Files-2-Chapters Chapter III Mechanical Systems 3

ME 413 Systems Dynamics & Control
Chapter Three: Mechanical Systems
Chapter 3 Mechanical Systems

Dr. A.Aziz. Bazoune
3.1 INTRODUCTION
Mathematical Modeling and response analysis of mechanical systems are the subjects of this chapter.
3.2 MECHANICAL ELEMENTS

Any mechanical system consists of mechanical elements. There are three types of basic elements in mechanical systems: Inertia elements Spring elements Dampers elements
Inertia Elements. Mass and moment of inertia. Inertia may be defined as the change in force (torque) required to make a unit change in acceleration (angular acceleration). That is,
inertia (mass) = change in force change in acceleration N m/s
2
or
kg
inertia (moment of inertia) =
change in torque change in ang. accel.
N-m rad/s
2
or
kg
A linear spring is a mechanical element that can be deformed by external force or torque such that the deformation is directly proportional to the force or torque applied to the element.
Spring Elements.
Translational Springs
For translational motion, (Fig 3-1(a)), the force that arises in the spring is proportional to x and is given by
F = kx
(3-1)
where x is the elongation of the spring and k is a proportionality constant called the spring constant and has units of [force/displacement]=[N/m] in SI units.
1/34
At point at point
P , the spring force F P.
acts opposite to the direction of the force
applied
X
X+x
Figure 3-1
x2
X + x1
Q
X+x1 x2
deflected. ( X is the natural length of the spring)
(a) One end of the spring is deflected; (b) both ends of the spring are
Figure 3-1(b) shows the case where both ends deflected due to the forces is
and
of the spring are
applied at each end. The net elongation of the spring
x1 x2 . The force acting in the spring is then

F = k ( x1 x2 )
(3-2)
Notice that the displacement
X + x1
and
x2
of the ends of the spring are measured
relative to the same reference frame.
Practical Examples.
Pictures of various types of real-world springs are found below.
2/34
Torsional Springs
Consider the torsional spring shown in Figure 3-2 (a), where one end is fixed and a torque is applied to the other end. The angular displacement of the free end is
. The torque T
in the torsional spring is
T = kT
where
(3-3)
is the angular displacement and
torsional spring and has units of [Torque/angular displacement]=[N-m/rad] in SI units.
kT
is the spring constant for
Figure 3-2
(a) A torque is applied at one end of torsional spring, and the other end is fixed; (b) a torque is applied at one end, and a torque , in the opposite direction, is applied at the other end.
At the free end, this torque acts in the torsional spring in the direction opposite to that of the applied torque . For the torsional spring shown in Figure 3-2(b), torques equal in magnitude but opposite in direction, are applied to the ends of the spring. In this case, the torque
acting in the torsional spring is
T = kT (1 2 )
(3-4)
At each end, the spring acts in the direction opposite to that of the applied torque at that end. For linear springs, the spring constant
may be defined as follows
spring constant k =
change in force change in displacement of spring change in torque
N m N-m rad
corresponds to a
14 244 4 3
for translational spring
spring constant kT =
144 244 3
for torsional spring
change in angular displacement of spring
Spring constants indicate stiffness; a large value of hard spring, a small value of
or
or
kT
kT
to a soft spring. The reciprocal of the spring
3/34
constant
is called compliance or mechanical capacitance
C.
Thus
C =1 k.
Compliance or mechanical capacitance indicates the softness of the spring. Practical Examples. Pictures of various types of real-world springs are found below.
http://www.esm.psu.edu/courses/emch13d/design/animation/animation.htm
Practical spring versus ideal spring. Figure 3-3 shows displacement characteristic curves for linear and nonlinear springs. All practical springs have inertia and damping. An ideal spring has neither mass nor damping (internal friction) and will obey the linear force displacement law.
the
force
o
Figure 3-3 Force-displacement characteristic curves for linear and nonlinear springs.
Damper Elements. A damper is a mechanical element that dissipates energy in the form of heat instead of storing it. Figure 3-4(a) shows a schematic diagram of a translational damper, or a dashpot that consists of a piston and an-oilfilled cylinder. Any relative motion between the piston rod and the cylinder is resisted
4/34
by oil because oil must flow around the piston (or through orifices provided in the piston) from one side to the other.
x2
x1
& x2
& x1
&2
&1
Figure 3-4
(a) Translational damper; (b) torsional (or rotational) damper.
Translational Damper
In Fig 3-4(a), the forces applied at the ends of translation damper are on the same line and are of equal magnitude, but opposite in direction. The velocities of the ends of the damper are same frame of reference.
& x1
and
& & x2 . Velocities x1

F
and
& x2
are taken relative to the
In the damper, the damping force velocity differences
& & x1 x2
that arises in it is proportional to the
of the ends, or
& & & F = b ( x1 x2 ) = bx

where
(3-5) relating the damping force
& & & x = x1 x2
and the proportionality constant
to the velocity difference
friction constant. The dimension of
& x
is called the viscous friction coefficient or viscous
is [force/Velocity] = [N-s/m] in SI units.
Torsional Damper
For the torsional damper shown in Figure 3-4(b), the torques applied to the ends of the damper are of equal magnitude, but opposite in direction. The angular velocities of the ends of the damper are relative to the same frame of reference. The damping torque
T that arises in & of the ends, or & damper is proportional to the angular velocity differences 1 2
& 1
and
&2
and they are taken the
& & & T = bT 1 2 = bT

where, analogous to the translation case, constant
(3-6)
& & = 1 &2
and the proportionality
bT
relating the damping torque
to the angular velocity difference
&
is
5/34
called the viscous friction coefficient or viscous friction constant. The dimension of
is [torque/angular velocity] = [N-m-s/rad] in SI units.
A damper is an element that provides resistance in mechanical motion, and, as such, its effect on the dynamic behavior of a mechanical system is similar to that of an electrical resistor on the dynamic behavior of an electrical system. Consequently, a damper is often referred to as a mechanical resistance element and the viscous friction coefficient as the mechanical resistance.
Practical Examples.
Pictures of various examples of real-world dampers are found below.
Practical damper versus ideal damper

