BECE302L: Control Systems

Modeling of Mechanical Systems

Prof. Anantha Krishna Chintanpalli (office no: SJT – 609A)

Professor (Grade I) in SENSE
[email protected]

VIT - A place to learn; A chance to grow.

Components of Translational Mechanical
System
Translational Mechanical System: Examples

Compute the Transfer Function: X(s)/F(s)

Translational Mechanical System: Examples

Compute the Transfer Function:

X2(s)/F(s)

Forces on M1 due only to

The motion of M2

Forces on M1 due only to the motion of M1

All forces on M1
Translational Mechanical System: Examples

d 2 x1 dx1 d ( x1  x2 )
f (t )  M1 2
 fV1  fV3  K 1 x1  K 2 ( x1  x2 )
dt dt dt
d 2 x2 dx2 d ( x2  x1 )
0  M2 2
 fV 2  fV 3  K 3 x2  K 2 ( x2  x1 )
dt dt dt
Translational Mechanical System: Examples

Compute the Transfer Function:

X2(s)/F(s)

Forces on M2 due only to

The motion of M1

Forces on M2 due only to the motion of M2

All forces on M2
Translational Mechanical System: Examples

All forces on M2

d 2 x1 dx1 d ( x1  x2 )
f (t )  M1 2
 fV 1  fV 3  K 1 x1  K 2 ( x1  x2 )
dt dt dt
d 2 x2 dx2 d ( x2  x1 )
0  M2 2
 fV2  fV3  K 3 x2  K 2 ( x2  x1 )
dt dt dt
Translational Mechanical System: Examples

Compute the Transfer Function:

X2(s)/F(s)
Translational Mechanical System: Examples

Free body Diagram

w.r.t first node w.r.t first node
 
f ( t )  K [ x1 ( t )  x 2 ( t )] f ( t )  fV [ x 1 (t )  x 2 ( t )]

w.r.t second node w.r.t second node

 
f ( t )  K [ x 2 ( t )  x1 ( t )] f ( t )  fV [ x 2 ( t )  x 1 ( t )]
Differential equations at two mass elements are,

d 2 x1 dx1 d ( x1  x2 ) 1
f (t )  M1 2
 fV 1  fV 3  K 1 x1  K 2 ( x1  x2 )
dt dt dt
d 2 x2 dx2 d ( x2  x1 ) 2
0  M2 2
 fV 2  fV 3  K 3 x2  K 2 ( x2  x1 )
dt dt dt
Translational Mechanical System: Examples

Compute the Transfer Function:

X2(s)/F(s)
Translational Mechanical System: Examples

Compute the Transfer Function:

X2(s)/F(s)
Translational Mechanical System: Examples
Write the equation of motion for the
mechanical network.

Note: the system is three degrees of

freedom.
Translational Mechanical System: Examples
Write the equations describing the motion of the mechanical system.

Also find the transfer function X1(s)/F(s).

Translational Mechanical System: Examples

Compute the Transfer Function:

X2(s)/F(s)

d 2 x1 d ( x1  x 2 )
f (t )  M1 2
 ( fV1  fV2  fV3 )  K ( x1  x 2 )
dt dt
d 2 x2 dx2 d ( x 2  x1 )
0  M2 2
 fV 4  ( fV 1  fV 2  fV 3 )  K ( x 2  x1 )
dt dt dt

F ( S )  [ M1 S 2  ( fV 1  fV 2  fV 3 ) S  K ]X1 ( S )  [( fV 1  fV 2  fV 3 ) S  K ]X 2 ( S )

[ M 2 S 2  ( fV 1  fV 2  fV 3  fV 4 ) S  K ]X 2 ( S )  [( fV 1  fV 2  fV 3 ) S  K ]X1 ( S )  0
Translational Mechanical System: Examples

[ M 1 S 2  ( fV 1  fV 2  fV 3 ) S  K ]  [( fV 1  fV 2  fV 3 ) S  K ]   X 1 ( S )   F ( S )
     
    
     
     
  [( fV 1  fV 2  fV 3 ) S  K ] [ M 2 S  ( fV 1  fV 2  fV 3  fV 4 ) S  K ]
2
 2  
X ( S ) 0 

[ M 1 S 2  ( fV 1  fV 2  fV 3 ) S  K ]  [( fV 1  fV 2  fV 3 ) S  K ]



 [( fV 1  fV 2  fV 3 ) S  K ] [ M 2 S 2  ( fV 1  fV 2  fV 3  fV 4 ) S  K ]

   [ M1 S 2  ( fV 1  fV 2  fV 3 ) S  K ][ M 2 S 2  ( fV 1  fV 2  fV 3  fV 4 ) S  K ]  [( fV 1  fV 2  fV 3 ) S  K ]2
 F(S)  [( fV 1  fV 2  fV 3 ) S  K ]
1 
0 [ M 2 S 2  ( fV 1  fV 2  fV 3  fV 4 ) S  K ]

1  [ M 2 S 2  ( fV 1  fV 2  fV 3  fV 4 ) S  K ]F ( S )

X 1 ( S ) [ M 2 S 2  ( fV 1  fV 2  fV 3  fV 4 ) S  K ]

F(S) 

 2  [( fV 1  fV 2  fV 3 ) S  K ]F ( S )
X 2 ( S ) [( fV 1  fV 2  fV 3 ) S  K ]

F(S) 

X2(S)

F(S)
Components of Rotational Mechanical
System
Rotational mechanical system T ( t )  K ( t )
(Torque-balance equation)
Basic elements of

d ( t )
T (t )  D
dt

d 2 ( t )
T (t )  J
dt 2
Applied toque Opposing torque
developed by Inertia
 Compute the transfer function

Differential equations at two mass elements are,

d 2 1 d 1
T ( t )  J 1 2  D1  K ( 1   2 ) 1
dt dt
d 2 2 d 2
0  J2 2
 D2  K ( 2   1 ) 2
dt dt
Applying Laplace transformation

Writing equations 3 and 4 as

[ J 1 S 2  D1 S  K ] K  1 ( S ) T ( S )
     
    
     
     
 K [ J 2 S  D1 S  K ]
2

 2  
( S ) 0 
Solving for 1 ( S ) and 2(S)

1 2
1 (S )   2 (S ) 
 
The transfer function,
The modified diagram with J2=0

2 (S )

T(S)
Find the transfer function.