Feedback Control Systems (FCS)

Lecture-6-7-8
Mathematical Modelling of Mechanical Systems
Dr. Imtiaz Hussain
email:
imtiaz.hussain@faculty.muet.edu.pk
URL
:http://imtiazhussainkalwar.weebly.co
m/
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Outline of this
Lecture

Part-I: Translational Mechanical

System
Part-II: Rotational Mechanical System
Part-III: Mechanical Linkages

Basic Types of Mechanical

Systems
Translational
Linear Motion

Rotational
Rotational Motion

Part-I

TRANSLATIONAL MECHANICAL
SYSTEMS
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Basic Elements of Translational Mechanical Systems

i)

ii)

iii)

Translational
Spring

Translational
Mass

Translational
Damper

Translational Spring
A translational spring is a mechanical
element that can be deformed by an
external force such that the deformation is
directly proportional to the force applied to
it.
i)

Translational
Spring

Circuit Symbols

Translational Spring

Translational Spring
If F is the applied force
x2

Then x1

x1

x 2if 0
is the deformation

Or ( x1 x 2 )

is the deformation.

The equation of motion is given as

F k ( x1 x2 )
Where k
N/m

is stiffness of spring expressed in

F
F

Translational Spring
Given two springs with spring constant k1 and
k2, obtain the equivalent spring constant keq
for the two springs connected in:
(1) Parallel

(2) Series

Translational Spring
The two springs have same displacement
therefore:

k1 x k 2 x F

(1) Parallel

(k1 k 2 )x F

k eq x F

k eq k1 k 2
If n springs are connected in parallel then:

k eq k1 k 2 k n

Translational Spring
The forces on two springs are same, F, however
displacements are different therefore:

k1 x1 k 2 x2 F
F
x1
k1

(2) Series

F
x2
k2

Since the total displacement

x xis1 x2
we have

F
F
F
x x1 x 2

k eq
k1 k 2

,Fand
k eq x

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Translational Spring
F
F
F

k eq
k1 k 2
Then we can obtain

k eq

k1k 2

1
1
k1 k 2

k1 k 2
1

If n springs are connected in

series then:

k eq

k1k 2 k n

k1 k 2 k n

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Translational Spring
Exercise: Obtain the equivalent stiffness for the
following spring networks.
i)

k3

ii)

k3

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Translational Mass
Translational Mass is an
inertia element.

ii)

Translational
Mass

A
mechanical
system
without mass does not
exist.
If a force F is applied to a
mass and it is displaced to
x meters then the relation
b/w
force
and
displacements is given by
Newtons law.
F Mx

x(t )
F (t )

Translational Damper
When the viscosity or drag
is not negligible in a
system, we often model
them with the damping
force.
All the materials exhibit
the property of damping
to some extent.
If damping in the system
is not enough then extra
elements (e.g. Dashpot)
are added to increase

iii)

Translational
Damper

Common Uses of Dashpots

Door Stoppers

Bridge Suspension

Vehicle Suspension

Flyover Suspension

Translational Damper

F Cx

F C ( x 1 x 2 )

Where C is damping coefficient (N/ms-1).

Translational Damper
Translational Dampers in series and parallel.

Ceq C1 C 2

Ceq

C1C 2

C1 C 2

Modelling a simple Translational

System

Example-1: Consider a simple horizontal spring-mass

system on a frictionless surface, as shown in figure
below.

mx kx
or

mx kx 0
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Example-2
Consider the following system (friction is
negligible)
k

Free Body
Diagram

fk
F

fM

fM
Where f k and
are force applied by the
spring and inertial force respectively.

