Mechanical System Modeling
Mechanical System Modeling Eng. Abdallah Mohamed Alwy Albeity, MSc. 1
Outline of this Lecture
• Part-I: Translational Mechanical System
• Part-II: Rotational Mechanical System
• Part-III: Mechanical Linkages
2
Basic Types of Mechanical Systems
• Translational
– Linear Motion
• Rotational
– Rotational Motion
3
Part-I
TRANSLATIONAL MECHANICAL SYSTEMS
4
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
x1
x2
• Then x1 is the deformation if x2 = 0 F
• Or ( x1 − x 2 ) is the deformation. F
• The equation of motion is given as
F = k ( x1 − x 2 )
• Where k is stiffness of spring expressed in N/m
Translational Spring
• Given two springs with spring constant k1 and k2, obtain
the equivalent spring constant keq for the two springs
connected in:
(1) Parallel (2) Series
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Translational Spring
• The two springs have same displacement therefore:
k1 x + k 2 x = F
(1) Parallel
( k1 + k 2 )x = F
k eq x = F
k eq = k 1 + k 2
• If n springs are connected in parallel then:
k eq = k 1 + k 2 + + k n
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Translational Spring
• The forces on two springs are same, F, however
displacements are different therefore:
(2) Series
k 1 x1 = k 2 x 2 = F
F F
x1 = x2 =
k1 k2
• Since the total displacement is x = x 1 + x 2 , and we have F = k eq x
F F F
x = x1 + x 2 = +
k eq k1 k2
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Translational Spring
F F F
= +
k eq k1 k2
• Then we can obtain
1 k1k 2
k eq = =
1 1 k1 + k 2
+
k1 k2
• If n springs are connected in series then:
k1k 2 k n
k eq =
k1 + k 2 + + k n
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Translational Spring
• Exercise: Obtain the equivalent stiffness for the following
spring networks.
i)
k3
ii) k3
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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 x(t )
and it is displaced to x meters
F (t )
then the relation b/w force and M
displacements is given by
Newton’s law.
F = M x
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
F = C x F = C ( x 1 − x 2 )
• Where C is damping coefficient (N/ms-1).
Translational Damper
• Translational Dampers in series and parallel.
C 1C 2
C eq =
C eq = C 1 + C 2
C1 + C 2
Modelling a simple Translational System
• Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.
m x = − kx
or
m x + kx = 0
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Example-2
• Consider the following system (friction is negligible)
k
x
M
F
• Free Body Diagram
fk
M f M
F
• Where f k and f M are force applied by the spring and
inertial force respectively.
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Example-2
fk
M f M
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
2
F ( s ) = Ms X ( s ) + kX ( s )
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Example-2
2
F ( s ) = Ms X ( s ) + kX ( s )
• The transfer function of the system is
X (s) 1
=
2
F (s) Ms + k
• if
M = 1000 kg
−1
k = 2000 Nm
X (s) 0 . 001
=
2
F (s) s + 2
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Example-2
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
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Real Axis
Example-3
• Consider the following system
k
x
M
F
• Free Body Diagram
fk fC
M fM
F
F = fk + fM + fC
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Example-3
Differential equation of the system is:
F = M x + C x + kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get
2
F ( s ) = Ms X ( s ) + CsX ( s ) + kX ( s )
X (s) 1
=
2
F (s) Ms + Cs + k
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Example-3
X (s) 1
=
2
F (s) Ms + Cs + k
• if 2
Pole-Zero Map
1.5
M = 1000 kg
1
−1
k = 2000 Nm
Imaginary Axis
0.5
−1 0
C = 1000 N / ms
-0.5
-1
-1.5
X (s) 0 . 001
= -2
2
F (s)
-1 -0.5 0 0.5 1
s + s + 1000 Real Axis
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Example-4
• Consider the following system
• Free Body Diagram (same as example-3)
fk f B
M
F
f M X (s) 1
=
2
F (s) Ms + Bs + k
F = fk + fM + fB
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Example-5
• Consider the following system
x2
x1 k B
F M
• Mechanical Network
x1 k x2
F ↑ M B
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Example-5
• Mechanical Network
x1 k x2
F ↑ M B
At node x 1
F = k ( x1 − x 2 )
At node x 2
0 = k ( x 2 − x 1 ) + M x 2 + B x 2
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Example-6
• Find the transfer function X2(s)/F(s) of the following system.
M 1 M 2
B
Example-7
x1 x2
k B3 B 4
M 1 M 2
f (t )
B1 B 2
x1 B3 x2
f (t ) ↑ k M1 B1 B M2 B
2 4
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Example-8
• Find the transfer function of the mechanical translational
system given in Figure-1.
Free Body Diagram
fk f B
Figure-1
f (t ) f M
X (s) 1
f (t ) = f k + f M + f B =
2
F (s) Ms + Bs + k
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Example-9
• Restaurant plate dispenser
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Example-10
• Find the transfer function X2(s)/F(s) of the following system.
Free Body Diagram
fk f f B
fk f B
1 k 2 1
M2 M1
k 2
F (t ) f M f M
2 1
F (t ) = f k + f k + fM + fB
1 2 2
0 = fk + fM + fB
1 1
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Example-11
x2 x3
x1
k1 B3 B 4
u(t ) B1 M k M k3
1 2 2
B 2 B5
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Example-12: Automobile Suspension
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Automobile Suspension
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Automobile Suspension
m xo + b ( x o − x i ) + k ( x o − x i ) = 0 ( eq . 1 )
m xo + b x o + kx o = b x i + kx i 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
=
2
X i(s) ms + bs + k
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Example-13: Train Suspension
Car Body
Bogie-2
Bogie-1
Secondary
Suspension
Bogie
Frame
Primary
Wheelsets
Suspension
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Example: Train Suspension
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