Modeling & Simulation of

Dynamic Systems (EE-971)

Lecture-2
Modeling & Simulation of Mechanical Systems

Dr. Imtiaz Hussain

Assistant Professor (Control Systems),
Department of Electronic and Power Engineering
PNEC-NUST, Karachi, Pakistan
email: [email protected]

Spring 2023

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

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

inertial force respectively.
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 Example-1
fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

F  Mx  kx
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F ( s )  Ms 2 X ( s )  kX ( s )
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 Example-1
F ( s )  Ms 2 X ( s )  kX ( s )
• The transfer function of the system is

X (s) 1

F(s) Ms 2  k

• if
M  1000kg
k  2000Nm 1

X (s) 0. 001
 2
F(s) s 2
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 Example-1

X (s) 0. 001
 2
F(s) s 2

• The pole-zero map of the system is

Pole-Zero Map
40

30

20
Imaginary Axis

10

-10

-20

-30

-40
-1 -0.5 0 0.5 1
5
Real Axis
 Example-2
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
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 Example-2
Differential equation of the system is:

F  Mx  Cx  kx
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

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 Example-2
X (s) 1

F(s) Ms 2  Cs  k

• if 2
Pole-Zero Map

1.5
M  1000kg 1

k  2000Nm 1 0.5

Imaginary Axis
1
C  1000N / ms
0

-0.5

-1

-1.5
X (s) 0. 001
 2 -2
F(s) s  s  1000 -1 -0.5 0
Real Axis
0.5 1

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 Example-3
x1 x2

k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

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Example-4: Automobile Suspension

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 Example-4: 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)

2
ms X o ( s )  bsX o ( s )  kX o ( s )  bsX i ( s )  kX i ( s )

X o (s) bs  k

X i ( s ) ms 2  bs  k
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 Example-5

1 k1 2 B2 B4
3
T J1 J2

B1 B3

1 k1 2 B2 3

T ↑ J1 B1 B3 J2 B4
SIMULATION OF MECHANICAL
SYSTES

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 Example-1
• In this example, we are going to model a
simple mechanical system and observe its
behavior under various conditions
 Transfer Function Model
• Differential Equation of the systems is

𝐹 ( 𝑡 )=𝑚 𝑥+
¨ 𝑘𝑥+𝑏 𝑠˙
• Transfer function is obtained as 𝒙 (𝒕 )

𝑋 ( 𝑠) 1
= 𝒌
𝐹 ( 𝑠) 𝑚 𝑠2 +𝑏𝑠 +𝑘 𝒃
Transfer Function Model
Transfer Function Model

Input Force

Displacement x(t)

Velocity v(t)
 Differential Equation Model
• Differential Equation of the systems is

𝒙 (𝒕 )
𝐹 ( 𝑡 )=𝑚 𝑥+
¨ 𝑘𝑥+𝑏 𝑠˙
𝒌
𝒃
Differential Equation Model
Differential Equation Model
 Simscape Model
• Recommended Version Matlab 2014
• To create an equivalent Simscape model,
follow these steps:
1. Open the Simscape > Foundation
𝒙 (𝒕 )
Library > Mechanical > Translational
Elements library.
2. Drag the Mass, Translational Spring, 𝒌
𝒃
Translational Damper, and two
Mechanical Translational Reference
blocks into the model window.
Simscape Model
Simscape Model
 Rotational and Translational Motion
(Example-1)
• Consider the system shown below.

