WOLLO UNIVERSITY

KIOT

SCHOOL OF MECHANICAL AND CHEMICAL ENGINERING

1
 Mathematical Modelling of Physical Systems
Definition:
 A physical system is a collection of physical objects connected in some
designed pattern to serve some prescribed objective.

 Based on types of motion mechanical systems are classified into two types:

1. Translational mechanical system

2. Rotational mechanical system

 The motion of the body/object during translational motion is along a straight line
or curved path; whereas during rotational motion, the motion of an object is
about its own axis.

1. Translational mechanical systems

 There are three basic elements involves in the analysis of translational motion.
These are:

(i) Mass (ii) Spring (iii) Damper or dash pot

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 Cont’d…
Mass: fm ∝ 𝑎
F M
𝑑2𝑥
X F = fm = 𝑀𝑎 = 𝑀 2
𝑑𝑡

Spring: let the linear spring constant for the spring be K. in this case the
spring is subjected to force and it undergoes elastic deformation. The
relation is fk ∝ displacement.

- If one end is fixed to the reference - If both ends are free

K
X1 X2
F
X F
K
Fk ∝ x
F = Fk = k(𝑥1 − 𝑥2 )
F = Fk = kx

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 Cont’d…
Damper: Motion is opposed by friction. Types of frictional forces are:

(i) Coulomb frictional force: sliding friction b/n dry surface

(ii) Viscous friction force (Fb) : friction b/n moving surface by a viscous
fluid or friction b/n solid body and a fluid medium.

 If one end is fixed Fb ∝ V (Velocity)

X
Fb = BV
𝑑𝑥
F Fb = F = B
B 𝑑𝑡

Where: B is viscous friction constant

 If both ends are free 𝑑(𝑥1−𝑥2)

X1 X2
Fb ∝ B
F 𝑑𝑡
𝑑
B F = Fb = B 𝑑𝑡 (𝑥1 − 𝑥2)

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 Cont’d…
2. Rotational Mechanical Systems

 Considering torque (T) and angular displacement (𝜃) here for object rotating
about its own axis.

 The three elements of rotational motion are:

 Moment Inertia of mass (J)

 Damper (B)

 Torsional Spring (K)

Mass: For any ideal mass element J 𝑑2𝜃

TJ ∝
J 𝑑𝑡2
T 𝜃 𝑑2𝜃
T = TJ = J 2
𝑑𝑡

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 Cont’d…
Damper: Opposing torque (Tb) due to friction of dash pot or damper is:

- If one end is fixed.

𝑑𝜃 𝑑𝜃
T Tb ∝ T = Tb = B
𝑑𝑡 𝑑𝑡
- If both ends are free. 𝑑𝜃 𝑑
Tb = B T = Tb = B (𝜃1 − 𝜃2)
𝑑𝑡 𝑑𝑡

T Since T is at 𝜃1, therefore, 𝜃 = 𝜃1 − 𝜃2

Spring: Opposing
K
torque force due to elasticity of spring K is
TK ∝ 𝜃
Total torque ,T = TK = K𝜃
T

- If both ends are free

T = TK = K (𝜃1 - 𝜃2 )
T
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 Modelling of Electrical Systems
 Basic elements of electrical system are:

(i) Resistor (R)

(ii) Inductor (L)

(iii) Capacitor (C) R

𝑑𝑄
Resistor: V=R = iR
𝑑𝑡

Where V is voltage, Q is charge and i is

current

Inductor:

Capacitor: 𝑄
V=
𝐶

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 Analogous Systems
- Two different physical systems having same mathematical model

- In analogous system a non – electrical systems is expressed in terms of its

electrical counter part.

