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's equation, 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

Fundamental principles
Purpose: Kinetic energy

Focus on
4 Kinetic energy of rigid bodies
4 Concept of virtual work and virtual dispalcement
4 Classification of constraints
4 D'Alembert's Principle
4 Examples
JU 2017/HL

DMS6021 - Dynamics and Control of Mechanical Systems 2

 Kinetic enrgy of a rigid body
Lets consider a rigid body of mass m in plane motion.
T = 12 mv 2 + 12 mi vi 2 ; v' = x r '

= mv + ri mi w 2
1
2
2 2 1
2
#$"$ !
I
= 12 mv + 12 I w
2 2
#"! # " !
TTrans Rot

Kinetic energy of a rigid body can be separated into:

- the kinetic energy of motion of the mass center C
and
- the kinetic energy of rotation of the body about C.

m (r w ) xr
2 2
TRot = 1
2 i i = 1
2 i mi
= [I w 2
+ I yw y2 + I zw z2 - 2 I xyw xw y - 2 I yzw yw z - 2 I zxw zw x ]
JU 2017/HL

1
2 x x

T = 12 mv 2 + 1
2
[I wx
2
x + I yw y2 + I zw z2 - 2 I xyw xw y - 2 I yzw yw z - 2 I zxw zw x ]
DMS6021 - Dynamics and Control of Mechanical Systems 3

Kinetic enrgy of a rigid body

If axes of coordinates coincide with the principal
axes x y z of the body

T = 12 mv 2 + 1
2
[I w
x'
2
x' + I y 'w y2' + I z 'w z2' ]
For a rigid body is rotating about a fixed axis
through O.


m v m (r w ) = ri mi w 2
2
T= 1
2
2
i i = 1
2 i i
1
2
2

$ !#! "
Io
= 12 I Ow 2
T = 1
[I w 2
+ I yw y2 + I zw z2 - 2 I xyw xw y - 2 I yzw yw z - 2 I zxw zw x ]
JU 2017/HL

2 x x

In principal coordinates x y z T = 1
2
[I wx'
2
x' + I y 'w y2' + I z 'w z2' ]
DMS6021 - Dynamics and Control of Mechanical Systems 4
 Conservation of Energy
Example: Lets expresse the work of
conservative forces as a change in potential
energy, the principle of work and energy
becomes
T1 + V1 = T2 + V2
Consider the slender rod of mass m.
T1 = 0, V1 = 0 Moment of
inertia of rod
T2 = 12 mv22 + 12 I w 22 of length l

( )2 + 12 (121 ml 2 )w 2 = 12 ml3
2
= 12 m 12 lw w2

V2 = - 12 Wl sin q = - 12 mgl sin q

T1 + V1 = T2 + V2
1 ml 2 2 1
JU 2017/HL

0= - mgl sin
mass m 2 3 2
released with zero velocity 1
3g 2
determine w at q = sin
l

KE
4 Example
A wheel is freely rotating about a horizontal axis O
and an ideal string is wrapped on it has a small mass O
m attached at its end as shown. The wheel has a
moment of inertia I and radius R. Find the expression = v/R

for the speed of the mass after it has fallen through a

distance h. m

Sol.: Using energy theorem

T1 + V1 = T2 + V2 m

0 + mgh = m + I + 0 =
JU 2017/HL

(, )

DMS6021 - Dynamics and Control of Mechanical Systems 6

 DAlemberts Principle
4 Equilibrium equation in statics: F = 0
can be used to solve for three unknowns in 3D space

4 Equilibrium equation of motion in dynamics: F = m.a

where F is the sum of the external forces acting on the particle, m is the particle
mass (constant), and a is the acc. of the particle relative to an inertial ref. frame.
Rewriting the equation of motion: F - m.a = 0 External forces
inertia forces = 0

Conversion of the system into a dynamics equillibrium

DAlemberts principle
For a body in rotational motion: T = I.a and T - I.a = 0
where T is the sum of external torques acting on the body, I is the mass
moment of inertia of the body wrt the rotating axis, and a is the angular acceleration of
JU 2017/HL

the body.
The principle is applied to solve problems for a body simultaneously undergoing
translation and rotation. It greatly simplifies complicated dynamic problems in mechanics.
DMS6021 - Dynamics and Control of Mechanical Systems 7

Virtual work and virtual displacement

4 For a system of N particles
Let the position of each particle be given by x1, x2, x3N
Lets consider that there are 3N forces F1, F2, F3N acting in the
direction of each coordinate
Let the system at a given instant is subjected to small
displacements dx1, dx2, dx3N in the direction of each coordinate
Work done by the forces: dW = Fi dxi
Virtual work
Virtual displacement

OR, in vector notation

dW = Fi dri
Note: There is no passage of time for the displacement dx
JU 2017/HL

The forces remain constant.

