D(s)

U(s)

+
-

Controller

+
+

Plant

Y(s)

MA3005: Control Theory

Topic 3: Mathematical Modeling
of Mechanical Systems
Tegoeh Tjahjowidodo
1

Constituents of Mechanical Systems

Inertia elements
Mass (kg) or Moment of Inertia (kg-m2)
Spring elements
Deformed by an external force (torque) where the
deformation (angular disp.) is directly proportional to
the force (torque) applied to it
Damper elements
Force (torque) acting on the damper is proportional to
the velocity (angular velocity) difference of both ends
2

Translational Spring
F = kx = k(x1 x2)

where k is called spring constant

Translational Spring
F = kx = k(x1 x2)

where k is called spring constant

Rotational Spring
T = kq = k(q1 q2)

where k is called torsional spring constant

Translational Damper
F bx b( x1 x 2 )

where b is the viscous friction coefficient

Rotational Damper
T b b(1 2 )

b
b is the torsional viscous friction coefficient

Modeling of Mechanical Systems

Obtain Equation of Motion using Newtons
second law
For translational motion

F = ma

where, F is sum of all external forces acting in a

given direction on mass, m and a is absolute
acceleration in that direction

For rotational motion

T = J

where, T is sum of all torques acting about a

given axis, J is moment of inertia about that axis,
is absolute acceleration in that direction
8

Spring-mass-damper system
Used to model flexible
structures, suspension
systems
For input force (f), the output is
the response (displacement, x)
of the mass
How does the output change
for different force inputs?

f(t)

Assumptions for this model

Mass, spring, and damper constants are fixed
and known
Springs satisfy Hookes law
Damper is (linear) viscous force, proportional to
velocity

10

Free Body Diagram

Applying Newtons 2nd law, the eqn. of motion is

F f (t ) kx bx mx

mx bx kx f t

Free Vibration Response:

If f(t) = 0 and response of
spring-mass-damper system is
only due to initial conditions

kx

bx
x

f(t)

Note: x is
measured from
the equilibrium
location
11

TF of Mass-Spring-Damper System
mx bx kx f t
Taking Laplace Transform of both sides and assuming zero
initial conditions

F ( s ) kX ( s ) b[ sX ( s ) x(0)]
m[ s 2 X ( s ) sx(0) x (0)]
or,

[m s2 + b s + k] X(s) = F(s)
12

The transfer function is

X ( s)
1
2
F ( s ) ms bs k
where X(s) is the displacement (output) and F(s)
the external force (input)

13

TF for Rotational System

Eqn. of Motion
J B K a

Taking LT and zero i.c.

( s )
1
2
a ( s ) Js Bs K
Note:
Torque a is the input
Angular displacement is the output
14

Example 1: B-3-14 (pp. 148)

Determine the eqns. of motion and TF for the system

15

Define the displacement of a point of spring k1

Assuming y is moving to the right side (assumption#1):
y
k1y
k1
The spring is stretched and essentially it pull all parts in
its right to the left side.

16

Define the displacement of x and y:

Assuming x moves to right and x > y (assumption#2):
y
x
k2(x-y)
k1y
k2 ( x y) k1 y
k2
Consider the mass m:
k2(x-y)

u(t)

mx u (t ) k 2 ( x y )

17

from the 1st equation: k1 y k 2 y k 2 x

y

The equation of motion:

k2
x
k1 k 2

mx

k1k 2
xu
k1 k 2

18

How if we take different assumption?

Assuming x moves to right and x > y (assumption#2):
y
x
k2(x-y)
k1y
k2 ( x y) k1 y
k2
For assumption#2, lets now take and x < y
y
x
k2(y-x)
k1y

k 2 ( y x) k1 x
k 2 ( x y ) k1 x

k2

resulting in the same equation

19

System Transfer Function

The equation of motion is mx

k1k 2
xu
k1 k 2

Taking Laplace transform of the equation:

kk
mL x 1 2 L x L u
k1 k 2
kk
ms 2 X ( s ) sx (0) x(0) 1 2 X ( s ) U ( s )
k1 k 2
For given initial conditions x (0) x(0) 0
ms 2 X ( s )

k1k 2
X (s) U (s)
k1 k 2
20

System Transfer Function

The transfer function is
X ( s)
1

U ( s ) ms 2 k1k 2
k1 k 2

What is equivalent spring constant for two springs

attached in series?
What is equivalent spring constant for two springs
attached in parallel?
21

