Modelling and Simulation

Modelling of Mechanical Systems

Lecture-1

16 February 2023
Dr. Sameh Farid
Assistant Professor
Dr. Sameh Farid 1
 Ground Rules
• Mute your mobile during the lecture.

• No late excuse will be accepted.

• No one is allowed to attend the lecture without the tools.

• Student’s responsibility to
keep informed of any announcements,
syllabus adjustments,
policy changes.

2/16/2023
Dr.
• Home works will be graded only if they are written neatly. Sam
eh
2 Fari
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 Course Work Grade Distribution

• Final exam = 40 Marks

• Mid-term exam= 15 Marks

• Best ??? quizzes (out of ???) = 15 marks

• Mini Project = 10 marks (2 Students/Group)

• Participation (Lecture + Tutorial) = 5 marks

• Research + Presentation = 5 marks

• Tutorial Quizzes= 10 marks 3

 Course Content
• Modelling.
– Modelling of mechanical elements and systems.
– Modelling of electrical elements and systems.
– Modelling of electromechanical systems.
– Modelling of Fluid elements and systems.
– Modelling of Thermal elements and systems.
– Modelling of mechatronic systems.

• Simulation.
– Simulation of systems using MATLAB.
– Simulation of systems using Simulink.
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 Outline of this Lecture

• Introduction

• Part-I: Translational Mechanical System

• Part-II: Rotational Mechanical System

• Part-III: Mechanical Linkages

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 Outline of this Lecture

• Introduction

• Part-I: Translational Mechanical System

• Part-II: Rotational Mechanical System

• Part-III: Mechanical Linkages

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 What is Modelling?

Modeling is the art of obtaining a quantitative description of system or

one of its elements that is:
• simple enough to be useful for making predictions and
• realistic enough to trust those predictions.

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 Types of Systems

• Static System:

If a system does not change with time, it is called a static system.

• Dynamic System:

If a system changes with time, it is called a dynamic system.

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 Dynamic Systems
• A system is said to be dynamic if:
its current output may depend on the past history as well as the
present values of the input variables.
• Mathematically,
𝑦(𝑡) = 𝑓[𝑢(𝜏)] , 0 ≤ 𝜏 ≤ 𝑡
𝑢: Input, 𝑡: Time
Example: A moving mass
y
Model: Force=Mass x Acceleration u

My  u M
Examples of Dynamic Systems
 Ways to Study a System
System
Experiment with Experiment with a
actual System model of the System

Physical Model Mathematical Model

Analytical Solution Simulation

Frequency Domain Time Domain Hybrid Domain

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 Model

• A model is a simplified representation or abstraction of reality.

• Reality is generally too complex to copy exactly.
• Much of the complexity is actually irrelevant in problem solving.

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 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that describes the
input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or unknown.

Input Output

• Easy to Model

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 Grey Box Model
• When input and output and some information about the internal
dynamics of the system is known.

u(t) y(t)
y[u(t), t]

• Easier than white box Modelling.

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 White Box Model
• When input and output and internal dynamics of the system is known.

u(t) 2
y(t)
𝑑𝑦(𝑡) 𝑑𝑢(𝑡) 𝑑 𝑦(𝑡)
=3 −
𝑑𝑡 𝑑𝑡 𝑑𝑡 2
• One should have complete knowledge of the system to derive a white
box model.

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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 Mech Systems
Translational
Spring
i)

Translational Mass
ii)

Translational
iii) Damper

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 Translational Spring
A translational spring:
• It is a mechanical element that can be deformed by an external force.
• The deformation is directly proportional to the force applied to it.

Translational
Spring
i)

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

• Then 𝑥1 is the deformation if 𝑥2 = 0 F

• Or 𝑥1 − 𝑥2 is the deformation. F

• The equation of motion is given as 𝐹 = 𝑘 𝑥1 − 𝑥2

Where 𝑘: is stiffness of spring expressed in 𝑁/𝑚.

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

• A mechanical system without mass does not exist.

• If a force 𝐹 is applied to a mass and it is displaced to 𝑥 meters then the

relation b/w force and displacements is given by Newton’s law.

x(t )
F  Mx F (t )
M

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 Translational Damper
Translational
iii) Damper

• When the viscosity or drag is not negligible in a system,

we often model them with the damping force.

• All the materials exhibit the 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.

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 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension

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 Translational Damper

F  Cx F  C( x1  x 2 )

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

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 Modeling a Simple Translational System
• Example-1:
Consider a simple horizontal spring-mass system on a frictionless
surface, as shown in figure below.

𝑚𝑥 = −𝑘𝑥

𝑚𝑥 + 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 𝑓𝑘 and 𝑓𝑀 are force applied by the spring and inertial force
respectively.

