Translational Mechanical Systems

Differential Equations and Transfer Functions

Engr. Fazal Ur Rehman

Translational Mechanical Systems
Analogies Between Electrical and Translational Mechanical

Electrical Mechanical

Electrical Voltage Mechanical Force

Electrical Current (Mesh Current) Mechanical Velocity

Electrical Charge Mechanical Displacement

Spring Capacitor

Damper Resistor

Mass Inductor
Free body diagram method to find transfer function
 In the figure below, there are four forces. One is applied force and three opposing
forces

 Applied force  f (t )

 Force consumed on spring  Kx(t )

 Frictional force  dx
fv
dt
 Force being used to produce acceleration in mass  d 2x
M 2
dt
Free body diagram method to find transfer function

d 2x dx F  MXs 2  f v Xs  KX
f  M 2  fv  Kx
dt dt

X 1

F Ms 2  f v s  K
Free body diagram method for two degrees of freedom

Find transfer function X2/F for the system given below

We will find all forces on M1 and M2 separately

Free body diagram method for two degrees of freedom…

+ =

Forces on M1 , due Forces on M1 , due

only to motion of
M1
+ only to motion of
M2
= All forces on M1
Free body diagram method for two degrees of freedom…

+ =

Forces on M2 , due Forces on M2 , due

only to motion of
M2
+ only to motion of
M1
= All forces on M2
Summing all forces

Forces on M1 Forces on M2

 M 1s 2   f v1  f v 3  s   K1  K 2  X 1   f v 3s  K 2  X 2  F

  f v 3 s  K 2  X 1   M 2 s 2   f v 2  f v 3  s   K 2  K 3  X 2  0
Finding transfer function
 M 1s 2   f v1  f v 3  s   K1  K 2  X 1   f v 3s  K 2  X 2  F

  f v 3 s  K 2  X 1   M 2 s 2   f v 2  f v 3  s   K 2  K 3  X 2  0

  M 1s 2   f v1  f v3  s   K1  K 2    fv 3 s  K 2    X  F 
   1   

   fv3 s  K 2   M 2 s 2   fv 2  fv 3  s   K 2  K3    X 2   0 


 M 1s 2   f v1  f v 3  s   K1  K 2  F
  fv3 s  K 2  0  fv3 s  K 2  F
X2  
 

X 2  fv3 s  K 2 

F 
Inspection method to find transfer function

 Sum of impedances   Sum of   Sum of 

 connected to the  X  impedances  X   applied forces 
  1   2  
 motion at x1  between x1 and x2   at x1 

 Sum of   Sum of impedances   Sum of 

 impedances  X   connected to the
 1 
 X   applied forces 
 2  
between x1 and x2   motion at x2   at x2 
Inspection method to find transfer function…

 Sum of impedances   Sum of   Sum of 

 connected to the  X  impedances  X   applied forces 
  1   2  
 motion at x1  between x1 and x2   at x1 

 M 1s 2   f v1  f v 3  s   K1  K 2  X 1   f v 3 s  K 2  X 2   F 

1
Inspection method to find transfer function…

 Sum of   Sum of impedances   Sum of 

 impedances  X   connected to the
 1 
 X   applied forces 
 2  
between x1 and x2   motion at x2   at x2 

  f v 3 s  K 2  X 1   M 2 s 2   f v 2  f v 3  s   K 2  K 3  X 2  0

2
Let’s see how good your inspection skills are!

Write the equations of motion for the network given below

Thank You