Dynamic Systems Mechanical Systems

1
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
22.451 Dynamic Systems Chapter 4
Mechanical Systems
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
j
UNSTABLE STABLE
TIME
FRF
FRF
TIME
FRF
TIME
FRF
TIME
TIME
TIME
> 1.0
= 1.0
= 0.7
= 0.3
= 0.1 = 0
2
Dr. Peter Avitabile
Mechanical Systems-Translational Mass Element
Translation of a particle moving in space due to an
applied force is given by:
dt
dp
f =
Where:
mv momentum p
force f
= =
=
Considering the mass to be constant:
ma
dt
dv
m f mdv fdt
dt
) mv ( d
f = = = =
3
Dr. Peter Avitabile
Mechanical Systems Translational Mass Element
Displacement, velocity, and acceleration are all
related by time derivatives as:
2
2
dt
x d
dt
d
a =
=
x v a
& & &
= =
4
Dr. Peter Avitabile
Mechanical Systems Rotational Mass Element
=
=
&
dt
d
dt
d
dt
d
2
=
Centroidal mass moment of inertia I
c
(not to be
confused with I area moment of inertia used in
strength of materials)
Angular acceleration
where: = angular velocity
= angular displacement
Then:
5
Dr. Peter Avitabile
Mechanical Systems - Translational Spring Element
( )
2 1 rel k
x x k kx f = =
A linear spring is considered to have no mass
described by:
(Torsional spring follows the same relationship)
f
k
f
k
x
1
x
2
k
6
Dr. Peter Avitabile
Translational Spring Element
Hardening Spring
Bi-Linear
Linear
Softening Spring
Gap Cubic
f
f
f
x
x
x
k
k = lb/in
= N/m
7
Dr. Peter Avitabile
Damper Element
rel c
c f =
Viscous (fluid), Coulomb (dry friction), and structural
damping (hysteretic)
Viscous Dashpot
f
c
f
a
v
rel
m
Coulomb Damper
In order to have motion, the applied force must
overcome the static friction. As soon as sliding occurs,
the dynamic friction becomes appropriate.
f
c
c
x
&
Linear
( )
2 1 c
c f =
f
c
f
c
v
1
v
2
c
8
Dr. Peter Avitabile
Equivalence - Springs in Parallel
Both springs see the same displacement
k
2
x
f
k
1
f
x
k
eq
f
2
=k
2
x
f
f
2
f
1
=k
1
x
f
1
f=f
1
+ f
2
k
eq
x=k
1
x + k
2
x
=(k
1
+ k
2
)x
2 1 eq
k k k + =
9
Dr. Peter Avitabile
Equivalence - Springs in Series
Both springs see the same force but different displacements
But
k
2
x
1
f
k
1
x
2
f=k
eq
x
k
eq
f=k
1
(x
1
-x
2
)=k
1
k
1
k
2
f
2
=k
2
x
2
=k
2
1
f
2 1
+ =
2
2
1
1
eq
k
f
k
f
k
f
+ =
2 1 eq
k
1
k
1
k
1
+ =
2 1
2 1
eq
k k
k k
k
+
=
2 1
f f f = =
10
Dr. Peter Avitabile
Translational Systems
Newtons Second Law- THE RIGHT WAY
= ma F
OR

=
x x
ma F +
=
y y
ma F
+
Note that this applies to the center of mass which is not
necessarily the center of gravity.
Free-Body Diagram & Sign Convention
kx
x c
&
m
) t ( f
x x x
& & &