- There are two methods to get analogous systems:

(i) Force - voltage analogy (ii) Force - current analogy

1) Translational mechanical system to Electrical System

(i) Force – Voltage analogy

Mechanical system Electrical system
Input: Force Input: voltage source
Output: Velocity Output: current through element

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 Force – Voltage analogy Cont’d…
Mechanical system Electrical system
i
1)
F M +
X v L
𝑑2𝑥 𝑑𝑣 𝑑𝑖
𝐹=𝑀 2 =𝑀 - v= 𝐿
𝑑𝑡 𝑑𝑡 𝑑𝑡

X i
+
2) F B +
v R
𝑑𝑥
- -
F = B 𝑑𝑡 = 𝐵𝑉 v = 𝑖𝑅

K
i
F X
3) + +
v C
- - 1
F = kx = k 𝑣𝑑𝑡 v= 𝑣𝑑𝑡
𝐶

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 Cont’d…
 Note:
i. In mechanical system the elements having same velocity are said to be in series,
similarly in electrical system the elements in series will have same current

ii. Each node (mass) in mechanical system corresponds to a closed loop in electrical
system.

iii. Number of meshes in electrical system is equal to number masses in mechanical

system

iv. The element connected between two masses in mechanical system is represented
as a common element between two meshes in electrical analogous system.

Example: Element between two meshes in electrical analogous system

X1 K1 X2 K2
F M1 M2
B1 B2
B
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 Force – Current Analogy Cont’d…
Mechanical system Electrical system
Input: Force Input: Current source
Output: Velocity Output: Voltage across element
i
F M
1) X 𝑑2𝑥 𝑑𝑣
+ + 𝑑𝑉
i C i= 𝐶
𝐹=𝑀 2 =𝑀 - - 𝑑𝑡
𝑑𝑡 𝑑𝑡

X i
+
2) F B +
i R 𝑉
𝑑𝑥 - i=
- 𝑅
F = B 𝑑𝑡 = 𝐵𝑉

K i
F +
3) X
i L 1
- i= 𝑉𝑑𝑡
𝐿
F = kx = k 𝑣𝑑𝑡

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 Cont’d…
Note:
i) In mechanical system the elements in parallel will have same forces similarly, in
electrical system parallel elements will have same voltage.

ii) Each mode (mass) in mechanical system corresponds to a node in electrical system.

iii) Number of nodes in electrical system is equal to number of Mass in mechanical

system.

iv) The element connected b/n two mass in mechanical system is represented as
common element b/n nodes in electrical system.

Example:
X1 K1 X2 K2
F M1 M2
B1 B2
B

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 2) Rotational Mechanical system to Electrical System
(i)Torque – Voltage analogy
Mechanical rotational system Electrical system
Input: Torque Input: voltage source
Output: angular velocity Output: current through element
i
J +
1) T 𝜃
L 𝑑𝑖
2
𝑑𝜃 𝑑𝜔
V V=L
- 𝑑𝑡
T = J = J
𝑑𝑡2 𝑑𝑡
i
+
2) T +
V R
- - V = 𝑖𝑅
𝑑𝜃
T=B = B𝜔
𝑑𝑡
i
K
+ + 1
T 𝜃 V C V= 𝑖𝑑𝑡
- - 𝐶
3) T = K𝜃 = K 𝜔𝑑𝑡
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 2) Rotational Mechanical system to Electrical System
(ii)Torque – Current analogy
Mechanical rotational system Electrical system
Input: Torque Input: Current source
Output: Angular velocity Output: Voltage across the element
i
J
1) T 𝜃 + 𝑑𝑉
i C i=C
𝑑2 𝜃 𝑑𝜔 - - 𝑑𝑡
T = J = J
𝑑𝑡2 𝑑𝑡
i
+
2) T +
i R i = 𝑉𝑅
- -
𝑑𝜃
T=B = B𝜔
𝑑𝑡
i
K +
L 1
T 𝜃
i i= 𝑉𝑑𝑡
- 𝐿
3) T = K𝜃 = K 𝜔𝑑𝑡
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 Cont’d…

Summary: Counterparts of Translational and Rotational Motion

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 Cont’d…
Examples: 1. Obtain the analogous electrical network of Fig below.
Using (a) f-v and (b) f - I analogy

Example: 2 Find the electrical analogous systems based on (a) T-v and (b) T- i analogy

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 Reading Assignment

1. Thermal system modeling

2. Hydraulics system modeling

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 Cont’d…

End of Chapter

Thank you!

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