑𝑡

Force due
to damper Free-body diagram

𝑑𝑥 𝑑2 𝑥
Spring–mass-damper 𝐹 − 𝑘𝑥 −𝑐 = 𝑚 2
𝑑𝑡 𝑑𝑡
system
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 Building up a Mechanical System
Force due
to spring
𝑑𝑥 𝑑2 𝑥
𝐹 − 𝑘𝑥 −𝑐 = 𝑚 2
𝑑𝑡 𝑑𝑡
Mass F
𝑑2 𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 = 𝐹
𝑑𝑡 𝑑𝑡
Force due
to damper • This Eq gives relationship between
Spring–mass-damper system input force F and output
Spring displacement x
Input mass Output • It is a 2nd order differential
damper
F
system
x equation
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Examples Output, displacement
Output,
displacement Mass
of car

Suspension
Mass

Mass of
suspens- The car chassis as a
ion result of a wheel
Ground
moving along a road
Input, Force
Model for a machine mounted
Road
on the ground Input, Force
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Two Degree of Freedom System
x1 x2
k1 k2 k3
m1 m2

k 1 x1 k2 (x2 – x1) k3x2

k2 (x1 - x2) m2
m1

𝑚1 𝑥ሷ 1 = − 𝑥1 − 𝑥2 𝑘2 − 𝑘1 𝑥1 𝑚2 𝑥ሷ 2 = −𝑘3 𝑥2 − 𝑥2 − 𝑥1 𝑘2

𝑚1 𝑥ሷ 1..+ 𝑘1 + 𝑘2 𝑥1 − 𝑘2 𝑥2 = 0 𝑚2 𝑥ሷ 2 − 𝑘2 𝑥1 + 𝑘2 + 𝑘3 𝑥2 = 0

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Rotating a Mass on the End of a Shaft

Angular 𝜃
displacement Torque T
Torque T

Shaft
Moment of Inertia I
Moment of Inertia I

𝑑𝜃 𝑑2 𝜃
T−𝑐 𝑑𝑡 − 𝑘𝜃 = 𝐼 2
𝑑𝑡

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Rotational-translational Systems

• There are many mechanisms which convert rotary motion to

translational motion or vice versa.
• Example includes pinion and rack, shafts with lead screws,
pulley and cable systems

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Rack and Pinion

• The pinion is supplied with input

torque Tin and it rotates at a
velocity 𝜃ሶ .
• Let the pinion polar moment of
inertia be Ip and its radius be r.
• The rack has mass m and it
translates with velocity v.

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• Let R be the frictional resistance
between the rack and the
guideways.
• Tout is the torque acting by pinion
on rack.

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• Pinion
• Net torque acting
𝑑𝜔
• 𝑇𝑖𝑛 − 𝑇𝑜𝑢𝑡 = 𝐼𝑝
𝑑𝑡
• Rotation of pinion will result in
translational velocity (v) of rack,
thus 𝑣 = 𝑟𝜔
𝐼𝑝 𝑑𝑣
• So 𝑇𝑖𝑛 − 𝑇𝑜𝑢𝑡 =
𝑟 𝑑𝑡

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• Rack
𝑇𝑜𝑢𝑡
• Force acting on rack =
𝑟
• Frictional force = 𝑅𝑣
• Eq. of motion for rack will be
𝑇𝑜𝑢𝑡 𝑑𝑣
• − 𝑅𝑣 = 𝑚
𝑟 𝑑𝑡

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• Substituting for Tout
𝐼𝑝 𝑑𝑣
• 𝑇𝑖𝑛 − 𝑇𝑜𝑢𝑡 =
𝑟 𝑑𝑡
𝑇𝑜𝑢𝑡 𝑑𝑣
• − 𝑅𝑣 = 𝑚
𝑟 𝑑𝑡
𝑑𝑣 𝐼𝑝 𝑑𝑣
• 𝑇𝑖𝑛 − 𝑚 + 𝑅𝑣 𝑟 =
𝑑𝑡 𝑟 𝑑𝑡
𝐼𝑝 𝑑𝑣
• 𝑇𝑖𝑛 − 𝑟𝑅𝑣 = + 𝑚𝑟
𝑟 𝑑𝑡
𝑑𝑣 𝑟
This is the relationship between
• = (𝑇𝑖𝑛 − 𝑟𝑅𝑣) input torque and output velocity
𝑑𝑡 𝐼𝑝 +𝑚𝑟 2

