NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Dynamic Modelling of Mechanical Systems

Dr. Bishakh Bhattacharya

Professor, Department of Mechanical Engineering
g
g
IIT Kanpur

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Module 1- Lecture 5

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Hints of the Last Assignment

g
TheGoverningEOMmaybewrittenas:
..

M 1 x1 K1 ( x1 x2 ) B1 x1 f a (t )
..

M 2 x2 K1 ( x2 x1 ) K 2 x2 B2 x2 0
Now,youmayconsiderthefollowingstatesforthesystem:

x1
.
x1
X
x.2
x
2
CovertthetwosecondorderODEsintofourfirstorderODEsandobtainthestatespace
C
h
d d O
i
f
fi
d O
d b i h
representation.
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

ThisLectureContains

Modelling of a Mechanical System

ModellingofaMechanicalSystem
BasicElementsofaMechanicalSystem
y
ExamplestoSolve

Joint Initiative of IITs and IISc - Funded by MHRD

Module 1- Lecture 5

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

MechanicalSystems
Mechanicalsystemsaregenerallymodeledasalumped
parameter system such that a distributed system like a beam
parametersystem,suchthatadistributedsystemlikeabeam
couldbeconsideredtobeasystemconsistingofanarrayof
rigidinertia elementslinkedbyacombinationofmassless
spring anddashpotelements.
Theinertiaelementsrepresentthekineticenergystoredin
p
gy
thesystem;springsthepotentialenergyanddashpotsthe
energythatgetsdissipatedfromamechanicalsysteminthe
form of heat/sound etc
formofheat/soundetc.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Fortranslatorymechanicalsystems,inertiaisrepresentedby
massm,whileforrotationalsystemsthisisrepresentedby
momentofinertiaJ.
Considerarotorofmassm,rotatingaboutitscentroidal
axis.Themomentofinertiawillbedefinedas:

J r 2 dm
m

Whererdenotesthedistanceofanelementalmassdm
fromthecentroidalaxis.Forarotationaboutanaxiswhichis
atadistancedfromthecentroidalaxis,followingparallel
axistheoremthemomentofinertiacouldbeexpressedas:
J new J m d 2
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Fortranslatorymechanicalsystems,stiffnessisrepresented
y
y
,
p
byspringelementk,whileforrotationalsystemsthisis
representedbytorsionalspringelementkt .Forexample:

diameter
diameter

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Module 1- Lecture 5

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

A few more translational spring constants

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Torsional Spring
p g Constants

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Damping
p g Element

There are two common damping elements used to model energy dissipation from a
mechanical system. These are Viscoelastic Damping and Friction Damping.
Viscous damping model is most common; here, the damping force is taken to be
proportional to the velocity across the damper, acting in the direction opposite to
that of the velocity
velocity.
Linear damping force is represented by a viscous dashpot, which shows a piston
moving relative to a cylinder containing a fluid. The ideal linear relationship
between the force and the relative velocity
y holds g
good so long
g as the relative
Velocity is low, ensuring a laminar fluid flow.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Friction Damping
p g Element
Another type of common damping force is the so-called dry friction force between
two solid interfaces. This is known as Coulomb damping. In this model, the
magnitude of damping force is assumed to be a constant, which is independent of
the relative velocity (or slip velocity) at the interface. The direction of the damping
force is opposite to that of the relative velocity. In a physical model, a Coulomb
damper is represented by the symbol shown below. The nature of change of the friction
force with respect to displacement of the system is shown next. The area under this
curve represents the amount of energy dissipated from the system.
system

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Concept
p of Degrees
g
of Freedom

An important element in describing the dynamics of a system consisting of

multiple lumped parameters is the Degrees of Freedom (DOF) for the system. This
is defined as the number of kinematically independent variables required to
describe completely the motion of the system.
It may be noted that the number of degrees of freedom of a particle/lumped mass
gets reduced if it is subjected to constraints. For example, a particle in three
dimensional space
p
may
y have 3 DOF,, hence two such particles
p
may
y have total
6DOF. However, if they are connected together by a rigid link, this will come down
to 6-1=5 DOF. Thus, the actual number of DOF of a system equals to the difference
between the numbers of unconstrained DOF and the constraining conditions.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Examples
p
and Assignments
g

Consider the first two cases: there are two links of identical lengths but subjected
to different
ff
boundary constraints. Find out the DOF
O in each case.

(A)

Now, consider
N
id the
th following
f ll i
assignments
i
t and
d find
fi d outt the
th governing
i EOM off the
th
mechanical systems.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

(B)

(C)

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Module 1- Lecture 5

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 5

Special
p
References for this Lecture

System Dynamics for Engineering Students Nicolae Lobontiu

Lobontiu, Academic Press

Fundamentals of Mechanical Vibrations S Graham Kelly, McGraw-Hill

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