Mathematical Modelling of

Mechanical Systems

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 Outline of this Lecture

• Part-I: Translational Mechanical System

• Part-II: Rotational Mechanical System

• Part-III: Mechanical Linkages

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 Basic Types of Mechanical Systems
 Translational
 Linear Motion

 Rotational
 Rotational Motion

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Translational Mechanical Systems

Part-I

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Basic Elements of Translational Mechanical Systems
Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)
 Translational Spring
 A translational spring is a mechanical element that can be
deformed by an external force such that the deformation is
directly proportional to the force applied to it.

Translational Spring
i)

Circuit Symbols
Translational Spring
 Translational Spring
 If F is the applied force
x1
x2

 Then x 1 is the deformation if x 2  0 F

 Or ( x1  x 2 ) is the deformation. F

 The equation of motion is given as

F  k ( x1  x 2 )
 Where k is stiffness of spring expressed in N/m
 Translational Spring
 Given two springs with spring constant k1 and k2, obtain the
equivalent spring constant keq for the two springs connected in:

(1) Parallel (2) Series

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 Translational Spring
• The two springs have same displacement therefore:

k1 x  k 2 x  F
(1) Parallel

( k1  k 2 ) x  F

k eq x  F
k eq  k 1  k 2
• If n springs are connected in parallel then:

k eq  k 1  k 2    k n
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 Translational Spring
• The forces on two springs are same, F, however displacements are
different therefore:
(2) Series
k 1 x1  k 2 x 2  F

F F
x1  x2 
k1 k2

• Since the total displacement is x  x1  x2 , and we have F  k eq x

F F F
x  x1  x 2   
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k eq k1 k 2
 Translational Spring
F F F
 
k eq k1 k 2
• Then we can obtain

1 k1 k 2
k eq  
1 1 k1  k 2

k1 k 2
• If n springs are connected in series then:

k1 k 2  k n
k eq 
k1  k 2    k n
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 Translational Spring
• Exercise: Obtain the equivalent stiffness for the following spring
networks.

i)

k3

ii) k3

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 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without mass

does not exist.

• If a force F is applied to a mass and x (t )

it is displaced to x meters then the
relation b/w force and F (t )
M
displacements is given by Newton’s
law.
F  M x
Translational Damper
• When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.
Translational Damper
• All the materials exhibit the iii)
property of damping to some
extent.

• If damping in the system is not

enough then extra elements (e.g.
Dashpot) are added to increase
damping.
 Common Uses of Dashpots
Door Stoppers Vehicle Suspension

Bridge Suspension
Flyover Suspension
 Translational Damper

F  C x F  C ( x1  x 2 )

• Where C is damping coefficient (N/ms-1).

 Translational Damper
• Translational Dampers in series and parallel.

C1C 2
C eq  C1  C 2 Ceq 
C1  C 2
 Modelling a simple Translational System
 Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.

mx  kx
or
mx  kx  0
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 Example-2
 Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

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inertial force respectively.
 Example-2
fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

F  M x  kx
• Taking the Laplace Transform of both sides and ignoring initial
conditions we get

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F ( s )  Ms 2 X ( s )  kX ( s )
 Example-2
F ( s )  Ms 2 X ( s )  kX ( s )
• The transfer function of the system is

X (s) 1

F (s) Ms 2  k

• if
M  1000 kg
k  2000 Nm 1

X (s) 0 . 001
 2
F (s) s 2
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 Example-2
X (s) 0 . 001
 2
F (s) s 2

• The pole-zero map of the system is

Pole-Zero Map
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20

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Imaginary Axis

-10

-20

-30

-40
22 -1 -0.5 0 0.5 1
Real Axis
 Example-3
 Consider the following system

k
x
F
M

C
• Free Body Diagram

fk fC
M fM
F

F  f k  f M  fC
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 Example-3
Differential equation of the system is:

F  M x  C x  kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get
2
F ( s )  Ms X ( s )  CsX ( s )  kX ( s )

X (s) 1

F (s) Ms 2  Cs  k

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 Example-3
X (s) 1

F (s) Ms 2  Cs  k

• if 2
Pole-Zero Map

1.5
M  1000 kg 1

k  2000 Nm 1 0.5

Imaginary Axis
1 0
C  1000 N / ms
-0.5

-1

-1.5
X (s) 0 . 001
 2 -2
-1 -0.5 0 0.5 1
F (s) s  s  1000 Real Axis

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 Example-4
 Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M fM
F X (s) 1

F (s) Ms 2  Bs  k
F  fk  fM  fB
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 Example-5
 Consider the following system
x2

x1 k B
F M

• Mechanical Network
x1 k x2

↑ M B
F

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 Example-5
• Mechanical Network

x1 k x2

↑ M B
F

At node x1

F  k ( x1  x 2 )
At node x2

0  k ( x 2  x 1 )  M x 2  B x 2
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 Example-6
• Find the transfer function X2(s)/F(s) of the following system.

