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Modelling of Mechanical Systems - Control Systems - VIT Vellore
Modelling of Mechanical Systems - Control Systems - VIT Vellore
Modelling of Mechanical Systems - Control Systems - VIT Vellore
All forces on M1
Translational Mechanical System: Examples
d 2 x1 dx1 d ( x1 x2 )
f (t ) M1 2
fV1 fV3 K 1 x1 K 2 ( x1 x2 )
dt dt dt
d 2 x2 dx2 d ( x2 x1 )
0 M2 2
fV 2 fV 3 K 3 x2 K 2 ( x2 x1 )
dt dt dt
Translational Mechanical System: Examples
All forces on M2
Translational Mechanical System: Examples
All forces on M2
d 2 x1 dx1 d ( x1 x2 )
f (t ) M1 2
fV 1 fV 3 K 1 x1 K 2 ( x1 x2 )
dt dt dt
d 2 x2 dx2 d ( x2 x1 )
0 M2 2
fV2 fV3 K 3 x2 K 2 ( x2 x1 )
dt dt dt
Translational Mechanical System: Examples
d 2 x1 dx1 d ( x1 x2 ) 1
f (t ) M1 2
fV 1 fV 3 K 1 x1 K 2 ( x1 x2 )
dt dt dt
d 2 x2 dx2 d ( x2 x1 ) 2
0 M2 2
fV 2 fV 3 K 3 x2 K 2 ( x2 x1 )
dt dt dt
Translational Mechanical System: Examples
d 2 x1 d ( x1 x 2 )
f (t ) M1 2
( fV1 fV2 fV3 ) K ( x1 x 2 )
dt dt
d 2 x2 dx2 d ( x 2 x1 )
0 M2 2
fV 4 ( fV 1 fV 2 fV 3 ) K ( x 2 x1 )
dt dt dt
F ( S ) [ M1 S 2 ( fV 1 fV 2 fV 3 ) S K ]X1 ( S ) [( fV 1 fV 2 fV 3 ) S K ]X 2 ( S )
[ M 2 S 2 ( fV 1 fV 2 fV 3 fV 4 ) S K ]X 2 ( S ) [( fV 1 fV 2 fV 3 ) S K ]X1 ( S ) 0
Translational Mechanical System: Examples
[ M 1 S 2 ( fV 1 fV 2 fV 3 ) S K ] [( fV 1 fV 2 fV 3 ) S K ] X 1 ( S ) F ( S )
[( fV 1 fV 2 fV 3 ) S K ] [ M 2 S ( fV 1 fV 2 fV 3 fV 4 ) S K ]
2
2
X ( S ) 0
[ M 1 S 2 ( fV 1 fV 2 fV 3 ) S K ] [( fV 1 fV 2 fV 3 ) S K ]
[( fV 1 fV 2 fV 3 ) S K ] [ M 2 S 2 ( fV 1 fV 2 fV 3 fV 4 ) S K ]
[ M1 S 2 ( fV 1 fV 2 fV 3 ) S K ][ M 2 S 2 ( fV 1 fV 2 fV 3 fV 4 ) S K ] [( fV 1 fV 2 fV 3 ) S K ]2
F(S) [( fV 1 fV 2 fV 3 ) S K ]
1
0 [ M 2 S 2 ( fV 1 fV 2 fV 3 fV 4 ) S K ]
1 [ M 2 S 2 ( fV 1 fV 2 fV 3 fV 4 ) S K ]F ( S )
X 1 ( S ) [ M 2 S 2 ( fV 1 fV 2 fV 3 fV 4 ) S K ]
F(S)
2 [( fV 1 fV 2 fV 3 ) S K ]F ( S )
X 2 ( S ) [( fV 1 fV 2 fV 3 ) S K ]
F(S)
X2(S)
F(S)
Components of Rotational Mechanical
System
Rotational mechanical system T ( t ) K ( t )
(Torque-balance equation)
Basic elements of
d ( t )
T (t ) D
dt
d 2 ( t )
T (t ) J
dt 2
Applied toque Opposing torque
developed by Inertia
Compute the transfer function
d 2 1 d 1
T ( t ) J 1 2 D1 K ( 1 2 ) 1
dt dt
d 2 2 d 2
0 J2 2
D2 K ( 2 1 ) 2
dt dt
Applying Laplace transformation
[ J 1 S 2 D1 S K ] K 1 ( S ) T ( S )
K [ J 2 S D1 S K ]
2
2
( S ) 0
Solving for 1 ( S ) and 2(S)
1 2
1 (S ) 2 (S )
The transfer function,
The modified diagram with J2=0
2 (S )
T(S)
Find the transfer function.