+
11
Dr. Peter Avitabile
Translational Systems Newtons 2
nd
Law
Assume spring and dashpot are stretched
=
x x
ma F
or in standard input-output differential form
x m F F ) t ( f
k c
& &
=
x m kx x c ) t ( f
& & &
=
OR
) t ( f kx x c x m = + +
& & &
m
) t ( f
x
m
k
x
m
c
x = + +
& & &
) t ( f x x 2 x
2
n n
= + +
& & &
m
k
m 2 c
c
c
2
n
n c
c
=
=
=
- damping ratio
critical damping
n
natural frequency
12
Dr. Peter Avitabile
DAlemberts Principle The Fictitious Force
The mass times acceleration is sometimes described
as a fictitious force, reverse effective force or
apparent force
( )
= + 0 ma F
Initially developed since it looks like a classical
force balance but often confuses many students.
DO NOT USE DALEMBERT!!!!!
USE NEWTONS SECOND LAW
13
Dr. Peter Avitabile
Example Pendulum Problem
Mass at end of massless string
l
mg
2
m J l =
+
x
cos mg
mg
sin mg
T
FBD
sin mg J l =
& &
0 sin mg m
2
= + l l
& &
OR
Then
0 sin
g
= +
l
& &
0
g
= +
l
& &
for small .
Natl freq.
l
g
n
=
14
Dr. Peter Avitabile
Example Differential Equation about Equilibrium
y
x
+
=
y y
ma F
y m mg ky
& &
= +
( ) x m mg x x k
st
& &
= + +
but
st
kx mg =
0 kx x m = +
& &
Therefore, the equations
can be written about the
equilibrium point and the
effect of gravity makes
no difference.
Source: Dynamic Systems Vu & Esfandiari
15
Dr. Peter Avitabile
Systems with Displacement Input
In terms of natural
frequency and damping
ratio
=
x x
ma F
+
m
c
k
x
y
m
x
) x y ( c
& &

) x y ( k
m
c k
x
y
FBD
( ) ( ) x m x y c x y k
& & & &
= + ky y c kx x c x m + = + +
& & & &
OR
The force exerted can
be found to be
y y 2 x x 2 x
2
n n
2
n n
+ = + +
& & & &
( ) ( ) x y c x y k ) t ( f
& &
+ =
16
Dr. Peter Avitabile
Transfer Function and State Space
m
c
k
x
f(t)
) t ( f kx x c x m = + +
& & &
0 0
2
X m msX mX(s) s ) x (m
&
& &
= L
0
) ( ) ( cX s scX x c =
&
L
) ( ) ( s kX kx = L
) ( )) ( ( s f t f = L
) s ( f ) s ( kX cX ) s ( scX X m msX ) s ( mX s
0 0 0
2
= + +
&
17
Dr. Peter Avitabile
Transfer Function and State Space
( ) ( )
0 0
2
X m X c ms ) s ( f ) s ( X k cs ms
&
+ + + = + +
Grouping and rearranging:
Assume initial conditions are zero and rearranging
terms to obtain OUT/IN form
Then:
k cs ms
1
) s ( F
) s ( X
) s ( H
2
+ +
= =
Sometimes written with
k cs ms ) s ( b
2
+ + =
18
Dr. Peter Avitabile
The frequency response function is the system
transfer function evaluated along
Frequency Response Function - SDOF
= j s
k cs ms
1
) s ( h
2
+ +
=
Source: Vibrant Technology
Recall:
The complex valued
function defines the
surface shown
19
Dr. Peter Avitabile
Polynomial Form
Pole-Zero Form
Partial Fraction Form
Exponential Form
k cs ms
1
) s ( h
2
+ +
=
) p s )( p s (
m / 1
) s ( h
*
1 1

=
) p s (
a
) p s (
a
) s ( h
*
1
*
1
1
1
=
t sin e
m
1
) t ( h
d
t
d

=

SDOF Transfer Function
20
Dr. Peter Avitabile
Polynomial Form
Pole-Zero Form
Partial Fraction Form
k cj m
1
) h(j
2
+ +
=
) p j )( p j (
m / 1
) j ( h
*
1 1

