MECHATRONICS STUDY PROGRAM

MODELING AND SIMULATION OF MECHANICAL SYSTEM

LECTURE : #5
DETAIL MODELLING OF ROTATIONAL MECHANICAL SYSTEMS

MME, Batch #18 & #19

Dr. Ir. Hanny J. Berchmans, M.T.
Saturday, March 09, 2024
 Introduction
MECHATRONICS STUDY PROGRAM

Modeling of Mechanical System Definition:

The motion of mechanical systems is Translational Mechanical System

classified as translation, rotation, or
combination of these two movements. The 𝑑(𝑚𝑣) 𝑑(𝑣) 𝐹𝑎 𝑡 = 𝑚 𝑎
𝐹𝑎 (𝑡) = 𝐹𝑎 𝑡 = 𝑚
equation of motion of mechanical systems 𝑑𝑡 𝑑𝑡
is written using Newton’s second law

Newton's Second Law: Rotary Mechanical System (Moment of Inertia)

The force applied to a body is proportional

to the force applied on the body and 𝑑(𝑗𝝎) 𝑑(𝝎) 𝝉𝑎 𝑡 = 𝑗 𝑎
𝝉𝑎 (𝑡) = 𝝉𝑎 𝑡 = 𝑗
occurs along the straight line where the 𝑑𝑡 𝑑𝑡
force is applied.
𝑗 = 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎
𝝎 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝝉𝑎 = 𝑡𝑜𝑟𝑞𝑢𝑒
MECHATRONICS STUDY PROGRAM

Moment of Inertia: what is that?

The moment of inertia, otherwise known Momen inersia, atau dikenal sebagai momen
as the mass moment of inertia, angular inersia massa, massa sudut, momen massa
mass, second moment of mass, or most kedua, atau paling akurat, inersia rotasi, dari
accurately, rotational inertia, of a rigid benda tegar adalah besaran yang menentukan
body is a quantity that determines the torsi yang diperlukan untuk percepatan sudut
torque needed for a desired angular yang diinginkan terhadap sumbu rotasi, mirip
acceleration about a rotational axis, akin dengan bagaimana massa menentukan gaya
to how mass determines the force yang dibutuhkan untuk percepatan yang
needed for a desired acceleration. It diinginkan. Itu tergantung pada distribusi massa
depends on the body's mass distribution benda dan sumbu yang dipilih, dengan momen
and the axis chosen, with larger moments yang lebih besar membutuhkan lebih banyak
requiring more torque to change the torsi untuk mengubah laju rotasi benda.
body's rate of rotation.
 Introduction
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Mechanical Systems Variable and Elements:

Basic variable symbols used to describe the dynamic behavior of the system.

Ɵ, 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 𝑟𝑎𝑑

Ɵ,ሶ 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑟𝑎𝑑/𝑠 Ɵሷ = 𝝎ሶ = 𝑎𝑎𝑛𝑔𝑢𝑙𝑎𝑟

Ɵ,ሷ 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑟𝑎𝑑/𝑠 2

𝝉, 𝑡𝑜𝑟𝑞𝑢𝑒 𝑁. 𝑚

Angular friction: The force acting in the opposite direction to the angular rotational motion of the
system. it is directly proportional to the angular velocity difference between the two ends of the
damping element Ɵሶ 1 − Ɵሶ 2 .
𝝉 = 𝑏(Ɵሶ 1 − Ɵሶ 2 )
Ɵሶ = Ɵሶ 1 − Ɵሶ 2
𝝉 = 𝑏Ɵሶ
𝑏 = 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑒𝑛𝑡 𝑁. 𝑠/𝑚
 Introduction
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Mechanical Systems Variable and Elements:

Rotational Stiffness: rotational stiffness is often associated with torsion springs. It is directly
proportional to the displacement between the two ends of the springs (Ɵሶ 1 − Ɵሶ 2 ) .

𝝉 = 𝑘(Ɵሶ 1 − Ɵሶ 2 )
Ɵሶ = Ɵሶ 1 − Ɵሶ 2
𝝉 = 𝑘Ɵሶ

𝑏 = 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑒𝑛𝑡 𝑁. 𝑠/𝑚

 Rotational Inertia Spring System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Inertia Spring Mechanical Systems

𝑃ℎ𝑦𝑠𝑖𝑐𝑎𝑙 𝑀𝑜𝑑𝑒𝑙: 𝑀𝑎𝑡ℎ𝑒𝑚𝑎𝑡𝑖𝑐𝑎𝑙 𝑀𝑜𝑑𝑒𝑙 𝑜𝑓 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

Ɵ 𝝉1 ෍ 𝝉 = 𝐽1 Ɵሷ
Physical System Simplifying
𝐽1 𝝉1 − 𝝉2 = 𝐽1 Ɵሷ Assumption:
𝑘 𝝉1 − 𝑘 Ɵ = 𝐽1 Ɵሷ ▪ Rigid Support
▪ Pure and Ideal Spring
1 ▪ One degree-of-freedom
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚: Ɵሷ = (𝝉 − 𝑘Ɵ) motion: x direction
𝐽1 1 ▪ Rigid Attachment Mass
𝝉1 ▪ System is vertical: g acts
down in +x direction

𝝉2
 Rotational Inertia Spring System
MECHATRONICS STUDY PROGRAM

𝐽 = 100 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 𝑖𝑛 𝑘𝑔 ∗ 𝑚^2𝑘

= 491.1 𝑆𝑝𝑟𝑖𝑛𝑔 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑛 𝑁. 𝑚/𝑟𝑎𝑑𝑇
= 1 𝑇𝑜𝑟𝑞𝑢𝑒 𝑖𝑛 𝑁

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔𝑀𝑎𝑠𝑠𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Rotational Inertia Spring System
MECHATRONICS STUDY PROGRAM
 Rotational Inertia Spring System
MECHATRONICS STUDY PROGRAM

Graph in Matlab

Type this in Matlab window:

>> plot(tout, theta);

>> hold on
>> plot(tout, AngularV);
>> grid
>> xlabel(('time (sec)'))
>> title(‘Theta & AngularV')
>> hold off
 Rotational Inertia Spring System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Inertia Multiple Serial Spring Mechanical Systems

𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
Ɵ 𝝉1

𝐽1 ෍ 𝝉 = 𝐽1 Ɵሷ
𝑘1 𝑘2 𝑘3
𝝉1 − 𝝉2 = 𝐽1 Ɵሷ
(𝝉1 − 𝑘1 + 𝑘2 + 𝑘3 )Ɵ = 𝐽1 Ɵሷ
𝝉1
1
Ɵሷ = (𝝉1 − (𝑘1 + 𝑘2 + 𝑘3 )Ɵ)
𝐽1
𝝉2
 Modeling of Rotational Inertia Multiple
MECHATRONICS STUDY PROGRAM Serial Spring Mechanical Systems

𝑚
𝑘1 = 491.1 𝑆𝑝𝑟𝑖𝑛𝑔 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑛 𝑁. 𝑇
𝑟𝑎𝑑
= 1 𝑇𝑜𝑟𝑞𝑢𝑒 𝑖𝑛 𝑁

𝑘2 = 491.1
𝐽 = 100 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 𝑖𝑛 𝑘𝑔 ∗ 𝑚^2𝑘3 = 491.1

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝑆𝑝𝑟𝑖𝑛𝑔𝑀𝑎𝑠𝑠𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Modeling of Rotational Inertia Multiple
Serial Spring Mechanical Systems
MECHATRONICS STUDY PROGRAM
 Modeling of Rotational Inertia Multiple
MECHATRONICS STUDY PROGRAM Serial Spring Mechanical Systems

Graph in Matlab

Type this in Matlab window: One Spring Three Springs

>> plot(tout, theta);

>> hold on
>> plot(tout, AngularV);
>> grid
>> xlabel(('time (sec)'))
>> title(‘Theta & AngularV')
>> hold off
 Rotational Inertia Spring Damper System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Inertia Spring Damper Mechanical Systems

𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

Ɵ 𝝉1

𝐽1 ෍ 𝝉 = 𝐽1 Ɵሷ
𝑘 𝑏 𝝉1 − 𝝉2 − 𝝉3 = 𝐽1 Ɵሷ
𝝉1 − 𝑘 Ɵ − 𝑏Ɵሶ = 𝐽1 Ɵሷ
𝝉1
1
𝐽1 Ɵሷ = ሶ
(𝝉1 − 𝑘Ɵ − 𝑏Ɵ)
𝐽1
𝝉2 𝝉3

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝑆𝑝𝑟𝑖𝑛𝑔𝐷𝑎𝑚𝑝𝑒𝑟𝐼𝑛𝑒𝑟𝑡𝑖𝑎𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Modeling of Rotational Inertia Spring
MECHATRONICS STUDY PROGRAM Damper Mechanical Systems

𝑚
𝑘 = 491.1 𝑆𝑝𝑟𝑖𝑛𝑔 𝐶𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑖𝑛 𝑁. 𝑇
𝑟𝑎𝑑
= 1 𝑇𝑜𝑟𝑞𝑢𝑒 𝑖𝑛 𝑁

𝑏 = 100
𝐽 = 100 𝐼𝑛𝑒𝑟𝑡𝑖𝑎 𝑖𝑛 𝑘𝑔 ∗ 𝑚^2

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝑆𝑝𝑟𝑖𝑛𝑔𝐷𝑎𝑚𝑝𝑒𝑟𝐼𝑛𝑒𝑟𝑡𝑖𝑎𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Modeling of Rotational Inertia Spring
Damper Mechanical Systems
MECHATRONICS STUDY PROGRAM

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝑆𝑝𝑟𝑖𝑛𝑔𝐷𝑎𝑚𝑝𝑒𝑟𝐼𝑛𝑒𝑟𝑡𝑖𝑎𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Modeling of Rotational Inertia Spring
MECHATRONICS STUDY PROGRAM Damper Mechanical Systems

Graph in Matlab

Type this in Matlab window: One Spring One Spring + One Damper

>> plot(tout, theta);

>> hold on
>> plot(tout, AngularV);
>> grid
>> xlabel(('time (sec)'))
>> title(‘Theta & AngularV')
>> hold off

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝑆𝑝𝑟𝑖𝑛𝑔𝐷𝑎𝑚𝑝𝑒𝑟𝐼𝑛𝑒𝑟𝑡𝑖𝑎𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Rotational Inertia Spring Damper System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Multi Inertia Spring Damper Mechanical Systems

𝝉1 Ɵ1 Ɵ2 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

𝐽1 𝐽2 ෍ 𝝉1 = 𝐽1 Ɵሷ 1
𝑘 𝑏2
𝑏1 𝝉1 + 𝝉𝑘Ɵ2 − 𝝉𝑘Ɵ1 − 𝝉1 = 𝝉1 + 𝑘 Ɵ2 − 𝑘 Ɵ1 − 𝑏1 Ɵሶ 1 = 𝐽1 Ɵሷ 1
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝐽1 1
Ɵሷ 1 = (𝝉1 + 𝑘 Ɵ2 − Ɵ1 − 𝑏1 Ɵሶ 1 )
𝝉1 𝐽1

𝐽1 Ɵ2 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

𝝉𝑘Ɵ2
𝝉𝑏1 𝝉𝑘 𝝉𝑏2 𝐽2
෍ 𝝉 = 𝐽2 Ɵሷ 2
𝝉𝑘Ɵ1
𝝉𝑘Ɵ1 𝝉1 Ɵ1 𝐽2 Ɵሷ 2 𝝉𝑘Ɵ1 − 𝝉𝑘Ɵ2 − 𝝉𝑘𝑏2 = 𝑘 Ɵ1 − 𝑘 Ɵ2 − 𝑏2 Ɵሶ 2 = 𝐽2 Ɵሷ 2
1
𝝉𝑏1 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝐽2 ሷƟ2 = (𝑘 Ɵ1 − Ɵ2 − 𝑏2 Ɵሶ 2 )
𝐽1
𝝉𝑘Ɵ2 𝐽2
𝐽1 Ɵሷ 1
 Modeling of Rotational Multi Inertia
MECHATRONICS STUDY PROGRAM Spring Damper Mechanical Systems

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝐼𝑛𝑒𝑟𝑡𝑖𝑎𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝑆𝑝𝑟𝑖𝑛𝑔𝐷𝑎𝑚𝑝𝑒𝑟𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Modeling of Rotational Multi Inertia
Spring Damper Mechanical Systems
MECHATRONICS STUDY PROGRAM

𝐹𝑖𝑙𝑒 𝑛𝑎𝑚𝑒:
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝐼𝑛𝑒𝑟𝑡𝑖𝑎𝑀𝑢𝑙𝑡𝑖𝑝𝑙𝑒𝑆𝑝𝑟𝑖𝑛𝑔𝐷𝑎𝑚𝑝𝑒𝑟𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝑆𝑝𝑟𝑖𝑛𝑔. 𝑚
 Rotational Inertia Spring Damper System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Multi Inertia Spring Damper Mechanical Systems