M1 M2
B
 Example-7
x1 x2

k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

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 Example-8
 Find the transfer function of the mechanical translational system
given in Figure-1.
Free Body Diagram

fk fB

Figure-1

f (t ) fM

X (s) 1
f (t )  f k  f M  f B 
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F (s) Ms 2  Bs  k
 Example-9
• Restaurant plate dispenser

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 Example-10
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1
k2
F (t ) fM 2
fM1

F ( t )  f k1  f k 2  f M 2  f B

0  f k1  f M 1  f B
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 Example-11

x2 x3
x1
k1 B3 B4

u (t ) B1 M1 k2 M2 k3

B2 B5

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 Example-12: Automobile Suspension

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 Automobile Suspension

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 Automobile Suspension

mxo  b( x o  x i )  k ( xo  xi )  0 ( eq .1)

mxo  bx o  kxo  bxi  kxi eq. 2

Taking Laplace Transform of the equation (2)

ms 2 X o ( s )  bsX o ( s )  kX o ( s )  bsX i ( s )  kX i ( s )

X o ( s) bs  k

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X i ( s ) ms 2  bs  k
 Example-13: Train Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie

Frame
Primary
Wheelsets
Suspension

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 Example: Train Suspension

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 Rotational Mechanical Systems
Part-I

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Basic Elements of Rotational Mechanical Systems
Rotational Spring
1
2

T  k (1   2 )
Basic Elements of Rotational Mechanical Systems

Rotational Damper

C
1
2 T

T  C (1  2 )
Basic Elements of Rotational Mechanical Systems
Moment of Inertia


J T

T  J 
Example-1

B1
1 k1 2 3 k2
T J1 J2

1 k1  B1 3
2

↑ J1 J2
T k2
Example-2

1 k1 2 B2 B4
3
T J1 J2

B1 B3

1 k1 2 B2 3

T ↑ J1 B1 B3 J2 B4
Example-3

1
k1 2
T k2
J1 J2
B2
Example-4
 Mechanical Linkages
Part-III

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 Gear
 Gear is a toothed machine part, such as a
wheel or cylinder, that meshes with
another toothed part to transmit motion
or to change speed or direction.

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 Fundamental Properties
 The two gears turn in opposite directions: one clockwise and the
other counterclockwise.

 Two gears revolve at different speeds when number of teeth on each

gear are different.
Gearing Up and Down
 Gearing up is able to convert torque to
velocity.
 The more velocity gained, the more torque
sacrifice.
 The ratio is exactly the same: if you get three
times your original angular velocity, you
reduce the resulting torque to one third.
 This conversion is symmetric: we can also
convert velocity to torque at the same ratio.
 The price of the conversion is power loss due
to friction.
 Why Gearing is necessary?

• A typical DC motor operates at speeds that are far too high to

be useful, and at torques that are far too low.

• Gear reduction is the standard method by which a motor is made

useful.

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 Gear Trains

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 Gear Ratio
 You can calculate the gear ratio by using the
number of teeth of the driver divided by the
number of teeth of the follower.

 We gear up when we increase velocity and Driver

decrease torque. Follower
Ratio: 3:1

 We gear down when we increase torque and

reduce velocity.
Ratio: 1:3

Gear Ratio = # teeth input gear / # teeth output gear

= torque in / torque out = speed out / speed in
 Example of Gear Trains
 A most commonly used example of gear trains is the gears of an
automobile.

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 Mathematical Modelling of Gear Trains
 Gears increase or reduce angular velocity (while simultaneously
decreasing or increasing torque, such that energy is
conserved).
Energy of Driving Gear = Energy of Following Gear

N 1 1  N 2 2

N1 Number of Teeth of Driving Gear

1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

2 Angular Movement of Following Gear

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 Mathematical Modelling of Gear Trains
 In the system below, a torque, τa, is applied to gear 1 (with number of
teeth N1, moment of inertia J1 and a rotational friction B1).
 It, in turn, is connected to gear 2 (with number of teeth N2, moment of
inertia J2 and a rotational friction B2).
 The angle θ1 is defined positive clockwise, θ2 is defined positive
clockwise. The torque acts in the direction of θ1.
 Assume that TL is the load torque applied by the load connected to Gear-2.

N2
N1
B1

B2
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 Mathematical Modelling of Gear Trains
 For Gear-1

 a  J 11  B11  T1 Eq (1)

 For Gear-2

T2  J 22  B 22  T L Eq (2) N1

N2

B1
 Since
B2
N 1 1  N 2 2
 therefore
N1
2  1 Eq (3)
58 N2
 Mathematical Modelling of Gear Trains
 Gear Ratio is calculated as
T2 N2 N1
  T1  T2
T1 N1 N2
N2
 Put this value in eq (1) N1
B1
  N1
a  J 1 1  B1 1  T2
N2 B2
 Put T2 from eq (2)

  N1
a  J 1 1  B1 1  ( J 22  B 22  TL )
N2
 Substitute θ2 from eq (3)

  N1 N 1  N1  N1
a  J 1 1  B1 1  (J2 1  B2 2  TL )
59 N2 N2 N2 N2
 Mathematical Modelling of Gear Trains
  N1 N 1  N1  N1
 a  J 11  B11  (J2 1  B 2 2  TL )
N2 N2 N2 N2
 After simplification
2 2
  N1     N1   N1
 a  J 1 1    J 2 1  B11    B 21  TL
 N2   N2  N2
 2   2 
 N1    N 1   N1

 a  J 1    
 J 2  1  B1   
 B 2  1  TL

  N2  


  N2  

N2

2 2
 N   N 
J eq  J 1   1  J 2 B eq  B 1   1  B 2
 N2   N2 

  N1
 a  J eq  1  Beq 1  TL
60 N2
 Mathematical Modelling of Gear Trains
 For three gears connected together

2 2 2
 N1   N1   N3 
J eq  J 1    J 2      J 3
 N2   N2   N4 

2 2 2
 N1   N1   N3 
B eq  B 1    B 2      B 3
 N2   N2   N4 

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 Drive Jeq and Beq and relation between applied torque τa and load
torque TL for three gears connected together.

2
1
N1 3
N2
N3
J1 J2 J3 TL

B2
B3
τa B1

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 End of Lectures

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