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Example-2
fk
F

fM

F fk fM

Then the differential equation of the system is:

F Mx kx
Taking the Laplace Transform of both sides
and ignoring initial conditions we get
F (s ) Ms 2 X (s ) kX (s )

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Example-2
F (s ) Ms 2 X (s ) kX (s )
The transfer function of the system is
X (s )
1

F (s ) Ms 2 k

if
M 1000kg
k 2000 Nm 1
X (s )
0.001
2
F (s ) s 2
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Example-2
X (s )
0.001
2
F (s ) s 2

The pole-zero map of the system is

Pole-Zero Map

40
30

Imaginary Axis

20
10
0
-10
-20
-30
-40
-1

-0.5

0
Real Axis

0.5

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Example-3
Consider the following system
k

M
C

Free Body
Diagram

fk
F

fC
fM

F fk f M fC
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Example-3

ifferential equation of the system is:

F Mx Cx kx

king the Laplace Transform of both sides and ignorin

tial conditions we get

F (s ) Ms 2 X (s ) CsX (s ) kX (s )
X (s )
1

F (s ) Ms 2 Cs k
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Example-3
X (s )
1

F (s ) Ms 2 Cs k

if

1.5

M 1000kg
C 1000 N / ms 1

1
Imaginary Axis

k 2000 Nm 1

Pole-Zero Map

0.5
0
-0.5
-1

X (s )
0.001
2
F (s ) s s 1000

-1.5
-2
-1

-0.5

0.5

Real Axis

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Example-4
Consider the following system

Free Body Diagram (same as example3)

fk
F

fB

fM

F fk fM fB

X (s )
1

F (s ) Ms 2 Bs k
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Example-5
Consider the following system
x2
x1 k

Mechanical Network
x1
F

x2
M

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Example-5
Mechanical Network
x1
F

x2
M

At node x1

F k ( x1 x 2 )
At node x 2

0 k ( x 2 x1 ) Mx2 Bx 2
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Example-6

nd the transfer function X2(s)/F(s) of the following syste

M1

M2

Example-7
x1

x2

B3

f (t )

B4

M1

M2
B1
B3

x1
f (t )

M1

B2

B1

B2

x2
M2

B4

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Example-8
Find the transfer function of the mechanical
translational system given in Figure-1.
Free Body Diagram

fk

fB

Figure-1

M
f (t )

f (t ) f k f M f B

fM

X (s )
1

F (s ) Ms 2 Bs k

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Example-9

Restaurant plate dispenser

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Example-10

nd the transfer function X2(s)/F(s) of the following syste

Free Body Diagram

f k1 f k f B
2

M2
k2

F (t ) f M 2

f k1

fB

M1
f M1

F (t ) f k1 f k 2 f M 2 f B

0 f k1 f M 1 f B
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Example-11

x1
u(t )

x2
k1

B1

x3
B4

B3

M1

k2

B2

M2

k3

B5

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Example-12: Automobile
Suspension

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Automobile Suspension

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Automobile Suspension
mxo b( x o x i ) k ( xo xi ) 0

(eq .1)

mxo bx o kxo bx i kxi

eq. 2

king Laplace Transform of the equation (2)

ms X o (s ) bsX o (s ) kX o (s ) bsX i (s ) kX i (s )

X o (s )
bs k

X i (s ) ms 2 bs k

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Example-13: Train
Suspension

Car Body
Bogie1

Bogie2

Secondar
y

Wheelsets

Suspensio
n
Primary

Bogie
Frame

Suspensio
n

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Example: Train Suspension

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Part-I

ROTATIONAL MECHANICAL
SYSTEMS
40

Basic Elements of Rotational Mechanical Systems

Rotational Spring

T k (1 2 )

Basic Elements of Rotational Mechanical Systems

Rotational
Damper

T C (1 2 )

Basic Elements of Rotational Mechanical Systems

Moment of
Inertia

T J

Example-1
1

k1

B1

J1

1
T

k1

k2

2
J1

J2

B1

3
J2

k2

Example-2

k1

B2

J1

J2

B3

B1

1
T

k1

B2

2
J1

B4

B1

B3

3
J2

B4

Example-3

k1
J1

B2

T
J2

k2

Example-4

Part-III

MECHANICAL LINKAGES

48

Gear
Gear is a toothed machine
part, such as a wheel or
cylinder, that meshes with
another toothed part to
transmit motion or to change
speed or direction.

