MENG 3020 – System Modeling & Simulation Worksheet 4

Worksheet 4 - Solution
PART 1: Mass-Spring Systems
1) In the following system, the input is the angular displacement 𝜙 of the end of the shaft, and the output is the
angular displacement 𝜃 of the inertia 𝐽. The shafts have torsional stiffnness 𝑘1 and 𝑘2 . The equilibrium position
corresponds to 𝜙 = 𝜃 = 0. Derive the equation of motion and find the transfer function Θ(𝑠)/Φ(𝑠).
From the free-body diagram, considering the CW as the positive
direction, the differential equation model of system is obtained.

−𝑘1 (𝜃 − 𝜙) − 𝑘2 𝜃 = 𝐽𝜃̈
𝐽𝜃̈ + (𝑘1 + 𝑘2 )𝜃 = 𝑘1 𝜙
Take Laplace transform:
𝐽𝑠 2 𝜃(𝑠) + (𝑘1 + 𝑘2 )𝜃(𝑠) = 𝑘1 𝜙(𝑠)
Form the equation as a transfer function model, where the input is the angular displacement 𝜙 of the end of the
shaft, and the output is the angular displacement 𝜃 of the inertia 𝐽:
𝜃(𝑠) 𝑘1
=
𝜙(𝑠) 𝐽𝑠 2 + 𝑘1 + 𝑘2

2) The following figure models the three shafts as massless torsional springs. When 𝜃1 = 𝜃2 = 0, the springs are
at their free lengths. Derive the equations of motion with the torque 𝑇2 as the input.

From the free-body diagram, considering the CW as the positive direction, the equation of motion of the system
is obtained.
Inertia 𝐽1 → −𝑘1 𝜃1 − 𝑘2 (𝜃1 − 𝜃2 ) = 𝐽1 𝜃̈1
Inertia 𝐽2 → 𝑇2 − 𝑘2 (𝜃2 − 𝜃1 ) − 𝑘3 𝜃2 = 𝐽2 𝜃̈2

3) The two stepped solid cylinders in the following figure consist of the same material and have an axial force 𝑓
applied to them. Determine the equivalent translational spring constant for this arrangement. Are the two
springs in series or in parallel?
This is a series combination of two torsional spring:
𝑘1 𝑘2
𝑘𝑒 =
𝑘1 + 𝑘2

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MENG 3020 – System Modeling & Simulation Worksheet 4

4) Consider the spur gear shown in the following figure. The input shaft (shaft 1) is connected to a motor that
produces a torque 𝑇1 at a speed 𝜔1 , and drives the output load shaft (shaft 2). One use of such a system is to
increase the effective motor torque. 𝜃1 is the input rotation and 𝜃2 is the output rotation.
a) Derive the expression for the equivalent inertia 𝐽𝑒 felt on the
input shaft, and obtain the equation of motion in terms of the
displacement 𝜃1 .
The equivalent inertia felt on the input shaft is:
𝑁1 2
𝐽𝑒 = 𝐽1 + 𝐽2 ( )
𝑁2
The equivalent torque in the input shaft is:
𝑁1
𝑇𝑒 = 𝑇1 + 𝑇2 ( ) 𝑇1 𝜃2 𝑁1 𝜔2
𝑁2
= = =
𝑁 𝑇2 𝜃1 𝑁2 𝜔1
where, 𝑇2 (𝑁1 ) is the reflected torque from shaft 2 to shaft 1.
2

The equation of motion in terms of 𝜃1 is:

𝑁 𝑁 2
𝑇𝑒 = 𝐽𝑒 𝜃̈1 → 𝑇1 + 𝑇2 (𝑁1 ) = [𝐽1 + 𝐽2 (𝑁1 ) ] 𝜃̈1
2 2

b) If the inertias are 𝐽1 = 0.1 𝑘𝑔. 𝑚2 for the motor shaft and 𝐽2 = 0.4 𝑘𝑔. 𝑚2 for the load shaft. The motor
speed 𝜔1 is five times faster than the load speed 𝜔2 , so this device is called a speed reducer. Obtain the
equation of motion in terms of 𝜔2 . Assuming that the motor torque 𝑇1 and load torque 𝑇2 are given.