𝑘1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

𝝉1 Ɵ1 Ɵ2 𝑘2 ෍ 𝝉1 = 𝐽1 Ɵሷ 1
𝐽1
??
𝑏2
𝑏1
𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝐽1
෍𝝉 = 0
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 2 ?
 Rotational Inertia Spring Damper System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Multi Inertia Spring Damper Mechanical Systems

𝑘1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

𝝉1 Ɵ1 Ɵ2 𝑘2 ෍ 𝝉1 = 𝐽1 Ɵሷ 1
𝐽1
𝝉1 − 𝑘1 Ɵ1 − 𝑏1 Ɵሶ 1 + 𝑘1 Ɵ2 + 𝑏1 Ɵሶ 2 = 𝐽1 Ɵሷ 1
1
𝑏2 ሷƟ1 = (𝝉1 + 𝑘1 Ɵ2 − Ɵ1 + 𝑏1 Ɵሶ 2 − Ɵሶ 1 )
𝐽1
𝑏1
𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝐽1
෍𝝉 = 0
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 2
𝝉𝑘1 Ɵ1 𝝉1 Ɵ1
𝝉𝑘1 Ɵ2 Ɵ2 𝑘1 Ɵ1 + 𝑏1 Ɵሶ 1 − 𝑘1 Ɵ2 − 𝑏1 Ɵሶ 2 − 𝑘2 Ɵ2 − 𝑏2 Ɵሶ 2 = 0
𝝉𝑏1 𝐽1
𝝉𝑏1 (Ɵ2) 𝝉𝑏2(Ɵ2) 𝑘1 Ɵ1 − Ɵ2 + 𝑏1 Ɵሶ 1 − Ɵሶ 2 − 𝑘2 Ɵ2 − 𝑏2 Ɵሶ 2 = 0
𝝉𝑏1(Ɵ2)
𝝉𝑘1Ɵ2
2 𝝉𝑘2 Ɵ2 𝑘1 Ɵ2 − Ɵ1 + 𝑏1 Ɵሶ 2 − Ɵሶ 1 + 𝑘2 Ɵ2 + 𝑏2 Ɵሶ 2 = 0
𝐽1 Ɵሷ 1
𝝉𝑏1 (Ɵ1) 𝝉𝑘1Ɵ1 𝑘1 Ɵ2 − Ɵ1 + 𝑏1 Ɵሶ 2 − Ɵሶ 1 = −𝑘2 Ɵ2 − 𝑏2 Ɵሶ 2
1
Ɵሷ 1 = (𝝉1 − 𝑘2 Ɵ2 − 𝑏2 Ɵሶ 2 )
𝐽1
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 Rotational Inertia Spring Damper System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Multi Inertia Spring Damper Mechanical Systems

𝑘1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

Ɵ1 Ɵ2 𝝉2 𝑘2 ෍ 𝝉1 = 𝐽1 Ɵሷ 1
𝐽1 𝐽2 ??
𝑏1
𝑏2
𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝐽1
෍𝝉 = 0
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝐽2 ?
 Rotational Inertia Spring Damper System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Multi Inertia Spring Damper Mechanical Systems

𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝑘1
Ɵ1 Ɵ2 𝝉2 𝑘2 ෍ 𝝉 = 𝐽1 Ɵሷ 1
𝐽1 𝐽2 𝝉𝑘1Ɵ2 + 𝝉𝑏2(Ɵ2) − 𝝉𝑘1 Ɵ1 − 𝝉𝑏1(Ɵ1) − 𝝉𝑏2(Ɵ1) = 𝐽1 Ɵሷ 1
𝑏1 𝑘1 Ɵ2 + 𝑏2 Ɵሶ 2 −𝑘1 Ɵ1 − 𝑏1 Ɵሶ 1 − 𝑏2 Ɵሶ 1 = 𝐽1 Ɵሷ 1
1
𝑏2 ሷƟ1 = (𝑘1 Ɵ2 − Ɵ1 + 𝑏2 Ɵሶ 2 − Ɵሶ 1 − 𝑏1 Ɵሶ 1 )
𝐽1
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝐽1 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝐽2
𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
Ɵ1 𝝉2
𝝉𝑘 1 Ɵ 1
𝝉𝑏2 (Ɵ1) 𝝉𝑘2 Ɵ2 Ɵ2 ෍ 𝝉 = 𝐽2 Ɵሷ 2
𝝉𝑏1 (Ɵ1) 𝝉𝑏2 (Ɵ2) 𝝉𝑏1 (Ɵ2)
𝐽1 𝐽2 𝝉𝑘1 Ɵ2 𝝉2 + 𝝉𝑘1 Ɵ1 + 𝝉𝑏2(Ɵ1) − 𝝉𝑘1Ɵ2 − 𝝉𝑏1 (Ɵ2) − 𝝉𝑘2Ɵ2 = 𝐽2 Ɵሷ 2
𝐽1 Ɵሷ 1 𝝉𝑘1Ɵ2 𝝉𝑏2 (Ɵ1) 𝝉𝑘1Ɵ1 𝝉2 + 𝑘1 Ɵ1 + 𝑏2 Ɵሶ 2 − 𝑘1 Ɵ2 − 𝑏1 Ɵሶ 2 − 𝑘2 Ɵ2 = 𝐽2 Ɵሷ 2
1
𝐽2 Ɵሷ 2 Ɵሷ 2 = (𝝉2 + 𝑘1 (Ɵ1 −Ɵ2 ) + 𝑏2 Ɵሶ 2 − Ɵሶ 1 − 𝑏1 Ɵሶ 2 − 𝑘2 Ɵ2 )
𝐽2
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 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝑟1 Ɵ1 = 𝑟2 Ɵ2

Ɵ2 𝑟1 𝑁1
= =
Ɵ1 𝑟2 𝑁2

𝑇1 Ɵ1 = 𝑇2 Ɵ2

𝑇2 Ɵ1 𝑁2
= =
𝑇1 Ɵ2 𝑁1

𝐼𝑑𝑒𝑎𝑙 𝐺𝑒𝑎𝑟 𝑆𝑦𝑠𝑡𝑒𝑚:

1. 𝑁𝑜 𝑏𝑎𝑘𝑐𝑙𝑎𝑠ℎ
2. 𝑁𝑜 𝑒𝑛𝑒𝑟𝑔𝑦 𝑎𝑏𝑠𝑜𝑟𝑏𝑒𝑑 𝑏𝑦 𝑔𝑒𝑎𝑟
 Impedance: Mechanical & Electrical
MECHATRONICS STUDY PROGRAM

Impedance
▪ Mechanical impedance is a measure of how much a structure resists motion when subjected to a harmonic force. It relates forces
with velocities acting on a mechanical system. The mechanical impedance of a point on a structure is the ratio of the force applied at a
point to the resulting velocity at that point.