=
) p j (
a
) p j (
a
) j ( h
*
1
*
1
1
1

+

=
SDOF Frequency Response Function
21
Dr. Peter Avitabile
Transfer Function approach is used extensively in
design but is limited to linear, time-invariant systems.
SDOF Transfer Function
1. T.F. method to express output relative to input
2. T.F. system property independent of the nature
of excitation
3. T.F. contains necessary units but does not provide
physical structure of system
4. If T.F. is known, then response can be evaluated
due to various inputs
5. If T.F. is unknown, it can be established
experimentally by measuring output response due to
known measured inputs
22
Dr. Peter Avitabile
S-plane Plots
j
UNSTABLE STABLE
TIME
FRF
FRF
TIME
FRF
TIME
FRF
TIME
TIME
TIME
> 1.0
= 1.0
= 0.7
= 0.3
= 0.1 = 0
23
Dr. Peter Avitabile
Experimental Determination of Damping Ratio
Determine decay of amplitude
x
1
at t
1
and again at n cycles
later x
n
at t
1
+ (n-1)T
Then
x
1
x
2
x
n
t
1
t
2
t
n
T - period
( )
T
T T t
t
2
1
n
n n
n
e
e
1
e
e
x
x

+

= = =
OR
( )
( ) T 1 n
T 1 n
n
1
n
n
e
e
1
x
x

= =
24
Dr. Peter Avitabile
Log Decrement
T
x
x
ln
1 n
1
x
x
ln
n
n
1
2
1
=
|
|
.
|
\
|
=
|
|
.
|
\
|
For damping < 10%
2
d
n
1
2 2

=
2
n
1
1
2
x
x
ln
1 n
1

=
|
|
.
|
\
|
2
x
x
ln
2
1
Note: This damping
ratio formulation is
applicable to any 2
nd
order system of this
form
25
Dr. Peter Avitabile
Estimate of Response Time
whose time constant T of the exponential is
( )

=

t cos e
1
X
) t ( x
d
t
2
0
n
The response of a mechanical system due to an
initial displacement is given as:
The exponential response envelope is
t
2
0
n
e
1
X

1 1
n
26
Dr. Peter Avitabile
Estimate of Response Time
The response of the second-order system in terms
of the settling time is
= =
4 4
T 4 t
n
s
which will cause 2%
of the initial value
27
Dr. Peter Avitabile
State Space Representation
The state of the system can be described in
terms of the displacement and velocity as
)
`
=
)
`
x
x
x
x
2
1
&
)
`
=
)
`
=
) velocity ( x
) displ ( x
x
x
X
2
1
&
u = f (force) and y = x (measured by sensor)
Then ) t ( f
m
1
x
m
c
x
m
k
x + =
& & &
OR
u
m
1
x
m
c
x
m
k
x
2 1 2
+ =
&
28
Dr. Peter Avitabile
State Space Representation
So that the state space representation is
u
0
x
x
1 0
x
x
m
1
2
1
m
c
m
k
2
1
+
)
`

=
)
`
&
&
State
Equation
Output
Equation
| | u 0
x
x
0 1 y
2
1
+
)
`
=
29
Dr. Peter Avitabile
Lagranges Equations
nci
i i i
Q
q
V
q
T
q
T
dt
d
=
|
|
.
|
\
|
T Kinetic energy
V Potential energy
Q
nci
non-conservative generalized forces
q
i
independent generalized coordinates
n total # independent generalized coordinates
Kinetic Energy is a function of
Potential energy is the sum of elastic potential V
e
and gravitational potential V
g
Potential Energy is a function of
) , ( t q T
i
) , ( t q V
i
dt dq /
30
Dr. Peter Avitabile
Lagranges Equations
nci
i i
Q
q
L
q
L
dt
d
=
|
|
.
|
\
|
&
i
q
&
One standard form of Lagranges Equation
where L = T-V
We can then write
( ) ( )
nci
i i
Q
q
V T
q
V T
dt
d
=
|
|
.
|
\
|

