Chapter 2: MODELLING OF DYNAMIC SYSTEMS

Spring, 2025

Ohmin Kwon
School of Electrical Engineering
Chungbuk National University
Republic of KOREA

Homepage: http://cel.cbnu.ac.kr
E-mail: [email protected]
©2025 All rights reserved.

2-1 MODELLING OF SIMPLE MECHANICAL SYSTEMS

♣ Motion of mechanical elements:
 Translational motion (acceleration, velocity, displacement)

 Rotational motion (torque, angular velocity, angular displacement)

 Gear
 RLC circuits
 linearization
 Combination of both
 Formulated from Newton’s law of motion

2-1-1 Translational motion

♣The motion of translation is defined as a motion that takes place along a straight or curved
path.
Variables: acceleration, velocity, and displacement

♣ Newton’s law of motion states that the algebraic sum of forces acting on a rigid body in a
given direction is equal to the product of the mass of the body and its acceleration in the same
direction:


external
forces  Ma (2-1)

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<Cf>

a (t )  
x(t )
 
f (t )  M a (t )  0

  M  a(t )  m
f (t )  m  0

f (t )  M  a (t )
where M is mass and a is the acceleration in the direction considered. The force equation is
written as
d 2 y (t ) dv(t )
f (t )  Ma (t )  M 2
M (2-2, 3)
dt dt
where a (t ) is the acceleration, v(t ) denotes linear velocity, and y (t ) is the displacement of
mass M .

<Figure 2-1> Force-mass system

 Mass: a property of an element that stores the kinetic energy of translational motion.
di (t ) d 2q
- analogous to the inductance of electric networks ( v  L L 2 )
dt dt
W
- M where W is weight of a body and g is the gravity acceleration
g
- Force [N ] , Mass [kg ] , Distance [m]

 Linear spring: a model of an actual spring or a compliance of a mechanical component

such as a cable or a belt.

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 - An ideal spring is a massless element that stores potential energy
dq dv 1
(i  cv,  c , Q  cv, f  ky, v  q )
dt dt c
- analogous to a capacitor in electric networks
- f (t )  Ky (t ) where K is the spring constant or stiffness
- the forcing acting on the spring is directly proportional to the displace
(deformation) of the spring

<Figure 2-3> Force-spring system

- If the spring is preloaded with a preload tension of T

f (t )  T  Ky (t ) (2-5)
K : [ N / m]
K가 크다  단위길이당 가해주는 힘이 크다

 Friction for translation motion:

- The characteristics of the frictional forces between two surfaces often depend on
such factors as the composition of the surfaces, the pressure between the surfaces,
and their relative velocity among others
- In viscous damping the applied force and velocity are linearly proportional
- Viscous friction: a retarding force that is a linear relationship between the applied
force and velocity
dy (t )
f (t )  B , where B viscous frictional coeffcient
dt
i) 일반적으로 비선형
ii) 표면, 압력, 구성, 상대속도에 따라 다름

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 B  N / m / sec  N  sec/ m
<Figure 2-4> Dashpot for viscous friction

<Cf>
- Static friction: a retarding force that tends to prevent motion from beginning

f (t )   ( FS ) y 0

 The sign of the friction depends on the direction of motion or the initial
direction of velocity
 Notice that once motion begins, the static frictional force vanishes, and other
frictions take over
- Coulomb friction: a retarding force that has a constant amplitude with respect to
the change of velocity, but the sign of the frictional force changes with the reversal
of the direction of velocity
dy (t )
f (t )  FC dt
dy (t )
dt

 (t )
My(t )  f (t )  Ky (t )  By

<Ex>

<Figure 2-2> (a)Spring-mass-damper equivalent model (b) Free-body diagram

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 f (t )  Ky (t )  By (t )  My(t ) (2-8)
B K 1 1 K
y (t )  (
 ) y (t )  ( ) y (t )  f (t )  ( f (t )) (2-9)
M M M K M
m 2
y (t )  2m y (t )  m 2 y (t ) 
 r (t ) (2-10)
K
m : natural frequency
 : damping ratio
Prototype second-order system
y (t ): ouput
r (t ): input
<Ex 2-1-1>

<Figure 2-5> A two-degree of freedom mechanical system with spring and damper elements.
(a) A two-mass spring system. (b) Mass, spring, damper equivalent system.
(c) Free-body diagram.

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<Cf>

My(t )  f (t )  Ky (t )
My(t )  Ky (t )  f (t )

<Ex 2-1-2>

<Ex 2-1-3> *See yourself.

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2-1-2 Rotational motion
Newton’s law 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:

 torques  J (2-26)

where J denotes the inertia, and  is the angular acceleration.