▪ Mechanical impedance is the inverse of mechanical admittance or mobility. The mechanical impedance is a function of the frequency 𝝎
of the applied force and can vary greatly over frequency. At resonant frequencies, the mechanical impedance will be lower, meaning less
force is needed to cause a structure to move at a given velocity. A simple example of this is pushing a child on a swing. For the greatest
swing amplitude, the frequency of the pushes must be near the resonant frequency of the system.
𝑭(𝜔) = 𝒁 𝜔 𝒗(𝜔)
▪ F = Force vector, V = Velocity vector, Z = impedance matrix and 𝝎 is angular frequency/velocity.

▪ Mechanical impedance is the ratio of a potential (e.g., force) to a flow (e.g., velocity) where the arguments of the real (or imaginary)
parts of both increase linearly with time. Examples of potentials are force, sound pressure, voltage, temperature. Examples of flows
are velocity, volume velocity, current, heat flow. Impedance is the reciprocal of mobility. If the potential and flow quantities are
measured at the same point then impedance is referred as driving point impedance; otherwise, transfer impedance.
▪ Resistance - the real part of an impedance.
▪ Reactance - the imaginary part of an impedance.
MECHATRONICS STUDY PROGRAM

Impedance
 Gear System
MECHATRONICS STUDY PROGRAM

𝑁2
= 𝑖𝑚𝑝𝑒𝑑𝑎𝑛𝑐𝑒 Modeling of Rotational Gear Systems
𝑁1 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝐽𝑒:
𝑏1 𝑆𝑖𝑚𝑝𝑙𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛: 𝑇2 Ɵ2
𝑏𝑒 𝝉𝑘𝑒(Ɵ2)
𝑁1 Ɵ2 𝑇2 Ɵ2
𝝉𝑏𝑒(Ɵ2)
𝐽1 𝑘1 𝐽𝑒
𝑇1 Ɵ1 𝑘𝑒 𝐽𝑒
𝑁2
𝑘𝑒 = 𝑘1 𝑏𝑒 = 𝑏1 𝐽𝑒 = 𝐽1 𝐽𝑒 Ɵሷ 2

𝑁2 Substitute Eq.(1), Eq.(2) to Eq.(2):

𝑟1 Ɵ1 = 𝑟2 Ɵ2
𝑇2 = 𝑇1 𝑆𝑦𝑠𝑡𝑒𝑚 𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛:
𝑁1 𝑁2
Ɵ2 𝑟1 𝑁1 𝑁1 𝑇1 − 𝑘1 Ɵ2 − 𝑏1 Ɵሶ 2 = 𝐽1 Ɵሷ 2
Ɵ1
= =
𝑟2 𝑁2
Ɵ2 = Ɵ1
𝑁2 𝑁1 ෍ 𝝉 = 𝐽𝑒 Ɵሷ 2
Eq.(1) 𝑁2 𝑁1 𝑁1 𝑁1
𝑇1 − 𝑘1 Ɵ1 − 𝑏1 Ɵሶ 1 = 𝐽1 Ɵሷ 1 𝑇2 − 𝝉𝑘𝑒 (Ɵ2 ) − 𝝉𝑏𝑒 (Ɵ2 ) = 𝐽𝑒 Ɵሷ 2
𝑇1 Ɵ1 = 𝑇2 Ɵ2 𝑁1 𝑁2 𝑁2 𝑁2
Ɵሶ 2 =
𝑑Ɵ2 𝑁1 𝑑Ɵ1
=
𝑁
----------------------------------------------------- x 1 𝑇2 − 𝑘𝑒 Ɵ2 − 𝑏𝑒 Ɵሶ 2 = 𝐽𝑒 Ɵሷ 2
𝑇2 Ɵ1 𝑁2 𝑑𝑡 𝑁2 𝑑𝑡 𝑁2 𝑁2
= = 𝑑2Ɵ2 𝑁1 𝑑2Ɵ1 2 2 2 𝑇1 − 𝑘1 Ɵ2 − 𝑏1 Ɵሶ 2 = 𝐽1 Ɵሷ 2
𝑇1 Ɵ2 𝑁1 𝑁1 𝑁1 𝑁1 𝑁1
Ɵሷ 2 = = 𝑇1 − 𝑘1 Ɵ1 − 𝑏1 Ɵሶ 1 = 𝐽1 Ɵሷ 1
𝑑𝑡2 𝑁2 𝑑𝑡2 𝑁2 𝑁2 𝑁2
Eq.(2) Eq.(3)
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑆𝑖𝑚𝑝𝑙𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 1: 𝑆𝑖𝑚𝑝𝑙𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 2: 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝐽𝑒:
𝑏𝑒 𝑏𝑒
𝑇1 Ɵ1
𝝉𝑘𝑒(Ɵ1)
𝑇2 Ɵ2 𝑇1 Ɵ1
𝐽𝑒 𝑘𝑒 𝐽𝑒 𝑘𝑒 𝝉𝑏𝑒(Ɵ1)
𝐽𝑒

𝑘𝑒 = 𝑘1 𝑏𝑒 = 𝑏1 𝐽𝑒 = 𝐽1 𝐽𝑒 Ɵሷ 1
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝐽𝑒: 𝟐
𝑵 𝒐𝒇 𝑫𝒆𝒔𝒕𝒊𝒏𝒂𝒕𝒊𝒐𝒏 𝑮𝒆𝒂𝒓 𝑻𝒆𝒆𝒕𝒉
𝑴𝒆𝒄𝒉𝒂𝒏𝒊𝒄𝒂𝒍 𝑰𝒎𝒑𝒆𝒅𝒂𝒏𝒄𝒆 𝒐𝒇 𝑫𝒆𝒔𝒕𝒊𝒏𝒂𝒕𝒊𝒐𝒏 𝑨𝒙𝒊𝒔 = 𝒙 𝑴𝒆𝒄𝒉𝒂𝒏𝒊𝒄𝒂𝒍 𝑰𝒎𝒑𝒆𝒅𝒂𝒏𝒄𝒆 𝒐𝒇 𝑺𝒐𝒖𝒓𝒄𝒆 𝑨𝒙𝒊𝒔
𝝉𝑘𝑒(Ɵ2) 𝑇2 Ɵ2 𝑵 𝒐𝒇 𝑺𝒐𝒖𝒓𝒄𝒆 𝑮𝒆𝒂𝒓 𝑻𝒆𝒆𝒕𝒉