From the given speed information we have:

𝜔2 1 𝑁1 1
= → =
𝜔1 5 𝑁2 5
The equivalent inertia is:
𝑁1 2 1 2
𝐽𝑒 = 𝐽1 + 𝐽2 ( ) = 0.1 + 0.4 ( ) = 0.116 𝑘𝑔. 𝑚2
𝑁2 5

Since 𝜃̈1 = 𝜔1̇ , the equation of motion in terms of 𝜔1 is:

𝑁1 𝑇2
𝑇1 + 𝑇2 ( ) = 𝐽𝑒 𝜔̇ 1 → 𝑇1 + = 0.116𝜔̇ 1
𝑁2 5

From the relation of 𝜔1 = 5𝜔2 , we can find the equation of motion in terms of 𝜔2 :
𝑇2 𝑇2
𝑇1 + = 0.116𝜔̇ 1 → 𝑇1 + = 0.58𝜔̇ 2
5 5

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MENG 3020 – System Modeling & Simulation Worksheet 4

5) For the system shown in the following figure, assume that the shaft inertias are small. The remaining inertias in
𝑘𝑔. 𝑚2 are 𝐽1 = 0.005, 𝐽2 = 0.01, 𝐽3 = 0.02, 𝐽4 = 0.04, and 𝐽5 = 0.2. The speed ratios are:
𝜔1 3 𝜔2
= , =2
𝜔2 2 𝜔3
Obtain the equation of motion in terms of 𝜔3 . Assume that the
torque 𝑇 is given.
From the speed ratios we have:
𝑁2 𝜔1 3 𝑁3 𝜔2
= = 𝑎𝑛𝑑 = =2
𝑁1 𝜔2 2 𝑁2 𝜔3

Reflect all inertias to shaft 3.

𝑁2 2 𝑁3 2
𝐽𝑒 = ((𝐽4 + 𝐽1 ) ( ) + 𝐽2 ) ( ) + 𝐽3 + 𝐽5
𝑁1 𝑁2

3 2
𝐽𝑒 = ((0.04 + 0.005) ( ) + 0.01) (2)2 + 0.02 + 0.2 = 0.665 𝑘𝑔. 𝑚2
2

Reflected torque in shaft 3:

𝑁2 𝑁3 3
𝑇𝑒 = 𝑇 ( ) ( ) = 𝑇 ( ) (2) = 3𝑇
𝑁1 𝑁2 2

The equation of motion in terms of 𝜔3 is:

𝑇𝑒 = 𝐽𝑒 𝜔̇ 3 → 3𝑇 = 0.665𝜔̇ 3

PART 2: Mass-Spring-Damper Systems

6) Represent the rotational mechanical system shown below in the state-space form, where 𝜃1 (𝑡) is the output.

Reflect all components and the torque

and displacement from input side 1 to
side 2:
𝑁2 100
𝑇𝑒 (𝑡) = 𝑇(𝑡) ( ) = 𝑇(𝑡) ( ) = 4𝑇(𝑡)
𝑁1 25
𝑁1 25 1
𝜃1𝑒 (𝑡) = 𝜃1 (𝑡) ( ) = 𝜃1 (𝑡) ( ) = 𝜃1 (𝑡) 𝑇1 𝜃2 𝑁1 𝜔2
𝑁2 100 4 = = =
𝑇2 𝜃1 𝑁2 𝜔1
𝑁2 2 100 2
𝐽1𝑒 = 𝐽1 ( ) = (100) ( ) = 1600 𝑘𝑔. 𝑚2
𝑁1 25

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MENG 3020 – System Modeling & Simulation Worksheet 4

The equation of motion is:

1 1
Inertia 𝐽1𝑒 → 𝑇𝑒 (𝑡) − 𝐾(𝜃1𝑒 (𝑡) − 𝜃2 (𝑡)) = 𝐽1𝑒 𝜃̈1𝑒 (𝑡) → 4𝑇(𝑡) − 100 ( 𝜃1 (𝑡) − 𝜃2 (𝑡)) = 1600( 𝜃̈1 (𝑡))
4 4

𝐸𝑞𝑛. (1) → 250𝜃̈1 (𝑡) + 25𝜃1 (𝑡) − 100𝜃2 (𝑡) = 4𝑇(𝑡)

1
Inertia 𝐽2 → −𝐾(𝜃2 (𝑡) − 𝜃1𝑒 (𝑡)) − 𝐷𝜃̇2 (𝑡) = 𝐽2 𝜃̈2 (𝑡) → −100 (𝜃2 (𝑡) − 4 𝜃1 (𝑡)) − 100𝜃̇2 (𝑡) = 50𝜃̈2 (𝑡)

𝐸𝑞𝑛. (2) → 50𝜃̈2 (𝑡) − 25𝜃1 (𝑡) + 100𝜃2 (𝑡) + 100𝜃̇2 (𝑡) = 0

Define the state variables:

𝑥1 (𝑡) = 𝜃1 (𝑡)
𝑥2 (𝑡) = 𝜃̇1 (𝑡)
𝑥3 (𝑡) = 𝜃2 (𝑡)
𝑥4 (𝑡) = 𝜃̇2 (𝑡)
Find the first derivative of the state variables and rewrite them in terms of the state variables and the input.
𝑥̇ 1 (𝑡) = 𝜃̇1 (𝑡) → 𝑥̇ 1 (𝑡) = 𝑥2 (𝑡)
1
𝑥̇ 2 (𝑡) = 𝜃̈1 (𝑡) → 𝑥̇ 2 (𝑡) = (4𝑇(𝑡) − 25𝜃1 (𝑡) + 100𝜃2 (𝑡)) = 0.016𝑇(𝑡) − 0.1𝑥1 (𝑡) + 0.4𝑥3 (𝑡)
250
𝑥̇ 3 (𝑡) = 𝜃̇2 (𝑡) → 𝑥̇ 3 (𝑡) = 𝑥4 (𝑡)
1
𝑥̇ 4 (𝑡) = 𝜃̈2 (𝑡) → 𝑥̇ 4 (𝑡) = (25𝜃1 (𝑡) − 100𝜃2 (𝑡) − 100𝜃̇2 (𝑡)) = 0.5𝑥1 (𝑡) − 2𝑥3 (𝑡) − 2𝑥4 (𝑡)
50

Find the output in terms of the state variables and the input.
𝑦(𝑡) = 𝜃1 (𝑡) = 𝑥1 (𝑡)
The system model has 4 state variables, 1 input, and 1 output.
Form the state equation and the output equation in the standard matrix-vector form.
𝑥̇ 1 (𝑡) 0 1 0 0 𝑥1 (𝑡) 0
𝑥̇ 2 (𝑡) −0.1 0 0.4 0 𝑥2 (𝑡) 0.016
𝑆𝑡𝑎𝑡𝑒 𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛 → =[ ] +[ ] 𝑇(𝑡)
𝑥̇ 3 (𝑡) 0 0 0 1 𝑥3 (𝑡) 0
[𝑥̇ 4 (𝑡)] 0.5 0 −2 −2 [𝑥4 (𝑡)] 0
𝑥1 (𝑡)
𝑥 (𝑡)
𝑂𝑢𝑡𝑝𝑢𝑡 𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛 → 𝑦(𝑡) = [1 0 0 0] 2 + [0]𝑇(𝑡)
𝑥3 (𝑡)
[𝑥4 (𝑡)]

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MENG 3020 – System Modeling & Simulation Worksheet 4

7) Find the transfer function 𝜃2 (𝑠)/𝑇(𝑠), for the rotaional mechanical system with greas as shown below:

Reflect all components and the torque from side 1 to side 2:

𝑁2 50
𝑇𝑒 (𝑡) = 𝑇(𝑡) ( ) = 𝑇(𝑡) ( ) = 2𝑇(𝑡)
𝑁1 25
𝑁2 2 50 2
𝐽𝑒 = 𝐽 ( ) = (1) ( ) = 4 𝑘𝑔. 𝑚2
𝑁1 25
𝑁2 2 50 2
𝐷𝑒 = 𝐷 ( ) = (1) ( ) = 4 𝑁. 𝑚. 𝑠/𝑟𝑎𝑑
𝑁1 25
Find the equation of motion:
Inertia 𝐽𝑒 → 𝑇𝑒 (𝑡) − 𝐷𝑒 (𝜃̇𝑒 (𝑡) − 𝜃̇2 (𝑡)) = 𝐽𝑒 𝜃̈𝑒 (𝑡) → 2𝑇(𝑡) − 4(𝜃̇𝑒 (𝑡) − 𝜃̇2 (𝑡)) = 4𝜃̈𝑒 (𝑡)

Point 𝐴 → −𝐷𝑒 (𝜃̇2 (𝑡) − 𝜃̇𝑒 (𝑡)) − 𝐾(𝜃2 (𝑡)) = 0 → 4 (𝜃̇2 (𝑡) − 𝜃̇𝑒 (𝑡)) + 4𝜃2 (𝑡) = 0

Taking Laplace transform and form as a transfer function model:

2𝑇(𝑠) − 4𝑠𝜃𝑒 (𝑠) + 4𝑠𝜃2 (𝑠) = 4𝑠 2 𝜃𝑒 (𝑠) 𝐸𝑞𝑛. (1)
4𝑠𝜃2 (𝑠) − 4𝑠𝜃𝑒 (𝑠) + 4𝜃2 (𝑠) = 0 𝐸𝑞𝑛. (2)

