Linear Control Systems (EE-871)

Lecture-2
Mathematical Modelling of Mechanical Systems
Dr. Imtiaz Hussain
Assistant Professor (Control Systems),
Department of Electronic and Power Engineering
PNEC-NUST, Karachi, Pakistan
email: [email protected]

Fall 2022

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Outline of this Lecture

•Part-I: Translational Mechanical System

•Part-II: Rotational Mechanical System

•Part-III: Mechanical Systems With Gears

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Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

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Part-I

TRANSLATIONAL MECHANICAL SYSTEMS

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Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)
 Translational Spring
• 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
 Translational Spring
• If F is the applied force

• Then is the deformation if

• Or is the deformation.

• The equation of motion is given as

• Where is stiffness of spring expressed in N/m

 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without

mass does not exist.

• If a force F is applied to a mass

and it is displaced to x meters
then the relation b/w force and M
displacements is given by
Newton’s law.
 Translational Damper
• When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.

• All the materials exhibit the Translational Damper

iii)
property of damping to some
extent.

• If damping in the system is not

enough then extra elements
(e.g. Dashpot) are added to
increase damping.
 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension
 Translational Damper

• Where C is damping coefficient (N/ms-1).

 Example-1
• Consider the following system (friction is negligible)

• Free Body Diagram

• Where and are force applied by the spring and

inertial force respectively.
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 Example-1

• Then the differential equation of the system is:

• Taking the Laplace Transform of both sides and ignoring

initial conditions we get

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 Example-1

• The transfer function of the system is

• if

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 Example-1

• The pole-zero map of the system is

Pole-Zero Map
40

30

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Imaginary Ax is

10

-10

-20

-30

-40
-1 -0.5 0 0.5 1
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Real Axis
 Example-2
• Consider the following system

• Free Body Diagram

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 Example-2
Differential equation of the system is:

Taking the Laplace Transform of both sides and ignoring

Initial conditions we get

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 Example-2

• if
Pole-Zero Map
2

1.5

0.5

Imaginary Axis
0

-0.5

-1

-1.5

-2
-1 -0.5 0 0.5 1
Real Axis

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 Example-3
• Consider the following system

• Mechanical Network

↑ M

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 Example-3
• Mechanical Network

↑ M

At node

At node

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 Example-4
• Find the transfer function X2(s)/F(s) of the following system.
 Example-5

↑ M1 M2

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 Example-6
• Restaurant plate dispenser

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 Example-7
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

M2 M1

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Example-8

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Example-9: Automobile Suspension

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Automobile Suspension

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 Automobile Suspension

Taking Laplace Transform of the equation (2)

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Part-I

ROTATIONAL MECHANICAL SYSTEMS

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 Basic Elements of Rotational Mechanical Systems

Rotational Spring
 Basic Elements of Rotational Mechanical Systems

Rotational Damper
 Basic Elements of Rotational Mechanical Systems

Moment of Inertia
 Example-1

↑ J1 J2
 Example-2

↑ J1 J2
Example-3
Example-4
Part-III

MECHANICAL SYSTEMS WITH GEARS

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 Gear
• Gear is a toothed machine part, such
as a wheel or cylinder, that meshes
with another toothed part to
transmit motion or to change speed
or direction.

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 Fundamental Properties
• The two gears turn in opposite directions: one clockwise and
the other counterclockwise.

• Two gears revolve at different speeds when number of teeth

on each gear are different.

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 Gear Ratio
• You can calculate the gear ratio by using
the number of teeth of the driver
divided by the number of teeth of the
follower.
• We gear up when we increase velocity Driver
and decrease torque. Follower
Ratio: 3:1
• We gear down when we increase torque
and reduce velocity.
Ratio: 1:3
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡h 𝑜𝑓 𝑖𝑛𝑝𝑢𝑡 𝑔𝑒𝑎𝑟 (𝑁 ¿¿ 1)
𝑁= ¿
𝑁𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡h 𝑜𝑓 𝑜𝑢𝑡 𝑝𝑢𝑡 𝑔𝑒𝑎𝑟 (𝑁 ¿¿ 2)¿
𝐼𝑛𝑝𝑢𝑡 𝑇𝑜𝑟𝑞𝑢𝑒(𝑇 1)
𝑁=
𝑂 𝑢𝑡𝑝𝑢𝑡 𝑇𝑜𝑟𝑞𝑢𝑒(𝑇 2 ) 𝜃2 𝑇 1 𝑁 1
= =
𝑁=
𝜃2 𝜃1 𝑇 2 𝑁 2
𝜃1 40
Gear train

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 Example of Gear Trains
• A most commonly used example of gear trains is the gears of
an automobile.

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 Example-1
• Following figure shows gears driving a rotational inertia, spring,
and damper.

• We want to represent above system with an equivalent system at

without the gears.
• In other words, can the mechanical impedances be reflected from
the output to the input, thereby eliminating the gears?
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 Example-1
• T1 can be reflected to the output by multiplying by .

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 Example-1
• T1 can be reflected to the output by multiplying by .

[( ) ( ) ( ) ]
2 2 2
𝑁1 𝑁1 𝑁1
𝑇 ( 𝑠) = 𝐽 𝑠2 + 𝐷 𝑠+ 𝐾 𝜃1 ( 𝑠)
𝑁2 𝑁2 𝑁2

• Equivalent system without gears

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 Example-1

[( ) ( ) ( ) ]
2 2 2
𝑁1 2 𝑁1 𝑁1
𝑇 ( 𝑠) = 𝐽 𝑠 +𝐷 𝑠+ 𝐾 𝜃1 ( 𝑠)
𝑁2 𝑁2 𝑁2

• Generalizing the results, we can make the following

statement:
– Rotational mechanical impedances can be reflected through
gear trains by multiplying the mechanical impedance by the
ratio

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 Example-2
• Find the transfer function, , for the following system.

It may be tempting at this point to search for two simultaneous equations

corresponding to each inertia. The inertias, however, do not undergo linearly
independent motion, since they are tied together by the gears. Thus, there is
only one degree of freedom and hence one equation of motion.
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 Example-2

• Let us first reflect the

impedances (J1 and
D1) and torque (T1) on
the input shaft to the
output.

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 Example-3
• Find the transfer function, , for the following system.

[( ) ( ) ]
2 2
𝑁2 𝑁2 2 𝑁2
𝑇 ( 𝑠) = 𝑠 + 𝑠+ 4 𝜃 2 ( 𝑠)
𝑁1 𝑁1 𝑁1

Answer
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 Example-4 (Home Work)
• Find the transfer function, , for the following system.

Answer
50
 Example-5
• Given the rotational system shown in following figure find
the transfer function

𝜃1

Answer
𝜃1 ( 𝑠) 1
= 2
𝑇 (𝑠) 𝑠 + 𝑠+1 51
 Example-6 (Home Work)
• Given the rotational system shown in following figure find
the transfer function

𝜃 𝐿 ( 𝑠) 15
Answer = 2
𝑇 (𝑠) 𝑠 +3 𝑠 +3 52
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END OF LECTURE-3

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