06 - Mechanical

Systems Modelling
Osberth De Castro
Facultad de Ingeniería. Programa de Ingeniería Electrónica.
Sistemas Dinámicos
Based on:
System Dynamics, by K. Ogata
Modern Control Engineering, by K. Ogata
Joel Dawson, course materials for 6.302 Feedback Systems, MIT, 2007
http://lpsa.swarthmore.edu/TM/tmExplore/index.html?LPSA#tt_PhysSys
 Mechanical Systems
• Type of Movement:
– Translational Systems
– Rotational Systems

• Types of Elemets:
– Inertia Elements (Mass)
– Spring Elements (Elasticity)
– Damper Elements (Friction)

Examples and web notes:

https://lpsa.swarthmore.edu/Systems/MechTranslating/TransMechSysModel.html
https://www.sccs.swarthmore.edu/users/12/abiele1/Linear/

Prof. Osberth De Castro

 Translational – Inertia Elements (Mass)

Force proportional to
Acceleration.

2
 
𝑑 𝑥
∑ 𝐹=𝑚∗ 𝑎=𝑚∗ 𝑑 𝑡2

Inertia Elements store kinetic

Energy.
Prof. Osberth De Castro
 Translational – Linear Springs
(elasticity)
Force is proportional to
deformation.
Example for K = 40 N/m

k : Spring
Constant
(Newton/Meter)
We consider an
ideal spring with
  𝐹 =𝑘 ∗𝑥
no mass

Prof. Osberth De Castro

 Translational – Linear Springs
(elasticity)
Spring with origin
fixed
 
𝐹 =𝑘 ∗ 𝑥

Spring with origin

not fixed
 

¡Arbitrary positive direction!

Spring Elements store Potential
Energy.
Prof. Osberth De Castro
 Translational – Linear Damper/Dashpot
(Friction)

Force is proportional to
Velocity. b =3 (N*s)/m
b : Friction Coefficient
((Newton*Sec)/Meter)
We consider an ideal
dashpot with no mass
  𝑑𝑥
𝐹 =𝑏 ∗
𝑑𝑡
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 Translational – Linear Damper/Dashpot
(Friction)

Kinetic Friction Viscous Friction Drag Friction

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 Translational – Linear Damper/Dashpot
(Friction)

  𝑑𝑥
𝐹 =𝑏 ∗
𝑑𝑡

Prof. Osberth De Castro

 Translational Systems - Summary

   k = spring     x =
Spring: F = k·x constant displacement
(m)
Energy is stored
(N/m)
   b = friction     v = velocity
Energy is
Friction derivative of
: F = b·v coefficient displacement
dissipated (lost
as heat)
(N-s/m) (m/s)
    a =
acceleration
   m = mass second
Mass: F = m·a (kg) derivative of
Energy is stored
displacement
(m/s²)

Prof. Osberth De Castro

 Modelling with Springs

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 Modelling with Dampers

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 Modelling Systems
1. Choose Coordinate System and Orientation

2. Draw Free Body Diagram

3. Generate motion equations (Time-Laplace),

using Newton’s 2nd Law.

2
 
𝑑 𝑥 (𝑡)
∑ 𝐹=𝑚∗ 𝑎=𝑚∗ 𝑑𝑡 2

Prof. Osberth De Castro

 Ejemplo 1: Función de transferencia X(S)/Fe(S)

System

Free Body
Diagram

 𝑚 ∗ 𝑎 ( 𝑡 )= 𝐹 𝑒 ( 𝑡 ) − 𝑏 ∗ 𝑣 ( 𝑡 ) −𝑘 ∗ 𝑥 (𝑡 )
  𝑑 2 𝑥(𝑡 ) 𝑑 𝑥 (𝑡 )
𝑚 2
= 𝐹𝑒 ( 𝑡 ) − 𝑏 −𝑘𝑥 ( 𝑡 )
𝑑𝑡 𝑑𝑡

Prof. Osberth De Castro

 Ejemplo 2: Función de transferencia Y(S)/U(S)

If we measure displacement from the equilibrium point we can

eliminate the effect of the gravity force fG
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 Ejemplo 3: Función de transferencia Y(S)/U(S)

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 Ejemplo 4: Función de transferencia Y(S)/U(S)

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 Ejemplo 5: Función de transferencia Y(S)/U(S)

Hint:
Two Free Body Diagrams. Floor friction is
viscuos.

Prof. Osberth De Castro

 Ejemplo 5: Función de transferencia Y(S)/U(S)

Prof. Osberth De Castro

 Rotational vs Translational Systems
Fundamental Fundamental
SI unit SI unit
Quantities   Quantities  

Time - t second (s) Time - t second (s)

Mass - m kilogram (kg) Moment of Inertia - J kilogram (kg-m²)

Length - l meter (m) Angle - θ radians (rad)

Force - f Newton (N) Torque - τ Newton (N-m)

Energy - w Joule (J) [W-s, N-m] Energy - w Joule (J) [W-s, N-m]

Power - p Watt (W) [J/s] Power - p Watt (W) [J/s]

       
Spring Constant - k (N/m) Spring Constant - Kr (N-m/rad)
Friction Coefficient Friction Coefficient -
 (N-s/m)  (N-m-s/rad)
-b Br

Prof. Osberth De Castro

 Rotational Systems Elements
Same as in Translational Systems, with
other physical measures, and angle
related.

• Mass – Moment of Inertia “J”.

• Springs – Spring Constant “k”

• Dampers - Friction Coefficient “b”

(Viscous)
Prof. Osberth De Castro
 Rotational Inertia Elements
Shape Image Moment of Inertia, J

Cylinder, 
radius=r, mass=m
Rotating about center axis

Solid Sphere, 
radius=r, mass=m
Rotating about center

Uniform Rod,
length=ℓ, mass=m
Rotating about end

Uniform Rod,
length=ℓ, mass=m
Rotating about center
Mass at end of massless
rod,
length=ℓ, mass=m
Rotating about end

Prof. Osberth De Castro

  
Rotational Inertia Elements – Torque ()

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Rotational Spring Elements – Torque ()

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Rotational Dashpot Damper– Torque ()

(rad/sec)

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Ejemplo: Obtener función de transferencia

Prof. Osberth De Castro