Find 𝜃𝑒 (𝑠) from Eqn. (2) and substitute in Eqn. (1):

(𝑠 + 1)
𝐹𝑟𝑜𝑚 𝐸𝑞𝑛. (2) → 𝜃𝑒 (𝑠) = 𝜃2 (𝑠)
𝑠

(𝑠 + 1) (𝑠 + 1)
2𝑇(𝑠) − 4𝑠 ( 𝜃2 (𝑠)) + 4𝑠𝜃2 (𝑠) = 4𝑠 2 ( 𝜃2 (𝑠))
𝑠 𝑠

→ 2𝑇(𝑠) − 4(𝑠 + 1)𝜃2 (𝑠) + 4𝑠𝜃2 (𝑠) = 4𝑠(𝑠 + 1)𝜃2 (𝑠)

→ 2𝑇(𝑠) − 4𝑠𝜃2 (𝑠) − 4𝜃2 (𝑠) + 4𝑠𝜃2 (𝑠) = 4𝑠 2 𝜃2 (𝑠) + 4𝑠𝜃2 (𝑠)

𝜃2 (𝑠) 2 1/2
→ = 2 = 2
𝑇(𝑠) 4𝑠 + 4𝑠 + 4 𝑠 + 𝑠 + 1

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MENG 3020 – System Modeling & Simulation Worksheet 4

8) The following figure shows a drive train with a spur-gear pair. The first shaft turns 𝑁2 /𝑁1 times faster than the
second shaft. Develop a model of the system including the elasticity of the second shaft. Assume the first shaft is
rigid, and neglect the gear and shaft masses. The input is the applied torque 𝑇1 . The outputs are the angles 𝜃1 and
𝜃3 .

𝑁
Assume that 𝑁2 = 𝑁
1

Reflect all components and the torque and the

displacement from side 1 to side 2:
𝑁2
𝑇1𝑒 (𝑡) = 𝑇1 (𝑡) ( ) = 𝑁𝑇1 (𝑡)
𝑁1
𝑁1 1
𝜃2 (𝑡) = 𝜃1 (𝑡) ( ) = 𝜃1 (𝑡)
𝑁2 𝑁
𝑁2 2
𝐽1𝑒 = 𝐽1 ( ) = 𝑁 2 𝐽1
𝑁1

Find the equation of motion:

Inertia 𝐽1𝑒 → 𝑇1𝑒 (𝑡) − 𝑘 𝑇 (𝜃2 (𝑡) − 𝜃3 (𝑡)) = 𝐽1𝑒 𝜃̈2 (𝑡)
1 1
→ 𝑁𝑇1 (𝑡) − 𝑘 𝑇 ( 𝜃1 (𝑡) − 𝜃3 (𝑡)) = (𝑁 2 𝐽1 ) ( 𝜃̈1 (𝑡))
𝑁 𝑁
→ 𝑁 2 𝑇1 (𝑡) − 𝑘 𝑇 (𝜃1 (𝑡) − 𝑁𝜃3 (𝑡)) = 𝑁 2 𝐽1 𝜃̈1 (𝑡) 𝐸𝑞𝑛. (1)

Inertia 𝐽2 → −𝑘 𝑇 (𝜃3 (𝑡) − 𝜃2 (𝑡)) − 𝑐𝑇 (𝜃̇3 (𝑡)) = 𝐽2 𝜃̈3 (𝑡)

1
→ −𝑘 𝑇 (𝜃3 (𝑡) − 𝜃 (𝑡)) − 𝑐𝑇 (𝜃̇3 (𝑡)) = 𝐽2 𝜃̈3 (𝑡)
𝑁 1
1
→ −𝑘 𝑇 (𝜃3 (𝑡) − 𝜃 (𝑡)) − 𝑐𝑇 (𝜃̇3 (𝑡)) = 𝐽2 𝜃̈3 (𝑡) 𝐸𝑞𝑛. (2)
𝑁 1

The system model consists of Eqn. (1) and Eqn. (2).

𝑁 2 𝑇1 (𝑡) − 𝑘 𝑇 (𝜃1 (𝑡) − 𝑁𝜃3 (𝑡)) = 𝑁 2 𝐽1 𝜃̈1 (𝑡)

1
−𝑘 𝑇 (𝜃3 (𝑡) − 𝜃 (𝑡)) − 𝑐𝑇 (𝜃̇3 (𝑡)) = 𝐽2 𝜃̈3 (𝑡)
{ 𝑁 1