Control Systems 4’th Year

Chapter Three:

Mathematical models of control systems II

(Mechanical systems)

3.0 Mathematical models of mechanical systems

Mechanical systems are usually considered to comprise of the linear lumped

parameter elements of stiffness, damping and mass.

3.1 Stiffness in mechanical systems

An elastic element is assumed to produce an extension proportional to the

force (or torque) applied to it.

Linear Elastic Element

For the translational spring

Force α Extension

--------(3.1)
Note that K, the spring stiffness, has a unite of (N/m).

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

And for the rotational spring

Torque α Twist

-----------(3.2)
Where K, the spring stiffness, has a unite of (Nm/rad).

Example (3.1):
Find the equivalent spring constants for the systems shown in Figures (a)
and (b), respectively.

Solution:
For the springs in parallel [Figure (a)] the equivalent spring constant keq is
obtained from

Or

For the springs in series [Figure(b)], the force in each spring is the same.
Thus:

Elimination of y from these two equations results in

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

Or

The equivalent spring constant keq for this case is then found as

3.2 Damping in mechanical systems

An oil-filled damper is often called a dashpot. A dashpot is a device that

provides viscous friction, or damping. It consists of a piston and oil-filled
cylinder. Any relative motion between the piston rod and the cylinder is
resisted by the oil because the oil must flow around the piston (or through
orifices provided in the piston) from one side of the piston to the other. The
dashpot essentially absorbs energy. This absorbed energy is dissipated as
heat, and the dashpot does not store any kinetic or potential energy.
A damping element (sometimes called a dashpot) is assumed to produce a
velocity proportional to the force (or torque) applied to it.

Linear damping element

For translational damper

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

-----------(3.3)
Note that C, the damping coefficient, has a unit of (Ns/m).

And for the rotational damper

-----------(3.4)
Note that C, the damping coefficient, has a unit of (Nm s/rad).

Example (3.2):
Find the equivalent viscous-friction coefficient for each of the damper
systems shown in Figures (a) and (b) below.

(a) Two dampers connected in parallel; (b) two dampers connected in series.

Solution:
(a)The force f due to the dampers is:

In terms of the equivalent viscous-friction coefficient beq, force f is given by

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Control Systems 4’th Year

(b) The force f due to the dampers is:

---------(3.5)
Where z is the displacement of a point between damper b1 and damper b2.
(Note that the same force is transmitted through the shaft.) From Equation
(3.5), we have

Or

--------(3.6)

In terms of the equivalent viscous-friction coefficient beq, force f is given by

By substituting Equation (3.6) into Equation (3.5), we have

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

3.3 Mass in mechanical systems

The force to accelerate a body is the product of its mass and acceleration
(Newton’s second law).

Linear mass elements

For the translational system

Force α Acceleration

-----------(3.7)
For the rotational system

Torque α Angular acceleration

-----------(3.8)
Where I is the moment of inertia about the rotational axis.
Note: When analyzing mechanical systems, it is usual to identify all external
forces by the use of a ‘Free-body diagram’, and then apply Newton’s
second law of motion in the form:
∑ F = ma for translational systems -----------(3.9)
Or
∑ M = Iα for rotational systems -----------(3.10)

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

Example (3.3):
Find the differential equation relating the displacements xi(t) and xo(t) for
the spring-mass-damper system shown in below. What would be the effect
of neglecting the mass?

Spring-mass-damper system.
Solution:
Using equations (3.1) and (3.3), the free-body diagram is shown in figure
below.

Free-body diagram for spring-mass-damper system.

The equation of motion is:

∑ Fx = max

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Control Systems 4’th Year

Hence a spring-mass-damper system is a second-order system.

If the mass is zero then

Hence

Thus, if the mass is neglected, the system becomes a first-order system.

3.4 Mathematical models of DC servomotor
A DC motor is an actuator that converts electrical energy to mechanical
rotation using the principles of electromagnetism. The circuit symbol for a
DC motor is shown in figure below.

Circuit symbol for a DC servomotor

The circuit shown in figure below models the DC servomotor. Note that an
armature control current is created when the armature control voltage, Va,
applied to the motor.

DC servomotor circuit theory model

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

The current flow through a series-connected armature resistance, an

armature inductance, and the rotational component (the rotor) of the
motor.
The rotor shaft is typically drawn to the right with the torque (Tm) and
angular displacement (θm) variables shown.
The motor transfer function is the ratio of angular displacement to armature
voltage.

The DC servomotor transfer function

3.4.1 Equation of motion

Three equations of motion are fundamental to the derivation of the transfer
function:
➢ Relationships between torque and current.
➢ Voltage and angular displacement, and
➢ Torque and system inertias.
Torque is proportional to the armature current. The constant of
proportionality is called the torque constant and is given the symbol Kt. The
time and frequency domain relationships are given as equations (3.11a) and
(3.11b).
Tm(t)= Kt ∗ Ia (t) -----------(3.11a)
Tm(s)= Kt ∗ Ia (s) ----------- (3.11b)
The back electromotive force (back-emf), Vb, is a result of the rotor spinning
at right angles in a magnetic field. It is proportional to the shaft velocity.
The constant of proportionality is called the back-emf constant and is given
by the symbol Kb.

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

The time and frequency domain relationships are given as equations (3.12a)
and (3.12b).

-----------(3.12a)

-------(3.12b)
Torque can also be written as a relationship that depends on the load
attached to the motor shaft. If the load inertial and damping behaviors are
reflected back to the shaft the resulting equivalent inertia coefficient and
viscous damping coefficient can be used to model the mechanical system
attached to the shaft. These equivalents combine the motor and load
properties in a model with a single degree of freedom. Figure below shows
the equivalent system.

The mechanical system attached to the motor shaft

The torque equation can be written by inspection by summing the forces
acting at the shaft (inertia and viscus friction).

-------(3.13)
3.4.2 The DC servomotor block diagram
The DC servomotor transfer function block diagram can be created through
an examination of the armature current equation. Ohm’s law for
impedances is used to write the armature current equation in the s-domain.
Note that the equation includes both real and imaginary parts of the
impedance. The reactance is inductive.

------(3.14)
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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

Figure below shows the block diagram model of this equation.

The block diagram.

Similarly, the equations of motion can be used to relate the armature current
to torque, torque to angular displacement, and angular displacement to the
back-emf. The complete block diagram is shown in figure below.

The complete block diagram of the DC servomotor

Note that this actuator is a feedback system that can be reduced to the
standard form for derivation of the gain. The series gain path is reduced to
an equivalent gain through multiplication. The reduced block diagram is
shown in figure below.

The reduced block diagram of the DC servomotor

The forward path gain is traditionally called G while the feedback path
gain is H.

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Computer Engineering Department Dr. Loai Ali Talib
Control Systems 4’th Year

3.4.3 The DC servomotor transfer function

The gain can be calculated directly from the reduced block diagram:

--------(3.15)
Note that the denominator contains a (+) sign because the block diagram has
negative feedback at the summation node. The denominator would contain
a (-) sign if the block diagram used positive feedback.
Remember, the denominator sign is opposite the feedback sign on the block
diagram.
Homework:
Consider a DC servomotor with the following parameters:

Derive the Dc servomotor transfer function Gm.

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