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𝑑𝑣 𝑟
= (𝑇𝑖𝑛 − 𝑟𝑅𝑣)
𝑑𝑡 𝐼𝑝 + 𝑚𝑟 2

𝐼𝑝 + 𝑚𝑟 2 𝑑𝑣
= (𝑇𝑖𝑛 − 𝑟𝑅𝑣)
𝑟 𝑑𝑡

𝐼𝑝 𝑑𝑣 𝑇𝑖𝑛
+ 𝑚 = − 𝑅𝑣
𝑟2 𝑑𝑡 𝑟

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Example 2: Pulley and cable systems

• Let us consider a pulley and

cable system shown.
• Pulley is driven by a motor.
• Pulley has moment of inertia I.
Motor
• Rope is considered to be
flexible. Mass (m)

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• Modelling of motor using L
Kirchoff’s voltage law V
𝑑𝑖 R
• 𝑉= 𝐿 + 𝑉𝑏 + 𝑖𝑅
𝑑𝑡
𝑑𝑖 Motor
• 𝑉= 𝐿 + 𝜇𝜔 + 𝑖𝑅
𝑑𝑡
Mass (m)

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 L
𝑘(𝑦1 − 𝑦2 ) 𝑐(𝑦ሶ 1 − 𝑦ሶ 2 )
m V
R 𝑦2
mg

Motor
𝑦1
• Equation of motion of mass Mass (m)
• 𝑚𝑦ሷ 1 = −𝑘 𝑦1 − 𝑦2 − 𝑐 𝑦ሶ 1 − 𝑦ሶ 2 − 𝑚𝑔

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 T/r

𝑘(𝑦2 − 𝑦1 )
𝑐(𝑦ሶ 2 − 𝑦ሶ 1 )

• Equation of motion of pulley

• Net tangential force acting on pulley
𝑇
• − 𝑘 𝑦2 − 𝑦1 − 𝑐(𝑦ሶ 2 − 𝑦ሶ1 )
𝑟
𝑇
• Torque acting on pulley, − 𝑘 𝑦2 − 𝑦1 − 𝑐 𝑦ሶ 2 − 𝑦ሶ 1 𝑟
𝑟
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 𝑇
• 𝐼 𝜔ሶ = − 𝑘 𝑦2 − 𝑦1 − 𝑐 𝑦ሶ 2 − 𝑦ሶ 1 𝑟
𝑟
• 𝐼 𝜔ሶ = 𝑇 − 𝑘𝑟 𝑦2 − 𝑦1 − 𝑐𝑟 𝑦ሶ 2 − 𝑦ሶ 1

• Summary
𝑑𝑖
• 𝑉 = 𝐿 + 𝜇𝜔 + 𝑖𝑅
𝑑𝑡
• 𝑚𝑦ሷ 1 = −𝑘 𝑦1 − 𝑦2 − 𝑐 𝑦ሶ 1 − 𝑟𝜔 − 𝑚𝑔
• 𝐼 𝜔ሶ = 𝜇𝑖 − 𝑘𝑟 𝑦2 − 𝑦1 − 𝑐𝑟 𝑟𝜔 − 𝑦ሶ1

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Reference

• W. Bolton, Mechatronics: Electronic Control Systems in

Mechanical and Electrical Engineering (6th Edition), Pearson,
2015
• R. Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould
Bouamama, Intelligent Mechatronic Systems: Modeling,
Control and Diagnosis, ISBN 978-1-4471-4627-8, 2013,
Springer, London

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Thank You

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