&
(Note V is not a function of )
31
Dr. Peter Avitabile
Lagranges Equations
2
c
2
2
I
2
1
mv
2
1
T D 2
mv
2
1
T D 1
+ =
=
Kinetic energy for a particle
If the mass is not located at a
point (such as a particle), then
a more complicated form of
these equations is necessary
Potential Energy of an
elastic element is
Potential Energy of
a mass is
2
e
k
2
1
V =
mgh V
g
=
32
Dr. Peter Avitabile
Lagranges Equations
Non-conservative Forces are those that cannot be
derived from a potential function (i.e., external forces,
frictional forces)
Generalized Forces are given by Virtual Work.
To determine Q
j
, obtain , then let all except
L + + = =
2 2 1 1 i
i
q Q q Q q Q W
W
0 q
i
=
j
q
Thus
j
j
q
W
Q
=
0 q
j
=
i j
33
Dr. Peter Avitabile
Lagranges Equations
Non-conservative Forces are then:
L + + = =
2 2 nc 1 1 nc i
nci
nc
q Q q Q q Q W
Then
i
nc
nci
q
W
Q
=
0 q
i
=
i j
34
Dr. Peter Avitabile
Example using Lagrange Equation
Use Lagrange EQ to obtain
differential equation for
SDOF system
Only one independent generalized coordinate exists: q=x
2 2
c
x m
2
1
mv
2
1
T
&
= =
m
c
k
x
f(t)
Kinetic Energy
Potential Energy
Non-conservative
Forces
( ) 0 V kx
2
1
V V
g
2
e
= = =
applied ) t ( f
e dissipativ x c
&
35
Dr. Peter Avitabile
Non-Conservative Forces
| | x x c ) t ( f W
nc
=
&
x Q W
nc nc
=
x c ) t ( f
x
W
Q
nc
nc
&
=
=
Lagrange Equation
nc
Q
x
V
x
T
x
T
dt
d
=
|
.
|
\
|
&
36
Dr. Peter Avitabile
Lagrange Equation
nc
Q
x
V
x
T
x
T
dt
d
=
|
.
|
\
|
&
Where
Then substituting
x m
x
x m
x
T
&
&
&
&
=
)
2
1
(
2
x m
dt
)
x
T
( d
& &
&
=
0
x
) x m
2
1
(
x
T
2
=
&
kx
x
) kx
2
1
(
x
V
2
=
OR
x c ) t ( f kx x m
& & &
= +
) t ( f kx x c x m = + +
& & &
37
Dr. Peter Avitabile
Now lets repeat this with the Lagrange function
2 2
kx
2
1
x m
2
1
V T L = =
&
x m
t
)
x
L
(
& &
&
=
x m
x
) kx x m
2
1
(
x
L
2 2
&
&
&
&
=
) t ( f kx x c x m = + +
& & &
nc
Q
x
L
t
)
x
L
(
=
&
x m )
x
L
(
&
&
=
38
Dr. Peter Avitabile
Example Translational Mechanical System
m
k
x
st
x
y
g
Undeformed position
Dynamic position
Static equilibrium
Solution
39
Dr. Peter Avitabile
40
Dr. Peter Avitabile
41
Dr. Peter Avitabile
42
Dr. Peter Avitabile
Example - Two DOF Systems
Consider
m
1
f
1
(t)
x
2
x
1
f
2
(t)
m
2
c
k
FBD (assume x
1
> x
2
)
1 1 2 1 2 1 1
x m ) x x ( k ) x x ( c ) t ( f ) 1 ( ma F
& & & &
= =
2 2 2 1 2 1 2
x m ) x x ( k ) x x ( c ) t ( f ) 2 ( ma F
& & & &
= + + =
2
2 1
2 1
1
f
) x x ( c
) x x ( k
f

& &
m
2
m
1
STATE
ASSUMPTIONS!!!
43
Dr. Peter Avitabile
Rearranging Terms
) t ( f kx kx x c x c x m
1 2 1 2 1 1 1
= + +
& & & &
)
`
=
)
`

