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L04 Control Systems - Modeling of Mechanical Systems

The document discusses modeling of mechanical systems including translational and rotational systems. Translational systems consist of mass, spring and damper and their motion can be modeled through differential equations relating force, mass, spring constant and damping. Rotational systems consist of moment of inertia, torsional spring and dashpot and their motion can also be modeled through similar differential equations relating torque, moment of inertia, spring constant and damping.

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Jezzrel Xandy Balmes
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17 views5 pages

L04 Control Systems - Modeling of Mechanical Systems

The document discusses modeling of mechanical systems including translational and rotational systems. Translational systems consist of mass, spring and damper and their motion can be modeled through differential equations relating force, mass, spring constant and damping. Rotational systems consist of moment of inertia, torsional spring and dashpot and their motion can also be modeled through similar differential equations relating torque, moment of inertia, spring constant and damping.

Uploaded by

Jezzrel Xandy Balmes
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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4.

Modeling of Mechanical Systems Control Systems

In this chapter, let us discuss the differential equation modeling of mechanical


systems. There are two types of mechanical systems based on the type of motion.

 Translational mechanical systems

 Rotational mechanical systems

Modeling of Translational Mechanical Systems


Translational mechanical systems move along a straight line. These systems mainly
consist of three basic elements. Those are mass, spring and dashpot or damper.

If a force is applied to a translational mechanical system, then it is opposed by opposing


forces due to mass, elasticity and friction of the system. Since the applied force and the
opposing forces are in opposite directions, the algebraic sum of the forces acting on the
system is zero. Let us now see the force opposed by these three elements individually.

Mass
Mass is the property of a body, which stores kinetic energy. If a force is applied on a
body having mass M, then it is opposed by an opposing force due to mass. This opposing
force is proportional to the acceleration of the body. Assume elasticity and friction are
negligible.

𝐹𝑚 ∝ 𝑎

𝑑2𝑥
=> 𝐹𝑚 = 𝑀𝑎 = 𝑀
𝑑𝑡 2
𝑑2𝑥
𝐹 = 𝐹𝑚 = 𝑀
𝑑𝑡 2
Where,

 𝑭 is the applied force

 𝑭𝒎 is the opposing force due to mass

 𝑴 is mass

 𝒂 is acceleration

 𝒙 is displacement

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Control Systems

Spring
Spring is an element, which stores potential energy. If a force is applied on spring K,
then it is opposed by an opposing force due to elasticity of spring. This opposing force is
proportional to the displacement of the spring. Assume mass and friction are negligible.

𝐹𝑘 ∝ 𝑥

=> 𝐹𝑘 = 𝐾𝑥
𝐹 = 𝐹𝑘 = 𝐾𝑥

Where,

 𝑭 is the applied force

 𝑭𝒌 is the opposing force due to elasticity of spring

 𝑲 is spring constant

 𝒙 is displacement

Dashpot
If a force is applied on dashpot B, then it is opposed by an opposing force due to friction
of the dashpot. This opposing force is proportional to the velocity of the body. Assume
mass and elasticity are negligible.

𝐹𝑏 ∝ 𝑣

𝑑𝑥
=> 𝐹𝑏 = 𝐵𝑣 = 𝐵
𝑑𝑡
𝑑𝑥
𝐹 = 𝐹𝑏 = 𝐵
𝑑𝑡

12
Control Systems

Where,

 𝑭𝒃 is the opposing force due to friction of dashpot

 𝑩 is the frictional coefficient

 𝒗 is velocity

 𝒙 is displacement

Modeling of Rotational Mechanical Systems


Rotational mechanical systems move about a fixed axis. These systems mainly consist of
three basic elements. Those are moment of inertia, torsional spring and dashpot.

If a torque is applied to a rotational mechanical system, then it is opposed by opposing


torques due to moment of inertia, elasticity and friction of the system. Since the applied
torque and the opposing torques are in opposite directions, the algebraic sum of torques
acting on the system is zero. Let us now see the torque opposed by these three elements
individually.

Moment of Inertia
In translational mechanical system, mass stores kinetic energy. Similarly, in rotational
mechanical system, moment of inertia stores kinetic energy.

If a torque is applied on a body having moment of inertia J, then it is opposed by an


opposing torque due to the moment of inertia. This opposing torque is proportional to
angular acceleration of the body. Assume elasticity and friction are negligible.

𝑇𝑗 ∝ 𝛼

𝑑2𝜃
=> 𝑇𝑗 = 𝐽𝛼 = 𝐽
𝑑𝑡 2
𝑑2 𝜃
𝑇 = 𝑇𝑗 = 𝐽
𝑑𝑡 2

Where,

 𝑻 is the applied torque

 𝑻𝒋 is the opposing torque due to moment of inertia

13
Control Systems

 𝑱 is moment of inertia

 𝛂 is angular acceleration

 𝛉 is angular displacement.

Torsional Spring
In translational mechanical system, spring stores potential energy. Similarly, in rotational
mechanical system, torsional spring stores potential energy.

If a torque is applied on torsional spring K, then it is opposed by an opposing torque due


to the elasticity of torsional spring. This opposing torque is proportional to the angular
displacement of the torsional spring. Assume that the moment of inertia and friction are
negligible.

𝑇𝑘 ∝ 𝜃

=> 𝑇𝑘 = 𝐾𝜃
𝑇 = 𝑇𝑘 = 𝐾𝜃

Where,

 𝑻 is the applied torque

 𝑻𝒌 is the opposing torque due to elasticity of torsional spring

 𝑲 is the torsional spring constant

 𝛉 is angular displacement

Dashpot
If a torque is applied on dashpot B, then it is opposed by an opposing torque due to the
rotational friction of the dashpot. This opposing torque is proportional to the angular
velocity of the body. Assume the moment of inertia and elasticity are negligible.

14
Control Systems

𝑇𝑏 ∝ 𝜔
𝑑𝜃
=> 𝑇𝑏 = 𝐵𝜔 = 𝐵
𝑑𝑡
𝑑𝜃
𝑇 = 𝑇𝑏 = 𝐵
𝑑𝑡
Where,

 𝑻𝒃 is the opposing torque due to the rotational friction of the dashpot

 𝑩 is the rotational friction coefficient

 𝛚 is the angular velocity


 𝛉 is the angular displacement.

15

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