Term 201

CISE305: Linear Control Systems

4. Modeling Mechanical Systems

Prof. Abdul-Wahid AL-Saif

Reading Assignment :Related
Material from Chapter 2

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Learning Objective

 To derive mathematical models (ODE

models or transfer functions) of simple
translational mechanical systems

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Obtaining The Model

The model is obtained by combining the

element laws and interaction laws.

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Free Body Diagrams

 Freebody diagram shows all the forces acting

on the mass or junction point and their
directions.
 Draw freebody diagram for each mass or
junction point that moves at unknown velocity.

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Procedure for Obtaining Model of
Translational Mechanical Systems
 Apply D’Alembert’s Law for every mass
and junction point that moves with
unknown velocity.
 Draw freebody diagram
 Show all external forces and inertial force
 Use element laws to express all forces in
terms of displacement, velocity and
acceleration.

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Example 2
x1 x2

K2
K1 fa(t)
M1 M2

We need to Apply D’Alembert’s Law for the two masses

Two freebody diagrams
Interaction Laws: Elongation in spring1 = x1

Elongation in spring 2 = x2-x1 Relative velocity in dashpot = v2-v1

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Example 2

f k1 fk 2
f I1 M1
fB

fk 2
fB M2 f a (t )
fI 2

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Derive the model

x1 x2

K2
K1 fa(t)
M1 M2

f k1  K1 x1 , f B  B x 2  x1  , f I 1  M 1x1
f k 2  K 2  x2  x1  , f I 2  M 2 x2
Model : B x 2  x1   K 2  x2  x1   M 1 x1  K1 x1  0
f a  t   M 2 x2  B x 2  x 1   K 2  x2  x1   0

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Example 3

z
Two masses moving at
fa(t) unknown velocities.
K2
M2
x Two freebody diagrams
B2 K1

M1
B1

B3

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Example 3

K 2( x  z )
f a (t )
B2 z M2
M 2 ( x  z)

B1 x
B3 x
K1 x M1 B2 z

M 1x

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Model

M 1x  ( B1  B3 ) x  K1 x  B2 z  0
M 2 x  K 2 x  M 2 z  B2 z  K 2 z  f a (t )

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Example 4

B K fB fK fI
x
M1
M1

fa(t)

How many free body diagrams? Mg fa(t)

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Example 4

fB  fB fK fI

fk  x

fI 
M1

Model :
Mg fa(t)
f B  f k  f I  Mg  f a (t )

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Model
Mx  Bx  K x  f a (t )  Mg
Do we need to include the weight in the model?
Suppose x  x0 ( when f a (t )  0), then x  x0 ,
where x0 is the constant displacement caused by
the garvitational force, beacuse x 0  x0  0, then the
Model reduces to K x0  Mg

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Model
Now let f a (t ) is nonzero and let
x  z  x0
where z is the displacement caused by f a (t ).
Then, the model will be
Mz  Bz  K z  f a (t )

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Example 5

K1 Ideal Pulley
fa(t)
M1

B1

M2

B2 K2

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Example 5

fk1 fk1
fa(t)
M1 fB1

f k1  K1  x1  x2  , f B1 
f
B xI , f I 1  M1 x1
M2
1 11

f k 2  K 2 x2 , f B 2  B2 x 2 , f g  M 2 g , f I 2  M 2 x2
Model :
K1  x1  x2   B1 x1  M1 x1  f a  t 
K 2 x2  B2 x 2  M 2 g  M 2 x2  K1  x1  x2 
fI fg f B fK
2 2 2

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Example 6

x1 x1

K1

fa(t) K1+K2 fa(t)

K2 M1 M1

B B
Mx  Bx  ( K1  K 2 ) x  f a (t ) Mx  Bx  K eq x  f a (t )
K eq  K1  K 2
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Parallel combination

K1
K1+K2

K2

B1 B1+B2

B2

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Serial Combination

1 1 1
K1 K2  
K eq K1 K 2

1 1 1
B1 B2  
Beq B1 B2

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Parallel combination
Reduction

K1
K1+K2

K2

B1 B1+B2

B2

B1

B1+B2+B3
B2 M
M
B3

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Serial combination
 Two springs are in series if they are joined at one end
only and no other element is connected to their common
junction

 Similar definition can be used for dashpots

K1 K2 K3

B1
B2 B1
B2

Not in series serial Combination

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Other Cases to consider

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HW # 2

 Question: For the given translational

mechanical system,

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HW # 2
a. What are the total number of forces on
M1 and M2?
b. Draw the free-body diagram for each
mass.
c. Derive the equations of motion
Write your answer on a paper, and upload it
on the Black Board by Monday, February 8
on or before 11 AM (Late HW will not be accepted).

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