+
)
`

+
)
`
2
1
2
1
2
1
2
1
2
1
f
f
x
x
k k
k k
x
x
c c
c c
x
x
m 0
0 m
&
&
& &
& &
) t ( f kx kx x c x c x m
2 2 1 2 1 2 2
= + +
& & & &
44
Dr. Peter Avitabile
Consider
FBD (assume x
2
> x
1
)
1 1 1 2 2 1 2 1 1 1
x m ) x x ( k ) x x ( c x k ) t ( f ) 1 ( ma F
& & & &
= + + =
m
1
f
1
(t)
x
2
x
1
f
2
(t)
m
2
c
k
2
k
1
2 2 1 2 2 1 2 2
x m ) x x ( k ) x x ( c ) t ( f ) 2 ( ma F
& & & &
= =
) t ( f
) x x ( k
) x x ( c
x k
) t ( f
2
1 2 2
1 2
1 1
1
& &
m
2
m
1
45
Dr. Peter Avitabile
Rearranging terms
) t ( f x k x ) k k ( x c x c x m
1 2 2 1 2 1 2 1 1 1
= + + +
& & & &
)
`
=
)
`
+
+
)
`

+
)
`
2
1
2
1
2 2
2 2 1
2
1
2
1
2
1
f
f
x
x
k k
k ) k k (
x
x
c c
c c
x
x
m 0
0 m
&
&
& &
& &
) t ( f x k x k x c x c x m
2 2 2 1 2 2 1 2 2
= + +
& & & &
46
Dr. Peter Avitabile
Rotational Systems
A rotational system follows the same equations
developed for translation
=
0 0
I M
dm r I or J
2
0
=
Newtons Second Law
. accel angular w
int of moment mass I
applied moments M
0
0
&

Mass moment of inertia of rigid body about axis

47
Dr. Peter Avitabile
Rotational Systems
Torsion spring stiffness similar to translation
) ( K T
1 2 T k
=
Dashpot similar to translation
Right hand rule convention determines +/-
) ( K T
REL T k
=
) ( C T
1 2 D D
=
& &
) ( C T
REL D D
=
used often B or C
D
RAD LB FT /
48
Dr. Peter Avitabile
Rotational Systems
FBD
OUT
J
IN
J
D
T
S
T
49
Dr. Peter Avitabile
Rotational Systems - Equations
Most systems we will treat will be 2D or planar
systems. Modeling of general 3D bodies is more
complex and beyond the scope of this course.
=
= + = I
dt
d
J T T J M
2
0
2
D S
) ( K T
OUT IN T S
=
OUT D
B T =
&
OUT OUT OUT IN T
J B ) ( K =
& & &
IN T OUT T OUT OUT
K K B J = + +
& & &
50
Dr. Peter Avitabile
Example - SDOF Torsional System
A torsional system: (a) physical system, (b) FBD
&
B
K
) t ( T
J
K
B
) t ( T J
) a (
) b (
51
Dr. Peter Avitabile
Example - SDOF Torsional System
This sign convention is simpler and useful for the given angle .
Thus,
Consider a single-degree-of-freedom (SDOF) torsional
system. The system consists of a shaft of torsional
stiffness K, a disk of mass-moment of inertia J, and a
torsional damper B. Derive the differential equation.
Solution. Applying the moment equation about the mass center
along the longitudinal axis.
+ = +
c c
I M
=
& & &
J B K ) t ( T
) t ( T K B J = + +
& & &
The differential equation in the input-output form is
52
Dr. Peter Avitabile
Example - Two DOF Torsional System
53
Dr. Peter Avitabile
Example - Two DOF Torsional System
54
Dr. Peter Avitabile
Example - Rigid Body in Planar Motion
As before
=
0 0
I M
+ =
& &
) ml 0 ( mg sin L
2
Point mass on string Moment method
0 sin
2
= + mgL mL
& &
0 sin = +
L
g
& &
L
mg
0
sin L
55
Dr. Peter Avitabile
Thin uniform rod of mass m and length l is a pendulum
Then
=
0 0
I M

