Mechanical Systems

Translational Rotational

• Mass • Inertia
• Spring • Damper
• Damper/dashpot • Spring
Mass:
Force Acceleration
Mass

2
dv d x
F  ma  m m
dt 2
dt
Translational Spring, k (N)
Appied force Fa (t ) in Newton
Linear vel ocity v(t ) (m/sec)
Linear position x(t ) (m)
Fa (t )  k s x(t ) x(t)

1
x(t )  Fa (t )
ks Fa(t)
dx(t ) 1 dFa (t )
v(t )  
dt k s dt
t
Fa (t )  k s  v(t )dt
t0
Dashpot/Damper
 The dashpot block represents the types of forces
experienced when pushing an object through a fluid or
move an object against frictional forces. The faster the
object is pushed the greater becomes the opposing
forces.
 The dashpot which represents these damping forces that
slow down moving objects consists of a piston moving in
a closed cylinder.
 Movement of the piston requires the fluid on one side of
the piston to flow through or past the piston. This flow
produces a resistive force. The damping or resistive force
is proportional to the velocity v of the piston: F = cv or F
= c dv/dt.
Rotational Damper, Bm (N-m-sec/rad)
Appied torque Ta (t ) (N - m)
Angular velocity  (t ) (rad/sec)
Angular displaceme nt  (t ) (rad)
 (t)  (t)
Ta (t )  Bm (t )
1
 (t )  Ta (t ) Fa(t)
Bm Bm
d (t )
Ta (t )  Bm (t )  Bm
dt
1 t
 (t )   Ta (t )dt
Bm t 0
Rotational Spring, ks (N-m-sec/rad)
Appied torque Ta (t ) (N - m)
Angular velocity  (t ) (rad/sec)
Angular displaceme nt  (t ) (rad)
Ta (t )  Bm (t )  (t)  (t)
1
 (t )  Ta (t )
ks
Fa(t) ks
d (t ) 1 dTa (t )
 (t )  
dt k s dt
t
Ta (t )  k s   (t )dt
t0
Mechanical Building Blocks
Building Block Equation Energy representation

Translational
Spring F = kx E = 0.5 F2/k
Damper F = c dx/dt P = cv2
Mass F = m d2x/dt2 E = 0.5 mv2
Rotational
Spring T = k E = 0.5 T2/k
Damper T = c d/dt P = c2
Moment of T = J d2/dt2 P = 0.5 J2
inertia
Building Mechanical Blocks ‫مهم‬
Output, displacement

 Mathematical model of a machine

Mass
mounted on the ground

d 2x dx
m  c  kx  F
2 dt
dt

Ground
Input, force
Building Mechanical Blocks ‫مهم‬

Moment of inertia

 Mathematical model of a rotating

a mass
Torque

Torsional resistance
d 2 d
J c  k  T
2 dt
dt

Block model

Shaft
Physical situation
 Example 1
 Consider the following system
k
x
F
M

C
• Free Body
Diagram
fk fC
M fM
F

F  f k  f M  fC
Example 1
Differential equation of the system is:
F  Mx  Cx  k x
Taking the Laplace Transform of both
sides and ignoring
Initial conditions we get

F ( s )  Ms 2 X ( s )  CsX ( s )  kX ( s )

X (s) 1

F(s) Ms 2  Cs  k
 Example 1
X (s) 1

F(s) Ms 2  Cs  k
Pole-Zero Map
• if 2

1.5

M  1000 kg 1

1
k  2000 Nm

Imaginary Axis
0.5

C  1000 N / ms 1 -0.5

-1

X (s) 0.001 -1.5

 2
F(s) s  s  1000 -2
-1 -0.5 0 0.5 1
Real Axis
Example 2
 Find the transfer function of the mechanical
translational system given in Figure-1.
Free Body Diagram
fk fB

Figure-1
M

f (t ) fM

f (t )  f k  f M  f B X (s) 1

F(s) Ms 2  Bs  k
F  Mx  Bx  kx
Automobile Suspension
 Automobile Suspension

mxo  b( xo  xi )  k ( xo  xi )  0 (eq .1)

mxo  bxo  kxo  bxi  kxi eq. 2

Taking Laplace Transform of the equation (2)

ms2 X o ( s )  bsX o ( s )  kXo ( s )  bsX i ( s )  kXi ( s )

X o (s) bs  k

X i ( s ) ms 2  bs  k
Train Suspension
Train Suspension
‫موضوع جديد‬
Electrical System Building
Blocks
 The basic building blocks of electrical systems are
resistance, inductance and capacitance.

Resistor : v  i(t ) R; P  i R 2

1 1 2
Inductor : i   vdt; E  Li
L 2
dv 1 2
Capacitor : i  C ; E  Cv
dt 2
Resistance, R (ohm) 1

Appied voltage v(t ) i(t)

Current i (t )
v(t)
v(t )  Ri (t )
R

1
i (t )  v(t )
R
Inductance, L (H) 2

Appied voltage v(t )

Current i (t ) i(t)

di(t )
v(t )  L v(t) L
dt
t
1
i (t )   v(t )dt
L t0
Capacitance, C (F) 3

Appied voltage v(t )

i(t)
Current i (t )
1 t
v(t )   i (t )dt v(t) C
C t0
dv(t )
i (t )  C
dt
For a series RLC circuit, find the characteristic equation and
define the analytical relationships between the characteristic
roots and circuitry parameters.
d 2i R di 1 1 dva
2
  i
dt L dt LC L dt
R 1
s  s
2
0
L LC
The characteristic roots are
2
R  R  1
s1      
2L  2L  LC
2
R  R  1
s2      
2L  2L  LC
The Transfer Function of Linear
Systems
V2( s ) R2 R2
V1( s ) R R1  R2
R2 
R  max

V2( s ) 
ks  1( s )   2( s ) 
V2( s ) ks  error( s )

Vbattery
ks
 max
 Mixed Systems
• Most systems in mechatronics are of the mixed
type, e.g., electromechanical, hydro mechanical, etc
• Each subsystem within a mixed system can be
modeled as single discipline system first
• Power transformation among various subsystems
are used to integrate them into the entire system
• Overall mathematical model may be assembled
into a system of equations, or a transfer function
 Electro-Mechanical Example
Power Transformation:
Ra La
Torque-Current: Tmotor  Kt i a B
ia
Voltage-Speed: u dc
eb  K bω

where Kt: torque constant, Kb: velocity constant For an ideal motor
Kt  K b
Combing previous equations results in the following mathematical
model:

 di a
La  Ra i a  K b   u
 dt

Jω   Bω - K t i a  0
Transfer Function of
Electromechanical Example
Taking Laplace transform of the system’s differential
equations with zero initial conditions gives:
Ra La
La s  Ra I a (s )  K b (s )  U (s ) B
 ia
Js  B (s) - Kt I a (s )  0 u Kt


Eliminating Ia yields the input-output transfer function

Ω(s) Kt

U(s) La Js 2  JRa  BLa   BR a  K t K b
Reference
Modern Control Theory by Katsuhiko Ogata, Pearson
Edu. Int.

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