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Lecture 04, 05 Translational Mechanical Systems
Lecture 04, 05 Translational Mechanical Systems
Computer Science
Department of Electrical Engineering
EE-371 : Control Systems
Lecture#04
(Translational Mechanical System Transfer Functions)
Chapter #02
Text Book: Control Systems Engineering by Norman S. Nise 5th
Edition
1
Previous Lecture
2
Figure 2.9 Activity
Three-loop electrical network
I1 ( s )
G1 ( s )
V (s)
I 2 (s)
G2 ( s )
V (s)
I3 (s)
G3 ( s )
V (s) 3
Activity
Operational amplifier configured
for transfer function realization
Vo ( s ) Z 2 (s)
Vi ( s ) Z1 ( s )
Vo ( s )
R1C1s 1 R2C2 s 1
Vi ( s ) R1C2 s
Vo ( s )
R1C1 R2C2 s 2 R1C1 R2C2 s 1
Vi ( s ) R1C2 s
4
V(s) VC ( s ) 1
G(s)
VC(s) RC cct RC
V ( s ) s 1 RC
RLC cct
VC ( s ) 1
2 LC
V ( s ) s R L s 1 LC
I 2 (s) LCs 2
Two loop network G (s)
V ( s ) R1 R2 LCs 2 R1R2C L s R1
Op-amp Vo ( s )
R1C1 R2C2 s 2 R1C1 R2C2 s 1
Vi ( s ) R1C2 s
5
Translational Mechanical
System Transfer Functions
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Components of Mechanical System
Dampers Springs
Mass (M)
7
f ma ; Newton' s Law
dv(t )
f (t ) M
Mass (M)
dt
2
d x(t )
f (t ) M 2
dt
x(t) displacement
f(t) applied force
F ( s ) Ms X ( s )
2
8
f(t)
x1(t) F ( s ) K ( X 1 ( s ) X 2 ( s ))
f(t)
Spring
9
Dampers (Friction) – Shock Absorbers
x(t)
f(t)
dx(t )
f (t ) B One displacement : one side is fixed
dt
F ( s ) BsX ( s ) 10
f(t) dx1 (t )
f (t ) B one displacement
dt
x2(t) dx1 (t ) dx2 (t )
f (t ) B B two dis..
B dt dt
d
f (t ) B x1 (t ) x2 (t )
dt
x1(t)
f(t) F ( s ) B S ( X 1 ( s ) X 2 ( s ))
Damping (Friction)
(Shock absorber)
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Door Closer
Mass has only one Damper (B) & Spring (K) may have
displacement. Displacement both directions.
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How many displacements ?? ONE
Activity
How many equations ?? ONE
Number of displacements
B K
=
Number of differential equations
Mass (M) d 2 x(t ) dx(t )
f (t ) M 2
B Kx(t )
dt dt
F (s) M s 2 X (s) B s X (s) K X (s)
x(t)
f(t)
X (s) 1
Transfer Function
F ( s ) Ms 2 Bs K
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
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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Degree of Freedom
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(How Many) degrees-of-freedom
translational mechanical system
Activity
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 22
M1s 2 X1 ( s ) f v1 f v3 sX1 ( s ) K1 K 2 X 1 ( s ) K 2 X 2 ( s ) f v3 sX 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 ) f v 2 f v3 sX 2 ( s ) K 2 K 3 X 2 ( s ) K 2 X 1 ( s ) f v 3 sX 1 ( s ) 0
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M1 s 2 X1 ( s ) f v1 f v3 sX1 ( s ) K1 K 2 X1 ( s ) K 2 X 2 ( s ) f v3 sX 2 ( s ) F ( s )
M 2 s 2 X 2 ( s ) f v 2 f v3 sX 2 ( s ) K 2 K 3 X 2 ( s ) K 2 X 1 ( s ) f v 3 sX 1 ( s ) 0
M s f
1
2
v1
f v1 s K1 K 2 X 1 ( s ) K 2 f v 3 sX 2 ( s ) F ( s )
K 2 f v 3 sX 1 ( s ) M 2 s 2 f v 2 f v3 s K 2 K 3 X 2 ( s ) 0
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Activity
Three-degrees-of-freedom
translational
mechanical system
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Activity
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Translational Home Assignment
mechanical system submit
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Transfer Functions for Rotational
Mechanical Systems
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Mechanical Rotational Systems
The mechanical rotational systems are treated in the same way as the
mechanical translational systems with the following changes:
•Mass (M) is replaced by moment of inertia (J)
•Force (F) is replaced by Torque (T)
•Displacement ‘X’ by angular displacement ‘θ’
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Examples
Mechanical Rotational Systems -
Applications
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Steam Turbine Blades
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Summary of elements involved in linear mechanical systems
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36
τ
J
d 2 (t ) d (t )
T (t ) J 2
B K time domain
B dt dt
K T ( s ) Js 2 Bs K s domain
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