Modeling & Simulation of

Dynamic Systems (EE-971)

Lecture-2
Modeling & Simulation of Mechanical Systems

Dr. Imtiaz Hussain

Assistant Professor (Control Systems),
Department of Electronic and Power Engineering
PNEC-NUST, Karachi, Pakistan
email: imtiaz.hussain@pnec.nust.edu.pk

Spring 2023

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 Example-1
• Consider the following system (friction is negligible)

• Free Body Diagram

• Where and are force applied by the spring and

inertial force respectively.
2
 Example-1

• Then the differential equation of the system is:

• Taking the Laplace Transform of both sides and ignoring

initial conditions we get

3
 Example-1

• The transfer function of the system is

• if

4
 Example-1

• The pole-zero map of the system is

Pole-Zero Map
40

30

20
Imaginary Ax is

10

-10

-20

-30

-40
-1 -0.5 0 0.5 1
5
Real Axis
 Example-2
• Consider the following system

• Free Body Diagram

6
 Example-2
Differential equation of the system is:

Taking the Laplace Transform of both sides and ignoring

Initial conditions we get

7
 Example-2

• if
Pole-Zero Map
2

1.5

0.5

Imaginary Axis
0

-0.5

-1

-1.5

-2
-1 -0.5 0 0.5 1
Real Axis

8
 Example-3

↑ M1 M2

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Example-4: Automobile Suspension

10
 Example-4: Automobile Suspension

Taking Laplace Transform of the equation (2)

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 Example-5

↑ J1 J2
SIMULATION OF MECHANICAL
SYSTES

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 Example-1
• In this example, we are going to model a
simple mechanical system and observe its
behavior under various conditions
 Transfer Function Model
• Differential Equation of the systems is

𝐹 ( 𝑡 ) =𝑚 𝑥+𝑘𝑥+𝑏
¨ 𝑠˙
• Transfer function is obtained as 𝒙 (𝒕)

𝑋 ( 𝑠) 1
= 𝒌
𝐹 (𝑠) 𝑚 𝑠 2+𝑏𝑠 +𝑘 𝒃
Transfer Function Model
Transfer Function Model

Input Force

Displacement x(t)

Velocity v(t)
 Differential Equation Model
• Differential Equation of the systems is

𝒙 (𝒕)
𝐹 ( 𝑡 ) =𝑚 𝑥+𝑘𝑥+𝑏
¨ 𝑠˙
𝒌
𝒃
Differential Equation Model
Differential Equation Model
 Simscape Model
• Recommended Version Matlab 2014
• To create an equivalent Simscape model,
follow these steps:
1. Open the Simscape > Foundation
𝒙 (𝒕)
Library > Mechanical > Translational
Elements library.
2. Drag the Mass, Translational Spring, 𝒌
𝒃
Translational Damper, and two
Mechanical Translational Reference
blocks into the model window.
Simscape Model
Simscape Model
 Rotational and Translational Motion
(Example-1)
• Consider the system shown below.

• The disc is of radius ‘R’ and has a moment of

inertia ‘I’. There is friction between the disc and
the block of mass ‘m’.
 Rotational and Translational Motion
• Free body diagram

𝑚 𝑥¨

(1)
 Rotational and Translational Motion
• Free body diagram of disc

𝑇 =𝐼 𝜃¨
𝐹 𝑓 𝑅=𝐼 𝜃¨
• Since
𝐼
𝐹 𝑓 = 2 𝑥¨
𝑅
 Rotational and Translational Motion
• Substituting the value of in equation (1)
𝐼
𝐹 =𝑚 𝑥+𝑘𝑥+𝑐
¨ 𝑥˙ + 2 𝑥¨
𝑅
• Taking Laplace Transform of the equation
2 𝐼 2
𝐹 ( 𝑠 ) =𝑚 𝑠 𝑋 ( 𝑠)+ 𝑘𝑋 ( 𝑠)+𝑐𝑠𝑋 (𝑠 )+ 2 𝑠 𝑋 (𝑠 )
𝑅

𝑋 ( 𝑠) 1
=
𝐹 (𝑠)
( 𝐼
)2
𝑚+ 2 𝑠 + 𝑐𝑠+𝑘
𝑅
 Example-2
• Consider the system shown below (Assume no friction).

• The relation between the rotation of the disc and the

linear displacement moved by the disc is given by x = Rθ
 Example-2
• Free body diagram of the disc

0=𝑚 𝑥+2
¨ 𝑘𝑥
• Where
Example-3
 Example-3
• Free Body diagram of Mass m

𝑚 𝑦¨

¨ +𝑐 ( 𝑦
𝑚𝑦 ˙
( 𝑅
)
˙ − 𝑅 𝜃 ) +𝑘 𝑦 − 𝜃 =0
2
 Example-3
• Free body diagram of drum

¨ ˙
(
𝑇 = 𝐽 𝜃+𝑐 ( 𝑅 𝜃 − 𝑦˙ ) 𝑅+𝑘
𝑅
2 )
𝜃− 𝑦
𝑅
2
𝑅 ˙ 𝑅
+𝑘 𝜃 𝑅 ( 𝑅 ) +𝑐 𝜃 ( )
2 2
Example-4: Elevator
 Example-4: Elevator

• The cage of an elevator

is hoisted by a long
cable wound over a
drum driven through a
gear-set by an electric
motor. The motor is
relay-operated (i.e.,
either on or off)
Example-4: Elevator

𝒏𝒈𝒆𝒂𝒓 𝜽𝒓𝒊𝒎
𝜽𝒎𝒐𝒕𝒐𝒓 𝒓 𝒅𝒓𝒖𝒎
𝒆 𝒎𝒐𝒕𝒐𝒓

𝒌𝒄𝒂𝒃𝒍𝒆

𝒙 𝒄𝒂𝒈𝒆
𝒎𝒄𝒂𝒈𝒆
 Example-4: Elevator
• Differential Equation
𝑭𝒎 𝒄𝒂𝒈𝒆
𝑭𝒌 𝒄𝒂 𝒃𝒍 𝒆

𝒎𝒄𝒂𝒈𝒆

𝑭𝒈

𝑚𝑐𝑎𝑔𝑒 𝑥¨ 𝑐𝑎𝑔𝑒+𝑘𝑐𝑎𝑏𝑙𝑒 ( 𝑥 𝑐𝑎𝑔𝑒 − 𝑥 𝑟𝑖𝑚 ) +𝑚𝑐𝑎𝑔𝑒 𝑔=0

 Example-4: Elevator
• Transmission
𝑥𝑟𝑖𝑚=𝑟 𝑑𝑟𝑢𝑚 𝜃𝑑𝑟𝑢𝑚

𝜃 𝑑𝑟𝑢𝑚 =𝑛𝑔𝑒𝑎𝑟 𝜃 𝑚𝑜𝑡𝑜𝑟

𝐾 𝑡 / 𝑅𝑎
𝜃 𝑚𝑜𝑡𝑜𝑟 =𝑒𝑚𝑜𝑡𝑜𝑟
𝑠 [ 𝐽𝑠+( 𝐵+ 𝐾 𝑡 𝐾 𝑏 / 𝑅𝑎 )]
Example-5: Tap Drive
Example-5: Tap Drive
Example-5: Tap Drive
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-2

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