49

Fundamental Properties
The two gears turn in opposite directions: one
clockwise and the other counterclockwise.
Two gears revolve at different speeds when
number of teeth on each gear are different.

Gearing Up and Down

Gearing up is able to convert torque
to velocity.
The more velocity gained, the more
torque sacrifice.
The ratio is exactly the same: if you
get three times your original angular
velocity, you reduce the resulting
torque to one third.
This conversion is symmetric: we
can also convert velocity to torque
at the same ratio.
The price of the conversion is power
loss due to friction.

Why Gearing is necessary?

A typical DC motor operates at speeds that
are far too high to be useful, and at torques
that are far too low.
Gear reduction is the standard method by
which a motor is made useful.

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Gear Trains

53

Gear Ratio
You can calculate the gear
ratio by using the number of
teeth of the driver divided by
the number of teeth of the
follower.
We gear up when we increase
velocity and decrease torque.
Ratio: 3:1

Driver
Follow
er

We gear down when we

increase torque and reduce
velocity.
Ratio: 1:3

Gear Ratio = # teeth input gear / # teeth output gear

= torque in / torque out = speed out / speed in

Example of Gear Trains

A most commonly used example of gear trains is
the gears of an automobile.

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Mathematical Modelling of Gear Trains

Gears increase or reduce angular velocity
(while
simultaneously
decreasing
or
increasing torque, such that energy is
conserved).

nergy of Driving Gear = Energy of Following Gear

N11
N1
1
N2
2

N 2 2

Number of Teeth of Driving Gear

Angular Movement of Driving Gear
Number of Teeth of Following Gear
Angular Movement of Following Gear
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Mathematical Modelling of Gear Trains

In the system below, a torque,a, is applied to gear
1 (with number of teeth N1, moment of inertia J1 and
a rotational friction B1).
It, in turn, is connected to gear 2 (with number of
teeth N2, moment of inertia J2 and a rotational
friction B2).
The angle 1is defined positive clockwise, 2is
defined positive clockwise. The torque acts in the
direction of 1.
Assume that TL is the load torque applied by the
load connected to Gear-2.
N2
N1
B1
B2

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Mathematical Modelling of Gear Trains

For Gear-1

a J 11 B11 T1

Eq (1)

For Gear-2

T2 J 22 B22 TL

Eq (2)

N1

N2

B1

Since

B2

N11 N 2 2
therefore

N1
2
1
N2

Eq (3)
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Mathematical Modelling of Gear Trains

Gear Ratio is calculated as

T2
N2
N1

T1
T2
T1
N1
N2
Put this value in eq (1)

N1

a J11 B11
T2
N2

N1

N2

B1

Put T2 from eq (2)

B2

N1

a J11 B11
( J 22 B22 TL )
N2

Substitute 2 from eq (3)

N1
N1
N1
N1

a J 11 B11
(J 2
1 B2
2
TL )
N2
N2
N2
N 2 59

Mathematical Modelling of Gear Trains

N1
N1
N1
N1

a J11 B11
(J 2
1 B2
2
TL )
N2
N2
N2
N2

After simplification
2

N1

a J 11
N2

N1

a J 1
N2

J eq

N1
J 1
N2

N1

J 21 B11
N2

N1

J 2 1 B1
N2

J2

B21

Beq

N1
TL
N2

N1

B 2 1
TL
N2

N1
B1
N2

N1

a J eq1 Beq1
TL
N2

B2

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Mathematical Modelling of Gear Trains

For three gears connected together

J eq

Beq

N1
J 1
N2
N1
B1
N2

N1
J 2
N2
N1
B2
N2

N3

N4
N3

N4

J3

B3

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Home Work
Drive Jeq and Beq and relation between
applied torque a and load torque TL
for three gears connected together.
1

2
N1

J1
a

B1

N2

J2
B2

3
N3

J3

TL

B3

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END OF LECTURES-6-7-8

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