 Inertia [kg  m 2 ] : a property of an element that stores the kinetic energy of rotational
motion
1
J Mr 2 (2-27)
2
Torque [ N  m] :
dw(t ) d 2 (t )
T (t )  J  (t )  J J (2-28)
dt dt 2

<Figure 2-8> Torque-inertia system

- Angular displacment : 1 rad  180

π  57.3 deg

- Angular velocity : 1 rpm  60  0.1047rad/sec

2

 Torsional Spring:
T (t )  K (t ) (2-29)

<Figure 2-9> A rod under a torsional load

if the torsional spring is preloaded by a preload torque of TP.
T (t )  TP  K (t ) (2-30)

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  Friction for rotational motion:
d (t )
- Viscous friction: T (t )  B
dt

- Static friction: f (t )   ( FS ) 0

d (t )
- Coulomb friction: f (t )  FC dt
d (t )
dt

<Ex>

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<Ex 2-1-4>

<Figure 2-10> (a) Motor-load system (b) Free-body diagram

Tm (t ) : motor torque
Bm : motor viscous  friction coefficient
K : spring cons tan t of the shft
 m (t ) : motor displacement
 L (t ) : load displacement
m (t ) : motor velocity
J m : motor inertia
L (t ) : load velocity
J L : load inertia

*rigid body : 현상을 쉽게 기술하기 위해 도입한 것으로, 외력을 가해도 크기나

형태가 변하지 않는 이상적인 물체를 말함. 아주 큰 힘을 받지 않는
한 대부분의 고체들을 강체로 간주함.

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  Force Equation:
d 2 m (t ) B d (t ) K 1
2
  m m  [ m (t )   L (t )]  Tm (t ) (2-35)
dt J m dt Jm Jm
d 2 L (t )
K [ m (t )   L (t )]  J L . (2-36)
dt 2

d 2 m (t ) Bm d  m (t ) K 1
2
  m (t )   L (t )   Tm (t ) (2-37)
dt J m dt Jm Jm
d 2 L (t ) K
  L (t )   m (t )   0 (2-38)
dt 2 JL

Note that if the motor shaft is rigid,  L (t )   m (t ) and all the motor applied torque is

transmitted to the load.

d 2 m (t ) Bm d  m (t ) 1
  Tm (t )
dt 2
J m  J L dt Jm  J L (2-39)

K ( m   L )  J LL (t )  K m  J Lm

2-1-3 Conversion between Translational and Rotational Motions

<Figure 2-11> Rotary-to-linear motion control system (lead screw)

T  Fr

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<Figure 2-12> Rotary-to-linear motion control system (rack and pinion)

<Figure 2-13> Rotary-to-linear motion control system (belt and pulley)

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<Ex 2-1-5>
The Quarter-car model (is used in the study of vehicle suspension systems and the resulting
dynamic response due to various road inputs

<Figure 2-14> Quarter-car model realization (c) One degree pf freedom model.

<Figure 2-15> Active control of the 1-DOF quarter-car model via a dc motor and rack. (a)
Schematics.

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2-1-4 Gear Train

<Figure 2-16> Gear train

♣ Some relationship:
 r1 N 2  r2 N1 where ri is the radius of the gear i
 1r1   2 r2
 T11  T2 2 , which means that the work done by one gear is equal to that of the other.
T1  2 N1 w2 r1
    (2-55)
T2 1 N 2 w1 r2

<Ex 2-1-6>

<Figure 2-17> Gear train with friction and inertia

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 [1]

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2-1-5 Backlash and Dead Zone (Nonlinear Characteristics)
In a majority situation, backlash may give rise to undesirable inaccuracy, oscillations, and
instability in control system.

<Figure 2-18> Physical model of backlash between two mechanical model

<Figure 2-19> Input-output characteristic of backlash

2-2 INTRODUCTION TO MODELING OF SIMPLE ELECTRICAL

SYSTEMS

2-2-1 Modeling of Passive Electrical Elements

<Figure 2-20> Basic passive electrical elements. (a) A resistor. (b) An inductor. (c) A capacitor

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2-2-2 Modeling of Electrical Networks

♣ Classical way: based on the loop method or the node method from two laws of Kirchhoff.
 Current Law or Loop Method: The algebraic summation of all currents entering a
node is zero.
 Voltage Law or Node Method: The algebraic sum of all voltage drops around a
complete closed loop is zero.

<Ex 2-2-1>

<Figure 2-21> RLC network. Electrical schematics.

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<Ex 2-2-2>

<Figure 2-22> Electrical schematic for network of Example 2-2-2.

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2-4 LINEARIZATION OF NONLINEAR SYSTEMS
♣ A nonlinear function f(x(t)) about a reference or operating value x0 (t ) can be represented in
a form

 1 di 
f ( x(t ))   ci ( x(t ))  x0 (t ))i  ci  i
f ( x0 ) 
i 1  i ! dx 
df ( x 0 (t )) 1 d 2 f ( x 0 (t ))
   x(t )  x0 (t ) 
2
 f ( x0 (t ))  x (t )  x 0 (t )  2 (2-155)
dt 2! dt
3 n
1 d f ( x 0 (t )) 1 d f ( x 0 (t ))
 x(t )  x0 (t )   ...   x(t )  x0 (t )   ...
3 n
 3 n
3! dt n! dt

If  ( x)  x(t )  x0 (t ) is small, the series (2-155) converges, and a linearization scheme may be used
by replacing f ( x(t )) with the first two terms. That is,
df ( x 0 (t ))
f ( x(t ))  f ( x0 (t ))   x(t )  x0 (t ) 
dt
 c0  c1x(t ) .

<Ex 2-4-1>

<Figure 2-38> (a) A simple pendulum. <Figure 2-39> Linearization of sin( )  

(b) Free body diagram of mass m. about   0 operating point.

g g
(t )  sin  (t )  0  (t )   (t )  0
l l

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