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Lecture 03 Translational Mechanical Systems

1) The document discusses transfer functions for translational mechanical systems including mass, springs, and dampers. It provides equations of motion relating force, mass, displacement, velocity, and acceleration. 2) An example two-degrees-of-freedom mass-spring-damper system is presented and the transfer function is derived. 3) A three-degrees-of-freedom system is introduced and the equations of motion are written relating the forces and motions on each mass. Homework is assigned to further analyze three-degrees-of-freedom systems.

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Ahmad Raza
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166 views18 pages

Lecture 03 Translational Mechanical Systems

1) The document discusses transfer functions for translational mechanical systems including mass, springs, and dampers. It provides equations of motion relating force, mass, displacement, velocity, and acceleration. 2) An example two-degrees-of-freedom mass-spring-damper system is presented and the transfer function is derived. 3) A three-degrees-of-freedom system is introduced and the equations of motion are written relating the forces and motions on each mass. Homework is assigned to further analyze three-degrees-of-freedom systems.

Uploaded by

Ahmad Raza
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Lecture No 3

“CONTROL SYSTEMS ENGINEERING”


Text Book: Chapter 2
(Translational Mechanical System
Transfer Functions)

Mechanical Engineering Department

1
f  ma ; Newton' s Law
dv(t )
f (t )  M
Mass (M)
dt
2
dx (t )
f (t )  M 2
dt
x(t) displacement

f(t) applied force


F (s)  Ms X (s)
2

2
f(t)

x2(t) f (t )  K x1 (t ) one dislpacement


K
f (t )  K  x1 (t )  x2 (t )  two displacements

x1(t) F (s)  K ( X1 (s)  X 2 (s))


f(t)
Spring
3
Dampers (Friction) – Shock Absorbers

x(t)
f(t)

dx(t )
f (t )  B One displacement : one side is fixed
dt
F ( s)  BsX ( s) 4
f(t) dx1 (t )
f (t )  B one displaceme nt
dt
x2(t) dx1 (t ) dx2 (t )
f (t )  B B two dis..
B dt dt

f (t )  B x1 (t )  x2 (t ) 
d
dt
x1(t)

f(t) F (s)  B S ( X1 (s)  X 2 (s))


Damping (Friction)
(Shock absorber)
Mass has only one Damper (B) & Spring (K) may have
displacement. Displacement in both directions.
7
Example 2.16 Mass, spring, and damper system
Find the transfer function, X(s)/F(s), for the system shown in the Figure

Ms 2 X ( s)  f v sX ( s)  KX ( s)  F ( s)

Block diagram

F ( s)
X ( s) 
Ms 2  f v s  K

9
Alternate method

Free-body diagram of mass, Transformed free-body diagram


spring, and damper system

Ms 2 X ( s)  f v sX ( s)  KX ( s)  F ( s)
F ( s)
X ( s) 
Ms 2  f v s  K
10
Two-degrees-of-freedom translational
mechanical system

Block diagram

11
Forces on M1 due
only to motion of M2

Forces on M1 due
only to motion of M1

All forces on M1 12
 
M1s 2 X1 (s)  f v1  f v1 sX 1 (s)  K1  K2 X1 (s)  K2 X 2 (s)  f v3sX 2 (s)  F (s)

13
forces on M2 due
Forces on M2 due only to motion of M1
only to motion of M2

all forces on M2
14
 
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

15
 
M1s 2 X1 (s)  f v1  f v1 sX 1 (s)  K1  K2 X1 (s)  K2 X 2 (s)  f v3sX 2 (s)  F (s)

 
M 2 s 2 X 2 (s)  fv2  fv3 sX 2 (s)  K2  K3 X 2 (s)  K2 X1 (s)  fv3sX1 (s)  0

M s   f
1
2
v1  
 fv1 s  K1  K2  X1 (s)  K2  fv3sX 2 (s)  F (s)

  
 K2  fv3sX1 (s)  M 2 s 2  fv2  fv3 s  K2  K3  X 2 (s)  0

16
Home Assignment
Three-degrees-of-freedom Don’t submit
translational
mechanical system

17
Translational
mechanical system

18
19

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