Example 2:
Derive equations of motion for two degrees of freedom
(2-DOF) system

22

Free body diagram (FBD)

Consider for the spring k0, k1, and k2; inertia J1 and J2

T1

T1
k1

T0

T0

T0
k0

T0

T2

T2

k2

23

Define the displacement of a point of spring k1

Assuming 1 is moving clockwise:

T1
k1

The spring is stretched in clockwise direction T1 = k11

24

Define the displacement of a point of spring k0

Assuming 2 is moving clockwise and 2 > 1 :
T0

T0

k0

The spring is also stretched in clockwise direction

T0 = k0(2 )
25

Define the displacement of a point of spring k2

1 has been assumed moving clockwise:

T2

k2

The spring is stretched in clockwise direction T2 = k22

26

Define the equation of motion on J1

Applying Newtons 2nd law:
T1

T0

1
cw = positive

The total torque is equivalent to the inertial torque J11

T1 T0 J11
J11 k11 k0 (1 2 ) 0
27

Define the equation of motion on J1

Applying Newtons 2nd law:
T0

T2

The total torque is equivalent to the inertial torque J 22

T0 T2 J 22
J 22 k 2 2 k0 ( 2 1 ) 0
28

Eqns. of motion (2 D.O.F. system)

Hence, the Equations of Motion are
J11 k11 k0 (1 2 ) 0
J 22 k 2 2 k0 ( 2 1 ) 0

What is the input to this system?

Is it possible to find transfer function for this system?

29

Initial Condition Response

Taking Laplace transform of Eqn. (1) and (2)

0 k s k s s 0

J1 s 2 1 s s1 0 1 0 k11 s k0 1 s 2 s 0

J 2 s 2 s 2 2 s s2 0 2

(3)
(4)

For given initial conditions 1 (0) = 10; 2 (0) = 20 ;

0 ; 0
1

10

20

Eqn 3 and 4 can be solved to get initial condition response

1(s) and 2(s)

30

General Guidelines to Model MassSpring-Damper Systems

1)
2)

3)

4)

5)

6)

Define a (+)ve direction

Define displacements from rest or equilibrium position for
each inertia element in the (+)ve direction
Assume relative displacement across every spring and
damper elements to visualise if they are in compression/
elongation
Determine all the forces in the spring and damper elements
according to step 3. Forces on inertial element will have
opposite directions
For each inertia element, use Newtons 2nd Law to
determine resultant force producing accel. in (+)ve direction
Laplace transform makes the ODE into algebraic equation
31
for ease of manipulation of the position variable

Reading Assignment
Modern Control
Engineering, 5th Ed.
Ch. 3: Sec. 3.2

32

Other Mechanical systems

Many systems have multiple components
Power can be transmitted through pulleys, gears, levers,
etc
Can be interconnected with electrical systems such as in
motors.

Now, we explore few examples of such multi-body systems or

and later understand systems that involve modeling of both
mechanical as well as electrical systems
33

Gear Trains

If radii of gear 1 and gear 2 are r1 and r2

Numbers of teeth on gear 1 and gear 2 are n1 and n2
Then,

r1 n1

r2 n2

34

The surface speeds at the point of contact of the

two gears must be identical
r1 1 = r2 2
Therefore,

2 r1 n1

1 r2 n2

35

If frictional losses are neglected,

No power loss, the torque applied to the input
shaft (T1) is related to the torque transmitted to
the output shaft (T2) by
T1 1 = T2 2

36

Example 1. Gear Trains

Viscous rotational
damping coeff., b1

Viscous rotational
damping coeff., b2

37

Load is driven by motor through gear train

Shafts of the gear train are stiff
No backlash or elastic deformation
Number of teeth on each gear to radius of the
gear
Subscript 1 refers to motor shaft, gear 1 etc.
Subscript 2 refers to load shaft, gear 2

