Mechanical System Model

Slide 10.
Basic system Models

Objectives:
Devise Models from basic building
blocks of mechanical, electrical, fluid
and thermal systems
Recognize analogies between
mechanical, electrical, fluid and thermal
systems
Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Slide 10.2
Basic system Models

Mathematical Models
Mechanical system building blocks
Rotational systems
Building up a mechanical system
Electrical system building blocks
- Building up a model for electrical systems
- Electrical and mechanical analogyies
Fluid system building blocks
Thermal system building blocks

Slide 10.3
Mathematical Models
In order to understand the behavior of
systems, mathematical models are needed.
Such a model is created using equations and
can be used to enable predictions to be
made of the behavior of a system under
specific conditions.
The basics for any mathematical model is
provided by the fundamental physical laws
that govern the behavior of the system.
This chapter deals with basic building
blocks and how to combine such blocks to
build a mathematical system model.

Slide 10.4
Mechanical system building blocks

The models used to represent mechanical systems have the basic building blocks of:
Springs: represent the stiffness of a system
Dashpots: dashpots are the forces opposing motion, i.e. friction or damping
Masses: the inertia or resistance to acceleration
All these building blocks can be considered to have a force as an input
and a displacement as an output
Figure 10.1 Mechanical systems: (a) spring, (b) dashpot, (c) mass
Slide 10.5
Mech. sys blocks: Spring
The stiffness of a
spring is described by:
F=k.x k is the
The object applying the stiffness
constant
force to stretch the
spring is also acted on
by a force (Newtons
third law), this force
will be in the opposite
direction and equal in
size to the force used
to stretch the spring
Slide 10.6
Mech. sys blocks: Dashpots
c : speed of the body

It is a type of forces when we
push an object through a fluid
or move an object against
friction forces.
Thus the relation between the
displacement x of the piston,
i.e. the output and the force
as input is a relationship
depending on the rate of
change of the output
Slide 10.7
Mech. sys blocks: Masses
F=ma
m: mass, a: acceleration
Slide 10.8
Energy in basic mechanical blocks

The spring when stretched stores energy, the
energy being released when the spring springs
back to its original length.
The energy stored when there is an extension
x is:
E= kx2/2=
Energy stored in the mass when its moving with a

velocity v, its called kinetic energy, and released
when it stops moving:
E=mv2/2
No stored energy in dashpot, it dissipates

energy=cv2
Slide 10.9
Basic Blocks or Rotational System

For rotational system, the equivalent three building blocks are:
a Torsion spring, a rotary damper, and the moment of inertia
With such building blocks, the inputs are torque and the
outputs angle rotated
With a torsional spring
With a rotary damper a disc is rotated in a fluid and
the resistive torque T is:
The moment of inertia has the property that the greater

the moment of inertia I, the greater the torque needed
to produce an angular acceleration

Slide 10.10
Energy in rotary system

The stored energy in rotary system:
For torsional spring:
Energy stored in mass rotating is :
The power dissipated by rotary damper

when rotating with angular velocity is:

Slide 10.11
Summary of Mechanical building blocks

Table 10.1 Mechanical building blocks
Slide 10.12

Many systems can be considered to be a mass, a spring
and dashpot combined in the way shown below
Figure 10.2 (a) Springdashpotmass, (b) system, (c) free-body diagram

Slide 10.13

The net forced applied to dx d 2x
F kx c =m 2
the mass m is F-kx-cv dt dt
d 2x dx
V: is the velocity with which or m 2 + c + kx = F
the piston (mass) is dt dt
2nd order differential equation
moving describes the relationship
The net fore is the force between the input of force F to
the system and the output of
applied to the mass to displacement x
cause it to accelerate thus:
net force applied to mass
=ma =

Slide 10.14
Example of mechanical systems

The model in b can be
used for the study of the
behavior that could be
expected of the vehicle
when driven over a rough
road and hence as a basis
for the design of the
vehicle suspension model
The model in C can be

used as a part of a larger
model to predict how the
driver might feel when
driving along a road
Model for (a) a machine mounted on the ground, (b) the chassis of a car
Figure 10.3
as a result of a wheel moving along a road, (c) the driver of a car as it is driven
Bolton, Mechatronics PowerPoints, 4 Edition, Pearson Education Limited 2008
along a road
th
Slide 10.15
Analysis of mechanical systems

The analysis of such systems is carried out by drawing a
free-body diagram for each mass in the system, thereafter
the system equations can be derived
Figure 10.4 Example

Slide 10.16
Procedure to obtain the differential

equation relating the inputs to the outputs
for a mechanical system consisting of a
number of components can be written as
follows

Slide 10.17
Example: derive the differential

equations for the system in Figure
Consider the free body diagram

For the mass m2 we can write
For the free body diagram of

mass m1 we can write
Figure 10.5 Massspring system

Slide 10.18
Rotary system analysis

The same analysis procedures can also be applied to rotary system,
so just one rotational mass block and just the torque acting on the
body are considered
Spring
Rotating a mass on the end of a shaft: (a) physical situation,

Figure 10.6
Bolton, Mechatronics PowerPoints, 4 Edition, Pearson Education Limited 2008
(b) building block model
th
Slide 10.19
Electrical system building blocks
Figure 10.7 Electrical building blocks

Slide 10.20
Table 10.2 Electrical building blocks

Slide 10.21
Figure 10.8 Resistorcapacitor system

Slide 10.22
Figure 10.9 Resistorinductorcapacitor system

Slide 10.23
Figure 10.10 Resistorinductor system

Slide 10.24
Electrical System Model

Resistorcapacitorinductor system

Slide 10.25
Electrical and Mechanical Analogy
F I
Velocity Volt
C dashpot 1/R
Spring inductor
Mass capacitor

Figure 10.12 Analogous systems
Slide 10.26

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Slide 10.

Basic system Models

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Basic system Models

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Mechanical system building blocks

Mech. sys blocks: Spring

Mech. sys blocks: Dashpots

c : speed of the body

Mech. sys blocks: Masses

Energy in basic mechanical blocks

Energy stored in the mass when its moving with a

No stored energy in dashpot, it dissipates

Basic Blocks or Rotational System

The moment of inertia has the property that the greater

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Energy in rotary system

Energy stored in mass rotating is :

The power dissipated by rotary damper

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Summary of Mechanical building blocks

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Building up a mechanical system

Figure 10.2 (a) Springdashpotmass, (b) system, (c) free-body diagram

Building up a mechanical system

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Example of mechanical systems

The model in C can be

Analysis of mechanical systems

Figure 10.4 Example

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Procedure to obtain the differential

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Example: derive the differential

Consider the free body diagram

For the free body diagram of

Figure 10.5 Massspring system

Rotary system analysis

Rotating a mass on the end of a shaft: (a) physical situation,

Electrical system building blocks

Figure 10.7 Electrical building blocks

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Table 10.2 Electrical building blocks

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Figure 10.8 Resistorcapacitor system

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Figure 10.9 Resistorinductorcapacitor system

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Figure 10.10 Resistorinductor system

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Electrical System Model

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Electrical and Mechanical Analogy

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

Bolton, Mechatronics PowerPoints, 4th Edition, Pearson Education Limited 2008

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