𝑁1 2 𝑁1 2 𝑁1 2
𝑘𝑒 = 𝑘1 𝑏𝑒 = 𝑏1 𝐽𝑒 = 𝐽1
𝑁2 𝑁2 𝑁2
𝝉𝑏𝑒(Ɵ2)
𝐽𝑒 2 2 2
𝑁1 𝑁1 𝑁1
𝑇2 − 𝑘1 Ɵ2 − 𝑏1 Ɵሶ 2 = 𝐽1 Ɵሷ 2 𝑇1 − 𝑘1 Ɵ1 − 𝑏1 Ɵሶ 1 = 𝐽1 Ɵሷ 1
𝑁2 𝑁2 𝑁2
𝐽𝑒 Ɵሷ 2
MECHATRONICS STUDY PROGRAM

𝐹𝑖𝑙𝑒𝑠:
RotationalGearSystem1.slx
RotationalSpring.m
MECHATRONICS STUDY PROGRAM

𝐹𝑖𝑙𝑒𝑠:
RotationalGearSystem1.slx
RotationalSpring.m
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝝉1 Ɵ1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 1 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝑁1
𝐽1 𝑘1 ෍ 𝝉1 = 𝐽1 Ɵሷ 1
Ɵ2
𝑏1 ??
𝐽2
𝑁2
𝑏2 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 2 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝐽1
෍𝝉 = 0
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚 𝐽2 ?
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑇1 Ɵ1 𝑆𝑦𝑚𝑝𝑙𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚: 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚
𝑁1
𝑘𝑒2 𝝉𝑏𝑒2 (Ɵ2)
𝐽1 𝑘1 𝑇𝑒 Ɵ2
𝐽𝑒2 𝝉𝑘𝑒2 (Ɵ2)
𝑏1 𝐽𝑒2
𝐽2 𝐽𝑒2 Ɵሷ 2
𝑇𝑒 Ɵ2
𝑁2
Ɵ2 𝑏𝑒2
𝐿𝑒𝑓𝑡 𝑆𝑖𝑑𝑒: 𝑏2 𝑆𝑦𝑠𝑡𝑒𝑚 𝐸𝑞𝑢𝑎𝑡𝑖𝑜𝑛:
𝑇𝑒 𝑁2 𝑅𝑖𝑔ℎ𝑡 𝑆𝑖𝑑𝑒: ෍ 𝝉 = 𝐽𝑒𝑒 Ɵሷ 2
=
𝑇1 𝑁1
𝑁2 𝑁
𝑏𝑒2 = 𝑏𝑒1 + 𝑏2 = 𝑏1 ( 2 )2 +𝑏2 𝑇𝑒 − 𝝉𝑏𝑒2 (Ɵ2 ) − 𝝉𝑘𝑒2 (Ɵ2 ) = 𝐽𝑒2 Ɵሷ 2
𝑇𝑒 = 𝑇1 𝑁1
𝑁1 𝑁2 𝑁2
2
𝑁2
2
𝑁2 𝑘𝑒2 = 𝑘1
𝑇1 − (𝑏1 + 𝑏2 )Ɵሶ 2 − 𝑘1 Ɵ2 = (𝐽1 + 𝐽2 ) Ɵሷ 2
𝑏𝑒1 = 𝑏1 ( )2 𝑁2 𝑁1 𝑁1 𝑁1
𝑁1 𝐽𝑒2 = 𝐽𝑒1 + 𝐽2 = 𝐽1 ( )2 +𝐽2 2
𝑁2 𝑁1 1 𝑁2 𝑁2
𝐽𝑒1 = 𝐽1 ( )2 Ɵሷ 2 = 2 𝑇1 − (𝑏1 + 𝑏2 )Ɵሶ 2 − 𝑘1 Ɵ2
𝑁1 𝑁2 𝑁1 𝑁1
(𝐽1 + 𝐽2 )
𝑁1
 Gear System 1
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems 1

𝑁2
𝑁1

2
1 𝑁2
(𝑏1 + 𝑏2 )
𝑁1
(𝐽1
𝑁2
𝑁1
2
+ 𝐽2 ) Ɵ2-Simulink Ɵ2-SimScape
𝑘1

𝑘1

Ɵሶ 2-Simulink Ɵሶ 2-Simulink
2
2
𝑁2
𝑁2 (𝐽1 + 𝐽2 )
(𝑏1 + 𝑏2 ) 𝑁1
𝑁1

𝐹𝑖𝑙𝑒:
1. 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝐺𝑒𝑎𝑟𝑆𝑦𝑠𝑡𝑒𝑚1. 𝑠𝑙𝑥
2. RotationalSpring.m
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑇1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝑁1
𝐽1 𝑏1 𝑁3 ෍𝝉 = 0
Ɵ2
?
𝐽2
𝑏2 𝑁
2
𝑘1
𝐽3
𝑏3 𝑁4
𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚
?
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑇1 𝑆𝑦𝑚𝑝𝑙𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚:
𝑁1
𝑘𝑒
𝐽1 𝑏1 𝑁3 Ɵ2 𝑇𝑒
Ɵ2
𝐽𝑒
𝐽2
𝑏2 𝑁 𝑏𝑒
2
𝑘1
𝐿𝑒𝑓𝑡 𝑆𝑖𝑑𝑒: 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚
𝐽3
𝑏3 𝑁4 𝝉𝑏𝑒 (Ɵ2)
𝑁2
𝑇𝑒 = 𝑇1
𝑁1 𝑅𝑖𝑔ℎ𝑡 𝑆𝑖𝑑𝑒: 𝐽𝑒 𝝉𝑘𝑒 (Ɵ2)
𝑁2
𝑏𝑒1 = 𝑏1 ( )2 𝑁
𝑏𝑒2 = 𝑏3 ( 3 )2
𝑁1 𝑁4 𝐽𝑒 Ɵሷ 2
𝑁2 𝑁3 𝑇𝑒 Ɵ2
𝐽𝑒1 = 𝐽1 ( )2 𝑘𝑒2 = 𝑘1 ( )2
𝑁1 𝑁4
𝑁3
𝐽𝑒2 = 𝐽3 ( )2
𝑁4
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑆𝑦𝑚𝑝𝑙𝑖𝑓𝑖𝑐𝑎𝑡𝑖𝑜𝑛 𝑖𝑓 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚: 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚

𝑘𝑒 𝝉𝑏𝑒 (Ɵ2)
Ɵ2 𝑇𝑒
𝐽𝑒 𝝉𝑘𝑒 (Ɵ2) 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝐽𝑒
𝐽𝑒 Ɵሷ 2 ෍ 𝝉 = 𝐽𝑒 Ɵሷ 2
𝑏𝑒 𝑇𝑒 Ɵ2
𝑇𝑒 − 𝝉𝑏𝑒 (Ɵ2 ) − 𝝉𝑘𝑒 (Ɵ2 ) = 𝐽𝑒 Ɵሷ 2
𝑁3 2
𝑘𝑒 = 𝑘1 ( )
𝑁4 𝑇𝑒 − 𝑏𝑒 Ɵሶ 2 − 𝑘𝑒 Ɵ2 = 𝐽𝑒 Ɵሷ 2
𝑁 𝑁
𝑏𝑒 = 𝑏𝑒1 + 𝑏𝑒2 = 𝑏1 ( 2 )2 +𝑏3 ( 3 )2 +𝑏2
𝑁1 𝑁4
2 2
𝑁2 𝑁2 𝑁3 𝑁3 2 𝑁2 𝑁3
𝑁2 𝑁3 𝑇1 − (𝑏1 + 𝑏3 + 𝑏2 )Ɵሶ 2 − (𝑘1 ( ) )Ɵ2 = (𝐽1 ( )2 +𝐽3 ( )2 + 𝐽2 ) Ɵሷ 2
𝐽𝑒 = 𝐽𝑒1 + 𝐽𝑒2 = 𝐽1 ( )2 +𝐽3 ( )2 + 𝐽2 𝑁1 𝑁1 𝑁4 𝑁4 𝑁1 𝑁4
𝑁1 𝑁4 1 𝑁2 𝑁2
2
𝑁3
2
𝑁3
2

𝑁2 Ɵሷ 2 = 𝑇1 − (𝑏1 + 𝑏3 + 𝑏2 )Ɵሶ 2 − (𝑘1 ) Ɵ2

𝑇𝑒 = 𝑇1 𝑁 𝑁 𝑁1 𝑁1 𝑁4 𝑁4
𝑁1 (𝐽1 ( 2 )2 +𝐽3 ( 3 )2 + 𝐽2 )
𝑁1 𝑁4
 Gear System 2
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems 2

𝑁2
𝑁1

2 2
𝑁2 𝑁3
1 (𝑏1 + 𝑏3 + 𝑏2 )
𝑁1 𝑁4
𝑁
𝑁1
𝑁
(𝐽1 ( 2 )2 +𝐽3 ( 3 )2 + 𝐽2 )
𝑁4
Ɵ2-Simulink Ɵ2-SimScape
𝑁3
(𝑘1 ( )2 )
𝑁4

𝑁3 2
(𝑘1 ( ) )
𝑁4

Ɵሶ 2-Simulink Ɵሶ 2-Simulink
2 2
𝑁2 𝑁3 𝑁2 2 𝑁3
(𝑏1 + 𝑏3 + 𝑏2 ) 𝐽𝑒1 + 𝐽𝑒2 = 𝐽1 ( ) +𝐽3 ( )2 + 𝐽2
𝑁1 𝑁4 𝑁1 𝑁4

𝐹𝑖𝑙𝑒:
1. 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝐺𝑒𝑎𝑟𝑆𝑦𝑠𝑡𝑒𝑚3. 𝑠𝑙𝑥
2. RotationalSpring.m
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑇1 Ɵ1 𝑁1 𝐽1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛: ?
𝑏1 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚: ?
𝑁2 𝑁3 𝐽3
𝐽2
𝑏2 𝑏3
Ɵ3
Ɵ2 𝑇2 𝑇3
𝐽5
𝑁4 𝑁5
𝐽4
𝑏4
 Gear System 4
MECHATRONICS STUDY PROGRAM

𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ1 Modeling of Rotational Gear Systems 4(1)

𝑇1 Ɵ1 𝑁1 𝐽1 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚 𝑜𝑓 𝑆𝑦𝑠𝑡𝑒𝑚 3 → Ɵ3 :
𝑇3 Ɵ3 𝐽5 𝝉𝑏𝑒 (Ɵ3)
𝑏1 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2

𝑁2 𝑁5 𝐽𝑒 𝝉𝑘𝑒 (Ɵ3) = 0
𝑁3 𝐽3
𝐽2 𝑏5
𝑏2 𝑏3 𝑆𝑦𝑠𝑡𝑒𝑚 3 → Ɵ3 𝑆𝑦𝑠𝑡𝑒𝑚 3 → Ɵ3 𝑇3 Ɵ3 𝐽𝑒 Ɵሷ 3
Ɵ3 𝑁 𝑁 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝑇3 𝐽𝑒 = (𝐽2 + 𝐽1 ( 2 )2 + 𝐽3 )( 4 )2 +𝐽4 + 𝐽5
𝑁1 𝑁3
Ɵ2 𝑇2 𝐽5 𝑁2 𝑁4
𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2 𝑏𝑒 = (𝑏2 + 𝑏1 ( )2 + 𝑏3 )( )2 +𝑏4 + 𝑏5 ෍ 𝝉 = 𝐽𝑒 Ɵሷ 3
𝑁5 𝑁1 𝑁3
𝑁3 𝐽3 𝑁4 𝑇3 − 𝝉𝑏𝑒 (Ɵ3 ) − 𝝉𝑘𝑒 (Ɵ3 ) = 𝐽𝑒 Ɵሷ 3
𝑏5
𝐽4
𝑏3 𝑏4 𝑇3 − 𝑏𝑒 Ɵሶ 3 − 0 = 𝐽𝑒 Ɵሷ 3
Ɵ2 𝑇2 𝑁2
𝑇2 = 𝑇1 𝑁2 𝑁3 𝑁2
2
𝑁4
2
𝑁2
2
𝑁4
2

