Mechanical

Translational System
Modeling
EE-371/EE-502 Control Systems
Milwaukee School of Engineering
Fall Term 2005
Dr. Glenn Wrate, P.E.
 Background
• As, hopefully, you learned in
Physics and your ME courses,
mechanical systems can be
modeled with differential equations
– The equations look very similar to
those in electrical systems
• We will look at movement in one
direction – translational systems

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 Mass Elements
• Newton’s Law
– Force = mass ×
acceleration
– For the cart z2
shown

d2 m
u
F m2 ⋅ z 2
2 2
dt
– z is displacement
– m is mass

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 Damping Elements
• Also known as
friction
• One example
would be a z1 z2
shock absorber b
• Force given by
⎛d d ⎞
F b ⎜ z2 − z1
⎝ dt dt ⎠

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 Spring Element
• Hooke’s Law
• Like the damping
element, the
z 1 z 2
spring force is
based on a
difference
k
F (
k z2 − z1 )

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 Example 1

z1 z2
b
u
m1 m2
k

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 Force Balance Equations
• At mass 1
⎛d ⎞ d2
b ⎜ z2 − z1 + k ( z2 − z1)
d
m1 ⋅ z1
⎝ dt dt ⎠ dt
2

• At mass 2

d2 ⎛d d ⎞
u m2 ⋅ z2 + b ⎜ z2 − z1 + k ( z2 − z1)
dt
2
⎝ dt dt ⎠

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 Convert to the S-Domain
• The equation at mass 1 becomes

( ) (
b ⋅ s ⋅ Z 2 ( s) − Z 1 ( s) + k ⋅ Z 2 ( s) − Z 1 ( s) ) 2
m 1 ⋅ s ⋅ Z 1 ( s)

• The equation at mass 2 becomes

U ( s)
2
( ) (
m 2 ⋅ s ⋅ Z 2 ( s) + b ⋅ s ⋅ Z 2 ( s) − Z 1 ( s) + k ⋅ Z 2 ( s) − Z 1 ( s) )
• Assume initial conditions are zero

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 Collect Terms
• Equation 1
2
( b ⋅ s + k) ⋅ Z2 ( s) − b ⋅ s ⋅ Z1 ( s) − k ⋅ Z1 ( s) m1 ⋅ s ⋅ Z1 ( s)

2
( b ⋅ s + k) ⋅ Z2 ( s) m1 ⋅ s ⋅ Z1 ( s) + b ⋅ s ⋅ Z1 ( s) + k ⋅ Z1 ( s)

( b ⋅ s + k) ⋅ Z2 ( s) ⎛ m ⋅ s 2 + b ⋅ s + k ⎞ ⋅ Z ( s)
⎝ 1 ⎠ 1

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 Collect Terms
• Equation 2
U ( s) ⎛ m ⋅ s 2 + b ⋅ s + k ⎞ ⋅ Z ( s) − b ⋅ s ⋅ Z ( s) − k ⋅ Z ( s)
⎝ 2 ⎠ 2 1 1

( −b ⋅ s − k) ⋅ Z1 ( s) + ⎛ m2 ⋅ s + b ⋅ s + k ⎞ ⋅ Z2 ( s)
2
U ( s)
⎝ ⎠

U ( s) + ( b ⋅ s + k) ⋅ Z1 ( s) ⎛ m ⋅ s 2 + b ⋅ s + k ⎞ ⋅ Z ( s)
⎝ 2 ⎠ 2

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 Transfer Function Form
• Equation 1
( b ⋅ s + k)
Z 1 ( s) ⋅ Z 2 ( s)
⎛ m ⋅ s2 + b⋅ s + k⎞
⎝ 1 ⎠

• Equation 2
1 b⋅ s + k
Z 2 ( s) ⋅ U ( s) + ⋅ Z 1 ( s)
⎛ m ⋅ s + b⋅ s + k⎞
2 2
m 2⋅ s + b⋅ s + k
⎝ 2 ⎠

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 Next Steps (Future)
• Write a signal flow graph based on
the two equations
• Use Mason’s Gain Formula to
reduce the graph to a single
transfer function
• Develop a block diagram
equivalent

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 Example 2

b1 k1
u
y
m

b2 k2

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 Homework
• Again, not graded
• But, basis for
exams
• Problems 23, 24,
26, 27, and 28
from Chapter 2 of
Nise
• Problems B-3-3, 7,
14, and 15 from
Ogata

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