38

Eqn. of Motion for Motor Shaft

Newtons 2nd law:

J11 b11 T1 Tm

(1)

where,
Tm is the torque developed by
b1

T
the motor

T1 is the load torque on gear 1

m
due to the rest of the gear
train
J1 is the moment of inertia for the gear 1 along with its shaft

T
1

39

Eqn. of Motion of Load Shaft

J 2 2 b2 2 TL T2

(2)

where,
T2 is the torque transmitted to gear 2
TL is the load torque
J1 is the moment of inertia for the
gear 1 along with its shaft

b 2 TL

T2

Since the transmitted power remains unchanged

T1 T2

n
2
T2 1
1
n2

3
Note: If n1/n2 < 1,
then, 2/1 < 1

40

The gear ratio reduces the speed, and increases the torque
T2, elimination of T1 and T2 yields

J11 b11

n1
( J 2 2 b2 2 TL ) Tm
n2

This equation can be written in terms of 1 or 2

41

Eqn. of motion in terms of 1

Since 2 = (n1/n2)1
2
2

n1
n1
n
J1 J 2 1 b1 b2 1 1 TL Tm

n2
n2
n2

Defining equivalent inertia and viscous damping

coefficient (for shaft 1) for the gear train as
2

J1eq

n
J1 1 J 2 ,
n2

B1eq

n
b1 1 b2
n2
42

Eqn. of Motion in terms of 1

(Simplified)

Equation of Motion can be simplified as

J1eq1 B1eq1 NTL Tm

where N = n1/n2

NTL

(4)

Tm
b1eq

J1eq

Equivalent system for the gear train

Note: If n1/n2 << 1, the effect of J2 (b2) on the equivalent

inertia J1eq (friction B1eq) is negligible
43

TF of the gear coupling

In (4)
Assuming that the load torque TL is zero
Taking the Laplace transform
Dropping all subscripts all quantities referred to
input

Js1 B1 Tm s
1 s
1

Tm s Js B

Tm

1
Js B

Motor
Speed

n1/n2

2
Load Speed

44

Eqn. of motion in terms of 2

J11 b11

n1
J 2 2 b22 TL Tm
n2

Since 1 = (n2/n1)2
n 2

n 2

n
2
2
J1 J 2 2 b1 b2 2 TL 2 Tm
n1

n1

n1

45

Equivalent inertia and viscous friction coeff. with

reference to shaft 2 are
2

J 2eq

n
J 2 2 J1 ,
n1

B2eq

n
b2 2 b1
n1

Equation of Motion can be simplified as

1
J 2eq 2 B2eq 2 TL Tm
n
where n = n1/n2
46

Example 2. Rack and pinion gear

Output

Input
Torsional
spring
constant

Used to convert rotational

motion to translational motion
47

Governing Equations
a

J B1 K ( A ) a

(1)

K(-A)
J

K(-A)

B1

fc
M

Rf c K ( A ) (2)

fc

B2 x

Mx B2 x f c

(3)

To develop an input-output transfer function

the redundant variable fc,, A must be
eliminated
48

 In addition, the geometric relationship

R A x
4
must hold because of the contact between the rack and
the pinion gear
Taking LT of (1) with zero ICs and substituting for A
from (4)
K
X s Ta s
R
s
5
Js 2 B1s K

49

Taking LT of (2) and substituting for fc from (3)

Ms 2 X s B2 sX s

K
s A s

Eliminating A using (4) and using (5)

KR
X (s)

a ( s ) MR 2 Js 4 B2 J B1M R 2 s 3

2 2
JK B1B2 MK R s

2
B
B
R
Ks

1
2

50

 If shaft is assumed to be stiff, governing eqns are

J B1 Rf c a

R x
Mx B2 x f c
Resulting transfer function from input torque to output
linear displacement x becomes

X (s)
R

a ( s ) J MR 2 s 2 B1 B2 R 2 s

51

Modeling of an automobile

Half-Car
Model

52

A simplified model

Quarter Car
Model

53