𝑁2
𝑁1 𝑇1 − (𝑏2 + 𝑏1 + 𝑏3 ) + 𝑏4 + 𝑏5 )Ɵሶ 3 = (𝐽2 + 𝐽1 + 𝐽3 ) + 𝐽4 + 𝐽5 )Ɵሷ 3
𝑁3 𝑁1 𝑁4 𝑁1 𝑁3 𝑁1 𝑁3
𝐽2 + 𝐽1 ( )2 𝑇3 = 𝑇2 2 2
𝑁1 𝑁4 1 𝑁2 𝑁3 𝑁2 𝑁4
𝑁2 𝑁2 𝑁3 Ɵሷ 3 = 𝑇1 − (𝑏2 + 𝑏1 + 𝑏3 ) + 𝑏4 + 𝑏5 )Ɵሶ 3
𝑏2 + 𝑏1 ( )2 𝑇3 = 𝑇1
𝑁1 𝑁4 𝑁2 2
𝑁4 2 𝑁1 𝑁4 𝑁1 𝑁3
𝑁1 (𝐽2 + 𝐽1 + 𝐽3 ) + 𝐽4 + 𝐽5 )
𝑁1 𝑁3
 Gear System 4
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems 4

𝑁2
𝑁1

1
2 2 2 2
𝑁2 𝑁4 𝑁2 𝑁4
(𝐽2 + 𝐽1 + 𝐽3 ) + 𝐽4 ) + 𝐽5 )
𝑁1 𝑁3 (𝑏2 + 𝑏1
𝑁1
+ 𝑏3 )
𝑁3
+ 𝑏4 ) + 𝑏5 ) Ɵ3-Simulink Ɵ2-SimScape

2 2
𝑁2 𝑁4 𝑁2 2 𝑁4
(𝑏2 + 𝑏1 + 𝑏3 ) + 𝑏4 ) + 𝑏5 ) (𝐽2 + 𝐽1 ( ) + 𝐽3 )( )2 +𝐽4 ) + 𝐽5
𝑁1 𝑁3 𝑁1 𝑁3
Ɵሶ 3-Simulink Ɵሶ 2-Simulink

𝐹𝑖𝑙𝑒:
1. 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝐺𝑒𝑎𝑟𝑆𝑦𝑠𝑡𝑒𝑚4. 𝑠𝑙𝑥
2. RotationalSpring.m
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑇1 Ɵ1 𝑁1 𝐽1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛: ?
𝑏1 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚: ?
𝑁2 𝑁3 𝐽3
𝐽2
𝑏2 𝑏3
Ɵ3
Ɵ2 𝑇2 𝑇3
𝐽5

𝑁4
𝐽4
𝑏4
 Gear System 5
MECHATRONICS STUDY PROGRAM

𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ1 Modeling of Rotational Gear Systems 5

𝑇1 Ɵ1 𝑁1 𝐽1 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚 𝑜𝑓 𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ1 :

𝑏1 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2 𝝉𝑏𝑒 (Ɵ1)

𝑁2
𝑁2 𝐽2 𝐽𝑒2 𝝉𝑘𝑒 (Ɵ1) = 0
𝑁3 𝐽3
𝑇𝐴𝑅𝐺𝐸𝑇 𝐽2 𝑏2
𝑏2 𝑏3 𝑆𝑦𝑠𝑡𝑒𝑚 3 → Ɵ3 𝑇2 Ɵ2 𝑇1 Ɵ1 𝐽𝑒2 Ɵሷ 1
Ɵ3 𝑁3
𝐽𝑒1 = (𝐽5 + 𝐽4 )( )2
Ɵ2 𝑇2 𝑇3 𝑁4 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ1 𝐽5 𝑁3
𝑏𝑒1 = 𝑏3 + 𝑏4 ( )2 ෍ 𝝉 = 𝐽𝑒2 Ɵሷ 1
𝑇1 𝑁4
Ɵ1 𝑁3 𝐽3 𝑁4 𝑆𝑂𝑈𝑅𝐶𝐸 𝑇1 − 𝝉𝑏𝑒 (Ɵ1 ) − 𝝉𝑘𝑒 (Ɵ1 ) = 𝐽𝑒2 Ɵሷ 1
𝐽4
𝑏3
𝑏4 𝑇1 − 𝑏𝑒2 Ɵሶ 1 − 0 = 𝐽𝑒2 Ɵሷ 1
2 2
𝑁1 𝑁3 𝑁1
𝑇1 − (𝑏𝑒1 + 𝑏2 ) + 𝑏1 Ɵሶ 1 = ((((𝐽5 + 𝐽4 )( )2 + 𝐽2 + 𝐽3 ) + 𝐽1 ) Ɵሷ 1
𝑁1 𝑁2 𝑁4 𝑁2
𝐽𝑒2 = (𝐽e1 + 𝐽2 + 𝐽3 )( )2 +𝐽1
𝑁2 2 2
𝑁1 1 𝑁3 𝑁1
𝑏𝑒2 = (𝑏𝑒1 + 𝑏2 )( )2 + 𝑏1 Ɵሷ 1 = 2 𝑇1 − 𝑏3 + 𝑏4 + 𝑏2 + 𝑏1 Ɵሶ 1
𝑁2 𝑁3 𝑁1 𝑁4 𝑁2
((((𝐽 + 𝐽 )( )2 + 𝐽 + 𝐽 ) +𝐽 )
 Gear System 5
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems 5

𝑁2
𝑁1

1
2
𝑁 𝑁
((((𝐽5+ 𝐽4 )( 3 )2 + 𝐽2 + 𝐽3 ) 1 + 𝐽1 )
𝑁4 𝑁2
𝑏3 + 𝑏4
𝑁3
2
+ 𝑏2
𝑁1
2
+ 𝑏1
Ɵ1-Simulink Ɵ1-SimScape
𝑁4 𝑁2

2 2 2
𝑁3 𝑁1 𝑁3 2 𝑁1
𝑏3 + 𝑏4 + 𝑏2 + 𝑏1 ((((𝐽5 + 𝐽4 )( ) + 𝐽2 + 𝐽3 ) + 𝐽1 )
𝑁4 𝑁2 𝑁4 𝑁2

Ɵሶ 1-Simulink Ɵሶ 1-Simulink

𝐹𝑖𝑙𝑒:
1. 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝐺𝑒𝑎𝑟𝑆𝑦𝑠𝑡𝑒𝑚5. 𝑠𝑙𝑥
2. RotationalSpring.m
 Gear System
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems

𝑁3 𝑏1 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛: ?

𝐽3 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝑑𝑖𝑎𝑔𝑟𝑎𝑚 𝑠𝑦𝑠𝑡𝑒𝑚: ?
𝑇1

𝐽1
𝑁1
𝑏1 𝑁3
𝑘1
𝐽2
𝑏2 𝑁 𝑘2
2
Ɵ2
 Gear System 6
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems 6

𝑆𝑦𝑠𝑡𝑒𝑚 3 → Ɵ3 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2
𝑁2
𝑁3 𝑏1 𝑇2 = 𝑇1
𝑁1
𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ1
𝐽3 𝐽𝑒
𝑇1
𝑘𝑒
𝐽1
𝑁1 𝑏𝑒 𝑇2 Ɵ2
𝑁3
𝑘1 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚 𝑜𝑓 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2 :
𝝉𝑏𝑒 (Ɵ2) 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
𝐽2
𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ1 𝑏2 𝑁 𝐽𝑒 ෍ 𝝉 = 𝐽𝑒 Ɵሷ 2
𝑘2 𝝉𝑘𝑒(Ɵ2)
2
𝑇1 Ɵ2 ሷ 𝑇2 − 𝝉𝑏𝑒(Ɵ2 ) − 𝝉𝑘𝑒 (Ɵ2 ) = 𝐽𝑒 Ɵሷ 2
𝑇2 Ɵ2 𝐽𝑒 Ɵ2
𝐽𝑒1 𝑁1 𝑇2 − 𝑏𝑒 Ɵሶ 2 − 𝑘𝑒 Ɵ2 = 𝐽𝑒 Ɵሷ 2
𝐽𝑒1 = (𝐽3 ( )2 + 𝐽1 ) 𝑁2
𝑘𝑒1 𝑁3 𝐽𝑒 = (𝐽𝑒1 ( )2 + 𝐽2 )
𝑁1 𝑁1
𝑏𝑒1 𝑏𝑒1 = (𝑏1 ( )2 + 𝑏2 ) 𝑁2 𝑁
𝑁3 𝑏𝑒 = (𝑏𝑒1 ( )2 ) 𝑘𝑒 = (𝑘𝑒1 ( 2 )2 ) + 𝑘2
𝑁1
𝑘𝑒1 = 𝑘1 𝑁1
 Gear System 6
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems 6

𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2 𝐹𝑟𝑒𝑒 𝐵𝑜𝑑𝑦 𝐷𝑖𝑎𝑔𝑟𝑎𝑚 𝑜𝑓 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ2 : 𝑁1
𝐽𝑒1 = (𝐽3 ( )2 + 𝐽1 )
𝝉𝑏𝑒 (Ɵ2) 𝑁3
𝑁1
𝑏𝑒1 = (𝑏1 ( )2 + 𝑏2 )
𝐽𝑒 𝐽𝑒 𝝉𝑘𝑒(Ɵ2) 𝑁3
𝑘𝑒1 = 𝑘1
𝑘𝑒
𝑇2 Ɵ2 𝑇2 Ɵ2 𝐽𝑒 Ɵሷ 2 𝑁2
𝑏𝑒 𝐽𝑒 = (𝐽𝑒1 ( )2 + 𝐽2 ) 𝑘𝑒 = (𝑘𝑒1 (𝑁2 )2 ) + 𝑘2
𝑁1 𝑁1
𝑁2 𝑁2 2
𝑇2 = 𝑇1 𝑏𝑒 = (𝑏𝑒1 ( ) )
𝑁1 𝑁1
𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:
෍ 𝝉 = 𝐽𝑒 Ɵሷ 2 𝑇2 − 𝑏𝑒 Ɵሶ 2 − 𝑘𝑒 Ɵ2 = 𝐽𝑒 Ɵሷ 2
𝑁2 𝑁2 2 𝑁2 2 𝑁
𝑇2 − 𝝉𝑏𝑒 (Ɵ2 ) − 𝝉𝑘𝑒 (Ɵ2 ) = 𝐽𝑒 Ɵሷ 2 𝑇1 − (𝑏𝑒1 )Ɵሶ 2 − ((𝑘𝑒1 ) + 𝑘2 )Ɵ2 = (𝐽𝑒1 ( 2 )2 + 𝐽2 ) Ɵሷ 2
𝑁1 𝑁1 𝑁1 𝑁1
𝑁2 𝑁1 2 𝑁2 2 𝑁2 2 𝑁 𝑁
𝑇1 − 𝑏𝑒 Ɵሶ 2 − 𝑘𝑒 Ɵ2 = 𝐽𝑒 Ɵሷ 2 𝑇1 − ((𝑏1 ( ) +𝑏2 ) ሶ
)Ɵ2 − (𝑘1 ) + 𝑘2 )Ɵ2 = ((𝐽3 ( 1 )2 + 𝐽1 ) ( 2 )2 + 𝐽2 ) Ɵሷ 2
𝑁1 𝑁3 𝑁1 𝑁1 𝑁3 𝑁1
2 2
1 𝑁2 𝑁1 𝑁2 𝑁2
Ɵሷ 2 = 𝑇1 − ((𝑏1 ( )2 +𝑏2 ) )Ɵሶ 2 − (𝑘1 ) + 𝑘2 )Ɵ2
𝑁 𝑁 𝑁1 𝑁3 𝑁1 𝑁1
((𝐽3 (𝑁1 )2 + 𝐽1 ) (𝑁2 )2 + 𝐽2 )
3 1
 Gear System 6
MECHATRONICS STUDY PROGRAM

Modeling of Rotational Gear Systems 6

𝑁2
𝑁1

2
𝑁1 2 𝑁2
((𝑏3 ( ) ) )
𝑁3 𝑁1

1 2
𝑁2
𝑁1 2 𝑁 (𝑘1 ) + 𝑘2 )
((𝐽3 ( ) + 𝐽1 ) ( 2 )2 + 𝐽2 ) 𝑁1
𝑁3 𝑁1
Ɵ2-Simulink Ɵ2-SimScape
2
𝑁2
(𝑘1 ) + 𝑘2 )
𝑁1
𝑁1 2 𝑁2
((𝐽3 ( ) + 𝐽1 ) ( )2 + 𝐽2 )
𝑁3 𝑁1
2
𝑁1 2 𝑁2
((𝑏3 ( ) ) )
𝑁3 𝑁1

Ɵሶ 2-Simulink Ɵሶ 2-Simulink

𝐹𝑖𝑙𝑒:
1. 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙𝐺𝑒𝑎𝑟𝑆𝑦𝑠𝑡𝑒𝑚6. 𝑠𝑙𝑥
2. RotationalSpring.m
MECHATRONICS STUDY PROGRAM

QUESTIONS???

Dr. Ir. Hanny J. Berchmans, M.T.

+62811831965
hanny.berchmans@lecturer.sgu.ac.id