• The disc is of radius ‘R’ and has a moment of

inertia ‘I’. There is friction between the disc and
the block of mass ‘m’.
 Rotational and Translational Motion
• Free body diagram

𝑚 𝑥¨

(1)
 Rotational and Translational Motion
• Free body diagram of disc

𝑇 =𝐼 𝜃¨
𝐹 𝑓 𝑅=𝐼 𝜃¨
• Since
𝐼
𝐹𝑓= 2 𝑥
¨
𝑅
 Rotational and Translational Motion
• Substituting the value of in equation (1)
𝐼
𝐹 =𝑚 𝑥+
¨ 𝑘𝑥+𝑐 𝑥˙ + 2 𝑥
¨
𝑅
• Taking Laplace Transform of the equation
2 𝐼 2
𝐹 ( 𝑠 ) =𝑚 𝑠 𝑋 ( 𝑠)+𝑘𝑋 ( 𝑠)+𝑐𝑠𝑋 ( 𝑠)+ 2 𝑠 𝑋 ( 𝑠)
𝑅

𝑋 ( 𝑠) 1
=
𝐹 ( 𝑠)
( 𝐼
)2
𝑚+ 2 𝑠 + 𝑐𝑠+𝑘
𝑅
 Example-2
• Consider the system shown below (Assume no friction).

• The relation between the rotation of the disc and the

linear displacement moved by the disc is given by x = Rθ
 Example-2
• Free body diagram of the disc

0=𝑚 𝑥+2𝑘𝑥
¨
• Where
Example-3
 Example-3
• Free Body diagram of Mass m

𝑚 𝑦¨

¨ +𝑐( 𝑦
𝑚𝑦 ˙
( 𝑅
)
˙ − 𝑅 𝜃 ) +𝑘 𝑦 − 𝜃 =0
2
 Example-3
• Free body diagram of drum

¨ ˙
(
𝑇 = 𝐽 𝜃+ 𝑐 ( 𝑅 𝜃 − 𝑦˙ ) 𝑅+𝑘
𝑅
2 )
𝜃− 𝑦
𝑅
2
𝑅 ˙ 𝑅
+𝑘 𝜃 𝑅 ( 𝑅 )+ 𝑐 𝜃( )
2 2
Example-4: Elevator
 Example-4: Elevator

• The cage of an elevator

is hoisted by a long
cable wound over a
drum driven through a
gear-set by an electric
motor. The motor is
relay-operated (i.e.,
either on or off)
Example-4: Elevator

𝒏𝒈𝒆𝒂𝒓 𝜽𝒓𝒊𝒎
𝜽𝒎𝒐𝒕𝒐𝒓 𝒓 𝒅𝒓𝒖𝒎
𝒆 𝒎𝒐𝒕𝒐𝒓

𝒌 𝒄𝒂𝒃𝒍𝒆

𝒙 𝒄𝒂𝒈𝒆
𝒎𝒄𝒂𝒈𝒆
 Example-4: Elevator
• Differential Equation
𝑭𝒎 𝒄𝒂𝒈𝒆
𝑭𝒌
𝒄𝒂 𝒃𝒍 𝒆

𝒎𝒄𝒂𝒈𝒆

𝑭𝒈

𝑚𝑐𝑎𝑔𝑒 𝑥¨ 𝑐𝑎𝑔𝑒 +𝑘𝑐𝑎𝑏𝑙𝑒 ( 𝑥𝑐𝑎𝑔𝑒 − 𝑥 𝑟𝑖𝑚 ) +𝑚𝑐𝑎𝑔𝑒 𝑔=0

 Example-4: Elevator
• Transmission
𝑥𝑟𝑖𝑚 =𝑟 𝑑𝑟𝑢𝑚 𝜃𝑑𝑟𝑢𝑚

𝜃𝑑𝑟𝑢𝑚 =𝑛𝑔𝑒𝑎𝑟 𝜃𝑚𝑜𝑡𝑜𝑟

𝐾 𝑡 / 𝑅𝑎
𝜃𝑚𝑜𝑡𝑜𝑟 =𝑒𝑚𝑜𝑡𝑜𝑟
𝑠 [ 𝐽𝑠+( 𝐵+ 𝐾 𝑡 𝐾 𝑏 / 𝑅𝑎 )]
Example-5: Tap Drive
Example-5: Tap Drive
Example-5: Tap Drive
To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-2

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