Lecture No 3

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2
(Translational Mechanical System
Transfer Functions)

Mechanical Engineering Department

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 f  ma ; Newton' s Law
dv(t )
f (t )  M
Mass (M)
dt
2
dx (t )
f (t )  M 2
dt
x(t) displacement

f(t) applied force

F (s)  Ms X (s)
2

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 f(t)

x2(t) f (t )  K x1 (t ) one dislpacement

K
f (t )  K  x1 (t )  x2 (t )  two displacements

x1(t) F (s)  K ( X1 (s)  X 2 (s))

f(t)
Spring
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Dampers (Friction) – Shock Absorbers

x(t)
f(t)

dx(t )
f (t )  B One displacement : one side is fixed
dt
F ( s)  BsX ( s) 4
 f(t) dx1 (t )
f (t )  B one displaceme nt
dt
x2(t) dx1 (t ) dx2 (t )
f (t )  B B two dis..
B dt dt

f (t )  B x1 (t )  x2 (t ) 
d
dt
x1(t)

f(t) F (s)  B S ( X1 (s)  X 2 (s))

Damping (Friction)
(Shock absorber)
Mass has only one Damper (B) & Spring (K) may have
displacement. Displacement in both directions.
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Example 2.16 Mass, spring, and damper system
Find the transfer function, X(s)/F(s), for the system shown in the Figure

Ms 2 X ( s)  f v sX ( s)  KX ( s)  F ( s)

Block diagram

F ( s)
X ( s) 
Ms 2  f v s  K

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Alternate method

Free-body diagram of mass, Transformed free-body diagram

spring, and damper system

Ms 2 X ( s)  f v sX ( s)  KX ( s)  F ( s)
F ( s)
X ( s) 
Ms 2  f v s  K
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Two-degrees-of-freedom translational
mechanical system

Block diagram

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 Forces on M1 due
only to motion of M2

Forces on M1 due
only to motion of M1

All forces on M1 12
  
M1s 2 X1 (s)  f v1  f v1 sX 1 (s)  K1  K2 X1 (s)  K2 X 2 (s)  f v3sX 2 (s)  F (s)

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 forces on M2 due
Forces on M2 due only to motion of M1
only to motion of M2

all forces on M2
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  
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

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  
M1s 2 X1 (s)  f v1  f v1 sX 1 (s)  K1  K2 X1 (s)  K2 X 2 (s)  f v3sX 2 (s)  F (s)

 
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

M s   f
1
2
v1  
 fv1 s  K1  K2  X1 (s)  K2  fv3sX 2 (s)  F (s)

  
 K2  fv3sX1 (s)  M 2 s 2  fv2  fv3 s  K2  K3  X 2 (s)  0

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 Home Assignment
Three-degrees-of-freedom Don’t submit
translational
mechanical system

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Translational
mechanical system

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