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Dynamics and control of mechanical systems

Date Content
Day 1 Review of the basics of mechanics.
(01/08) Kinematics of rigid bodies - coordinate transformation, angular velocity
vector, description of velocity and acceleration in relatively moving frames.
Day 2 Euler angles, Review of methods of momentum and angular momentum of
system of particles, inertia tensor of rigid body.
(03/08)
Dynamics of rigid bodies - Euler equations, application to motion of
symmetric tops and gyroscopes and problems of system of bodies.
Day 3 Kinetic energy of a rigid body, virtual displacement and classification of
constraints.
(05/08)
D Alemberts principle.
Day 4 Introduction to generalized coordinates, derivation of Lagrange's equation
from D Alemberts principle.
(07/08)
Small oscillations, matrix formulation, Eigen value problem and numerical
solutions.
Day 5 Modelling mechanical systems, Introduction to MATLAB, computer
generation and solution of equations of motion.
(09/08)
Introduction to complex analytic functions, Laplace and Fourier transform.
JU 2017/HL

Day 6 PID controllers, Phase lag and Phase lead compensation.


(11/08) Analysis of Control systems in state space, pole placement, computer
simulation through MATLAB.
DMS6021 - Dynamics and Control of Mechanical Systems 1

Content
Purpose:

Focus on
4 Preview of dynamics of rigid bodies
4 Euler equations,
4 Application to motion of symmetric tops and
gyroscopes and problems of system of bodies.
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DMS6021 - Dynamics and Control of Mechanical Systems 2


Introduction
The dynamics of rigid bodies can be analyzed as
4 Rotation about a fixed point*
dH O
M O =
dt
dH O
= + W x H O If rotating about a secondary
dt
coordinate (not body fixed)
where H = r x m (w x r ) O i i i
OR
4 General 3D motion (about center of mass of the body)
dH
M = dt
dH
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= + WxH
dt
where H = Ri x mi (w x Ri )

DMS6021 - Dynamics and Control of Mechanical Systems 3

Dynamics of rigid body


4 For a moving coordinate system x-y-z with angular
velocity , the moment relation becomes:
M = (H% ) xyz + WxH
= (H
% i+H % k) + W xH
% j +H
#$ x
$$"y
$$$ z
! #"!
Change in Change in
magnitude of H direction of H

Show that this is correct!

where
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DMS6021 - Dynamics and Control of Mechanical Systems 4


Dynamics of rigid body
4 For reference axes attached to the body, moments and
products of inertia will become invariant with time,
4 And =

4 In general (rotation about a fixed axis)


Ang. velocity of rotating frame attached to body

M C
= (H
! ) fixed = (H
C
! )body + w x H ;
C C M C
= external applied torque
axis axis

w x H = - (w2w3 (I 2 - I 3 ))i
d ( Iw ) - (w3w1 (I 3 - I1 ))j
(H! )body
C axis = - (w1w2 (I1 - I 2 ))k
dt
= Iw! = (I1w!1 )i I1w!1 - w2w3 (I 2 - I 3 ) = M x
JU 2017/HL

+ (I 2w! 2 )j
I 2w! 2 - w3w1 (I 3 - I1 ) = M y Euler ' s Equations
+ (I 3w! 3 )k
I 3w! 3 - w1w2 (I1 - I 2 ) = M z
DMS6021 - Dynamics and Control of Mechanical Systems 5

Eulers Equations
4 For a reference axes coinciding with the principal axes
of inertia
The origin can be either at the mass center (C) or at a point O
fixed to the body and fixed in space
The products of inertia: Ixy = Iyz = Ixz = 0
Thus, the moment equation becomes
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DMS6021 - Dynamics and Control of Mechanical Systems 6


Dynamics of rigid body
4 When no external torque is applied on a rigid body,
angular momentum is conserved
dH
= 0 where H = Iw [H1 H 2 H 3 ] = [I1w1 I 2w2 I 3w3 ]
T T

dt
Where the subscripts are simplified as follows: xx = 1, yy = 2 and zz = 3

The Euler equations for this case (principal axis, no


external torque)*

I1w!1 = w2w3 (I 2 - I 3 ) Show that these are correct!

I 2w! 2 = w3w1 (I 3 - I1 )
JU 2017/HL

I 3w! 3 = w1w2 (I1 - I 2 )


DMS6021 - Dynamics and Control of Mechanical Systems 7

Dynamics of rigid body Euler Equations


4 Eulers equations are the 3D equations of motion for a rigid
body - used to analyze the motion of a rigid body
4 Using the three components of Newtons 2nd law and Euler
equations, motion of a rigid body in 3D is completely defined

4 Three steps of rigid body analysis using Euler equations:


1. Choose a coordinate system (that rotates about a fixed point O or
that has its origin at the center of mass)
2. Draw the free body diagram
3. Apply the equations of motion (Newtons second law and equations
of angular motion)
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DMS6021 - Dynamics and Control of Mechanical Systems 8


Dynamics of rigid body Euler Equations
4 Please read and try to understand about (Not pensum)
Application of the relations of rigid body motion to
motion of symmetric tops and
gyroscopes
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DMS6021 - Dynamics and Control of Mechanical Systems 9

Summary and Questions


4 Considered dynamics of rigid body
Rotation about a fixed axis
Rotation about the center of mass
Moment equation for a moving coordinate system
4 Derived Eulers Equations for
motion with moving coordinate system
a coordinate system attached to the rotating body
cases when no external torque is applied and
cases when the axis of rotation coincides with axis principal axes of
inertia

?
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Next: Kinetic energy of a rigid body, virtual displacement and


classification of constraints
DMS6021 - Dynamics and Control of Mechanical Systems 10
Exercise 1
4 A small particle of mass m and its restraining cord are spinning with an
angular velocity on the horizontal surface of a smooth disk, shown in
section view below. As the force Fs is slowly increased, r decreases
and changes. Initially, the mass is spinning with 0 and r0.
Determine:
i) an expression for as a function of r, and
ii) the work done on the particle by Fs between r0 and an arbitrary r.
Verify the principle of work and energy.

Solution
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DMS6021 - Dynamics and Control of Mechanical Systems 11

Exercise 2
4 A pendulum consisting of a mass, M, is suspended by a rigid rod of
length L. The pendulum is initially at rest and the mass of the rod can
be neglected. A bullet of mass m and velocity v0 impacts M and stays
embedded in it. The angle that the velocity vector v0 forms with the
horizontal is .
Find out the angle max reached by the pendulum.

Solution
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DMS6021 - Dynamics and Control of Mechanical Systems 12

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