& &
0
sin
2
I mg
L
=
FBD
0 sin
2
l
mg I
0
= +
& &
0
mg
L
g
56
Dr. Peter Avitabile
Linearization: For small
where
2
c 0
md I I + =
or
sin
0
2
0
= +
mgL
I
& &
0
2
0
= +
I
mgL
& &
2
2
)
L
m( I
c
+ =
2
0
3
1
mL I =
2
12
1
mL I
c
=
57
Dr. Peter Avitabile
Mixed Translation and Rotation
Pulley system
Rotation of pulley
Newtons second law for mass m
and
T x m =
& &
I
c
of pulley, mass m of radius r,
Tension in string
m x
r

k
c
I
(everything measured from equilibrium so no mg term)
For small angle
or
The natural frequency is
kxr Tr J =
& &
= r x kxr r x m J =
& &
& &
then
0 kr ) mr J (
2 2
= + +
& &
0
mr J
kr
2
2
=
+
+
& &
2
2
n
mr J
kr
+
=
58
Dr. Peter Avitabile
Example Cart-Pendulum Problem
Consider the pendulum system
shown attached to a horizontal
cart
This is a mixed problem. First solve the pendulum and
then the cart translation.
Cart moves horizontally on
frictionless surface. Mass on
inextensible string
The general moment about point P (where the string is
attached to the cart mass) is needed to sum the forces
for Newtons Second Law.
M
c
L
k
m
59
Dr. Peter Avitabile
p p / c p
a x mr I Mp + =
y
P
x
P
P
L
mg
sin L
x a
p
& &
=
L r
p / c
1
=
1
C

60
Dr. Peter Avitabile
The cross product term is
Using the parallel axis theorem, the mass of the
pendulum at a distance L gives
The moment about P due to the mass on the pendulum is
= =
& &
2
p
2
p
mL I mL I
= sin L mg M
sin a r a r
p c/p p c/p
=
= = cos x L ) 90 sin( x L
& & & &
The general moment equation becomes
+ = cos x L m L m sin L mg
2
& &
& &
61
Dr. Peter Avitabile
Now the translational equation is evaluated. Only horizontal
is considered.
M ) t ( f
kx
L
m
sin L
x c
&
x a
px
& &
=
2
L
&

& &
L
sin L
2
&
cos L
& &
centripetal
tangential
62
Dr. Peter Avitabile
For the cart, Newtons Second Law
x c kx ) t ( f ma F
&
=
The acceleration of the pendulum mass
sin L cos L x
2
& & &
& &
+
(cart) (tangential) (centripetal)
x M ) sin L cos L x ( m
2
& &
& & &
& &
+ + =
0 sin mgL cos x mL mL
2
= + +
& &
& &
( ) ( ) ) t ( f kx x c sin L cos L m x m M x
2
= + + + +
&
& & &
& &
63
Dr. Peter Avitabile
For small motion, the
equations can be linearized
0 mgL x mL mL
2
= + +
& &
& &
or in matrix forms as
( ) 0 ; sin ; 1 cos
2

&
( ) ) t ( f kx x c mL x m M = + + + +
&
& &
& &
)
`
=
)
`
+
)
`
+
)
`
(
(
+
) t ( f
0
x k 0
0 mgL
x
c 0
0 0
x
) m M ( mL
mL mL
2
&
&
& &
& &
64
Dr. Peter Avitabile
Chapter 4 - Review Slide
k
2
x
f
k
1
2 1 eq
k k k + =
k
2
x
1
f
k
1
x
2
2 1
2 1
eq
k k
k k
k
+
=
2
x
x
ln
2
1
x
1
x
2
x
n
t
1
t
2
t
n
T

Dynamic Systems Mechanical Systems

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Dynamic Systems Mechanical Systems

Uploaded by

Copyright:

Available Formats

1

Dr. Peter Avitabile

Mass moment of inertia of rigid body about axis

You might also like