Modelling & Simulation of
Engineering Systems
(ECE 232)
Part (3)
Dr. Waleed M. Gaballah
Contents
Mathematical Modeling of
Mechanical Systems
- Translational (linear) Mechanical systems.
- Rotational Mechanical systems.
Remember ..
To describe the physics of the system, and estimate all important parameters:
The analyst writes the differential and/or algebraic equations that are thought to describe the
system dynamics.
Laplace transforms are used to convert differential equations into S-domain, assuming all initial
condition to be zero.
Take the ratio of the output to the input. This ratio is the overall transfer function of the system.
A control system may be composed of various components including:
mechanical, electrical, thermal, fluid, pneumatic….
Modelling of Mechanical Systems
• Translational
Linear Motion
• Rotational
Rotational Motion
5
6
Translational Spring
i)
Translational Damper
ii)
Translational Mass
iii)
• A translational spring is a mechanical element that can be
deformed by an external force such that the deformation is
directly proportional to the force applied to it.
Translational Spring
i)
Circuit Symbols
Translational Spring
• If F is the applied force
F
Then x1 is the deformation if x 2 = 0
→ The equation of motion is given as
𝐹 𝑡 = 𝑘 𝑥1 𝑡 −→ F(s) = k 𝑋1 (s)
• Or ( x1 − x 2 ) is the deformation.
• The equation of motion is given as
𝐹1 = 𝑘(𝑥1 − 𝑥2 )
𝐹2 = 𝑘(𝑥2 − 𝑥1 )
• Where k is stiffness of spring expressed in N/m
• Given two springs with spring constant k1 and k2, obtain the
equivalent spring constant keq for the two springs connected in:
(1) Parallel (2) Series
10
• The two springs have same displacement therefore:
k1 x + k 2 x = F
(1) Parallel
( k1 + k 2 ) x = F
k eq x = F
k eq = k1 + k 2
• If n springs are connected in parallel then:
k eq = k1 + k 2 + + k n 11
• The forces on two springs are same, F, however displacements
are different therefore:
(2) Series
𝑘1 𝑥1 = 𝐹 𝑘2 (𝑥2 − 𝑥1 ) = 𝐹
𝐹
𝑘2 (𝑥2 − ) = 𝐹
𝑘1
𝑘2
+ 1 𝐹 = 𝑥2 𝑘2
𝑘1
1 k1k 2
𝑘1 𝑘2 𝐹 k eq = =
= 1 1 k1 + k 2
𝑘1 + 𝑘2 𝑥2 +
k1 k 2
12
• Exercise: Obtain the equivalent stiffness for the following spring
networks.
i)
k3
ii) k3
13
• Translational Mass is an inertia element. Translational Mass
(how much it resists being accelerated can be ii)
represented by mass. )
• A mechanical system without mass does
not exist.
x(t )
• If a force F is applied to a mass and it is
displaced to x meters then the relation F (t )
between force and displacements is M
given by Newton’s 2nd. law.
𝐹 = 𝑀𝑎 F = Mx
• When the viscosity or drag is not negligible in
a system, we often model them with the
Translational Damper
damping force. iii)
• This is a piston moving in a viscous medium in
a cylinder such as that shown in Fig.
• The resistive force F which has to be
overcome is proportional to the velocity of
the piston and hence the rate of change of
displacement X(t) with time.
𝑑𝑥
𝐹 𝑡 =𝐵 → F(s) = BSX(s)
𝑑𝑡
Common Uses of Dashpots
Door Stoppers
Vehicle Suspension
Bridge Suspension
Flyover Suspension
B
B
𝐹 = 𝐵𝑥ሶ 𝐹 = 𝐵(𝑥ሶ1 − 𝑥ሶ 2 )
• Where B is damping coefficient (N/ms-1).
• Translational Dampers in series and parallel.
B1
B1 B2
B2
𝐵1 𝐵2
𝐵𝑒𝑞 = 𝐵1 + 𝐵2 𝐵𝑒𝑞 =
𝐵1 + 𝐵2
The following example illustrates how we can arrive at a
model for the mechanical system given in Fig.
1- The input to the system is the force F and the output is the displacement X(t).
2- To obtain the system model we draw free-body diagrams.
3- Using Newton’s second law, it can be shown that the differential equation of
motion is,
4- Taking the Laplace transform of each term of the Eq. 2 gives,
19
• Find the transfer function X2(s)/F(s) of the following system.
B
M1 M2
Answer
𝑥2 (𝑠) 𝑆+1
= 4
𝐹(𝑠) 𝑆 + 2𝑆 3 + 2𝑆 2
• For the system in Fig., draw free-body diagrams, the obtain the T.F. = X2(S)/F(S)
(Two degrees of freedom translational mechanical system)
Answer
where,
22
• The extension of Newton's law of motion for rotational motion states that the algebraic sum of
moments or torque about a fixed axis is equal to the product of the inertia and the angular
acceleration about the axis.
where, "J" denotes the inertia and "α" is the angular acceleration.
• The other variables generally used to describe the motion of rotation are:
Torque "T", angular velocity "", angular displacement "“
When a torque is applied to a body with inertia J, as shown in Fig. the torque equation is written:
Rotational Spring
Rotational Damper
Moment of Inertia
Block Diagram and Transfer function of DC-MOTOR ARMATURE CONTROLLED
END of part (3)
Dr. Waleed Gaballah