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Example-2
fk
M fM
F

𝐹 = 𝑓𝑘 + 𝑓𝑀
• Then the differential equation of the system is:
𝐹 = 𝑀𝑥 + 𝑘𝑥

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Example-3
• Consider the following system

k
x
• Free Body Diagram F
M

C
𝐹 = 𝑓𝑘 + 𝑓𝑀 + 𝑓𝐶
fk fC
• Differential equation of the system is: M fM
F
𝐹 = 𝑀𝑥 + 𝐶𝑥 + 𝑘𝑥
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Example-4
• Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M fM
F

𝐹 = 𝑓𝑘 + 𝑓𝑀 + 𝑓𝐵

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Example-5
• Consider the following system
x2

x1 k B
F M

• Free Body Diagram

0 = 𝑘(𝑥2 − 𝑥1 ) + 𝑀𝑥2 + 𝐵𝑥2

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Example-6
• Find the mathematical model of the following system.

𝑴𝟏 𝑩 𝑴𝟐

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Example-7

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Example-8

x2 x3
x1
k1 B3 B4

u(t ) B1 M1 k2 M2 k3

B2 B5

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Example-9
• Find the mathematical modelling of the mechanical translational system given
in Figure-1.
Free Body Diagram
fk fB

Figure-1 𝑓(𝑡) = 𝑓𝑘 + 𝑓𝑀 + 𝑓𝐵
M

f (t ) fM

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Example-10
• Restaurant plate dispenser

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Example-11
• Find the mathematical modelling of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1

k2 F (t ) f M 2 f M1

𝐹(𝑡) = 𝑓𝑘1 + 𝑓𝑘2 + 𝑓𝑀2 + 𝑓𝐵

0 = 𝑓𝑘1 + 𝑓𝑀1 + 𝑓𝐵
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Example-12: Automobile Suspension

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Automobile Suspension

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 Automobile Suspension

𝑚𝑥𝑜 + 𝑏(𝑥𝑜 − 𝑥𝑖 ) + 𝑘(𝑥𝑜 − 𝑥𝑖 ) = 0 (eq .1)

𝑚𝑥𝑜 + 𝑏𝑥𝑜 + 𝑘𝑥𝑜 = 𝑏𝑥𝑖 + 𝑘𝑥𝑖 (eq. 2) 40
Example-13: Train Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie

Frame
Primary
Wheelsets
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 )

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Basic Elements of Rotational Mechanical Systems
Rotational Damper

C
1
2 T

T  C(1  2 )

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Basic Elements of Rotational Mechanical Systems
Moment of Inertia


J T

𝑇 = 𝐽𝜃

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Example-1:
B1
1 k1 2 3 k2
T J1 J2

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Example-2:
1 k1 2 B2
3 B4
T J1 J2

B1 B3

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Example-3:

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Example-4:

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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.

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 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.
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 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.
Driver
Follower
• We gear up when we increase velocity and
decrease torque.
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
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 Example of Gear Trains
• A most commonly used example of gear trains is the gears of an automobile.

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 Mathematical Modeling 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

𝑁1 𝜃1 = 𝑁2 𝜃2

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 Modeling 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 59
 Mathematical Modeling of Gear Trains
• For Gear-1

 a  J11  B11  T1 Eq (1)

• For Gear-2

T2  J 22  B22  TL Eq (2) N1

N2

B1
• Since
B2
N11  N 2 2

• therefore
N1
2  1 Eq (3)
N2 60
 Mathematical Modeling 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  J11  B11  T2
N2 B2
• Put T2 from eq (2)
  N1
 a  J11  B11  ( J 22  B22  TL )
N2
• Substitute θ2 from eq (3)
  N1 N1  N1  N1
 a  J11  B11  (J2 1  B2 2  TL )
N2 N2 N2 N2 61
 Mathematical Modeling of Gear Trains
  N1 N1  N1  N1
 a  J11  B11  (J2 1  B2 2  TL )
N2 N2 N2 N2

• After simplification 2 2
  N1     N1  N
 a  J11    J 21  B11    B21  1 TL
 N2   N2  N2
  N1 
2    N1 
2  N1

 a  J1      
J 2 1  B1    
 B2 1  TL
  N2     N2   N2
   
2 2
N  N 
J eq  J1   1  J 2 Beq  B1   1  B2
 N2   N2 

  N1
 a  J eq1  Beq1  TL
N2 62
 Mathematical Modeling of Gear Trains

• For three gears connected together

2 2 2
 N1   N1   N3 
J eq  J1    J 2      J 3
 N2   N2   N4 

2 2 2
 N1   N1   N3 
Beq  B1    B2      B3
 N2   N2   N4 

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 Home Work
• Drive relation between applied torque Tm and load torque TL for three gears
connected together (Solved Examples A–5–2. in Ogata 5th Ed).

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Thanks for your attention

16 February 2023
Dr. Sameh Farid 65