DMS6021 - Dynamics and Control of Mechanical Systems 8

 Constraints and degrees of freedom
Classification of constraints
4 If a constraint can be written as an equality function of the
form
f(r1, .rn, t) = 0 or
f(q1, q2, qN, t) = 0 (where qi are generalized coordinates), then it
is called holonomic constraint.
A rigid body has such types of constraints and existence of
holonomic constraints allow elimination of some variables
4 Constriants that can not be expressed in the above form are
called non-holonomic constraints. For example, motion of a
gas in a container
JU 2017/HL

DMS6021 - Dynamics and Control of Mechanical Systems 9

Virtual work and virtual displacement

Classification of constraints
4 Equality constraints involve only generalized coordinates and time
(holonomic), while non-holomonic constraints
depend on generalized coordinates and higher derivatives (velocities),
as well as time.
4 Inequalities do not constrain the position in the same way as equality
constraints do, thus they are non-holonomic.
Other classifications
4 A geometric constraint restricts the configurations that can be
achieved during motion.
4 A kinematic constraint only restricts the velocities that can be acquired
at a given position. The system can, however, occupy any position
JU 2017/HL

desired

DMS6021 - Dynamics and Control of Mechanical Systems 10

 Virtual work and virtual displacement
4 Constraints and degrees of freedom (DOF)
A DOF is an important element in describing the dynamics of
a system consisting of multiple lumped parameters
4 Number of degrees of freedom of a system
= the minimum number of variables to completely
specify the position of every particle in the system
= Number of kinemtatically independent configuration constraints
or variables required to describe completely the motion of a system
NB: A rigid body in (unconstrained) space has 6 DOF (r,)

The number of degrees of freedom of a particle/lumped mass gets

reduced if it is subjected to constraints. For instance, a rigid body in a 3D
JU 2017/HL

space has 3 DOF constrained, hence its motion is defined by 3 DOF.

DMS6021 - Dynamics and Control of Mechanical Systems 11

Virtual work and virtual displacement

4 Constraints and degrees of freedom (DOF)
4 Examples Fixed joint
Rolling contact Pinned joint

(Generally not applied

(Generally only to a rigid body motion)
applied to a rigid body)
JU 2017/HL

DMS6021 - Dynamics and Control of Mechanical Systems 12

 Virtual work and virtual displacement
4 Example Use the virtual work method and determine the relationship
between the torque M applied to the crank R and the force F
applied to the slider in the shown mechanism.

-1
R
2
2
x = R cos q + L1 - sin 2 q
L

For system in static equilibrium R2 sin q cos q
dx = - R sin qdq -
dW = Fdx = M dq + Fdx = 0
-1
L 2
2
1 - R sin 2 q
L

where x = R cos q + L cos f Substituting and simplifying
R
h = R sin q = L sin f sin f = sin q
JU 2017/HL

L
( )
- 12 Rosq
Trigonomietric relation : cos f = 1 - sin 2 f M = FR sin q 1 +
2
2

- 12
R
R
cos f = 1 - sin 2 q L 1 - sin 2 q
L
L
DMS6021 - Dynamics and Control of Mechanical Systems 13

Summary and Questions

In this lecture we focused on KE of a rigid body, a.o.
4 Kinetic energy of rigid bodies: Transilation and rotation KE
4 KE of rigid body when coordinates of motion coincide with
the principal axes of the body
4 Concept of virtual work and virtual dispalcement
4 DOF and classification of constraints
4 D'Alembert's Principle

?
JU 2017/HL

Next: Intro. generalized coordinates, derivation of Lagrange's

equation from D Alemberts principle.
DMS6021 - Dynamics and Control of Mechanical Systems 14