All practical dampers produce inertia and spring effects. An ideal damper is massless and springless, dissipates all energy, and obeys the linear force-velocity law (or linear torque-angular velocity law).
Nonlinear friction.
Friction that obeys a linear law is called linear friction, whereas friction that does not is described as nonlinear. Examples of nonlinear friction include static friction, sliding friction, and square-law friction. Square law-friction occurs when a solid body moves in a fluid medium. Figure 3-5 shows a characteristic curve for square-law friction.
Figure 3-5 Characteristic curve for square-law friction.
6/34
3.3 MATHEMATICAL MODELING MECHANICAL SYSTEMS
OF
SIMPLE
A mathematical model of any mechanical system can be developed by applying Newtons laws to the system.
Rigid body. When any real body is accelerated , internal elastic deflections are always present. If these internal deflections are negligibly small relative to the gross motion of the entire body, the body is called rigid body. Thus, a rigid body does not deform. Newtons laws.
Newtons first law: (Conservation of Momentum)
The total momentum of a mechanical system is constant in the absence of external forces. Momentum is the product of mass m and velocity v , or m v , for translational or linear motion. For rotational motion, momentum is the product of moment of inertia momentum.
and angular velocity
or
J ,
and is called angular
Newtons second law: Translational motion: If a force is acting on rigid body through the center of mass in a given direction, the acceleration of the rigid body in the same direction is directly proportional to the force acting on it and is inversely proportional to the mass of the body. That is,
acceleration =
or
force mass
( mass ) ( acceleration ) = force

Suppose that forces are acting on a body of mass m . If forces acting on a mass m through the center of mass in a given direction, then
is the sum of all
F = m a
(3-7)
where a is the resulting absolute acceleration in that direction. The line of action of the force acting on a body must pass through the center of mass of the body. Otherwise, rotational motion will also be involved.
Rotational motion. For a rigid body in pure rotation about a fixed axis, Newtons second law states that
7/34
( moment of inertia ) ( angular acceleration ) = torque

or
T = J
where
(3-8)
is the sum of all torques acting about a given axis,
inertia of a body about that axis, and
is the moment of
is the angular acceleration of the body.
Newtons third law. It is concerned with action and reaction and states that every action is always opposed by an equal reaction. Torque or moment of force. Torque, or moment of force, is defined as any cause that tends to produce a change in the rotational motion of a body in which it acts. Torque is the product of a force and the perpendicular distance from a point of rotation to the line of action of the force.
Torque = [ force distance ] = [ N-m ] in SI units
Moments of inertia. The moment of inertia J of a rigid body about an

axis is defined by
J = r 2 dm
(3-9)
Where dm is an element of mass, r is the distance from axis to dm , and integration is performed over the body. In considering moments of inertia, we assume that the rotating body is perfectly rigid. Physically, the moment of inertia of a body is a measure of the resistance of the body to angular acceleration.
Figure 3-6
Moment of inertia
Parallel axis theorem. Sometimes it is necessary to calculate the moment of inertia of a homogeneous rigid body about an axis other than its geometrical axis.
8/34
Figure 3-7
Homogeneous cylinder rolling on a flat surface
As an example to that, consider the system shown in Figure 3-7, where a cylinder of mass m and a radius R rolls on a flat surface. The moment of inertia of the cylinder is about axis CC is
Jc =
The moment of inertia J x of the cylinder about axis xx is
1 mR2 2
Jx = Jc + m R 2 =
1 3 mR2 + mR2 = mR2 2 2
Forced response and natural response. The behavior determined by a forcing function is called a forced response, and that due initial conditions is called natural response. The period between initiation of a response and the ending is referred to as the transient period. After the response has become negligibly small, conditions are said to have reached a steady state.
Figure 3-8
Transient and steady state response
In many applications, multiple spring elements are used, and in such cases we must obtain the equivalent spring constant of the combined elements.
Parallel and Series Springs Elements.
9/34
Parallel Springs.
3-9, the equivalent spring constant
keq
x
F
For the springs in parallel, Figure is obtained from the relation
k1 k2
k eq
x
F
Figure 3-9
Parallel spring elements
F = k1 x + k2 x = ( k1 + k2 ) x = keq x
where
keq = k1 + k2
This formula can be extended to
n
( for parallel springs )

springs connected side-by-side as follows:
(3-9)
keq = ki
i =1
( for parallel springs )
(3-10)
Series Springs. For the springs in series, Figure 3-10, the force in
each spring is the same. Thus
k1
k2
k eq
F
Figure 3-10 Series spring elements
F = k1 y ,
F = k2 ( x y )
Eliminating from these two equations yields
F F = k2 x k1
or
F = k2 x
k2 F k1
k2 x = F +
10/34
k +k k2 F = 1 2 F k1 k1
or
1 k1 + k2 k2 k1 x= F F = x = 1 1 x + k2 k1 k1 + k2 k k 4 2 1 1 24 3
keq
where
1 1 1 = + keq k1 k2
which can be extended to the case of
( for series springs )

n
(3-11)
springs connected end-to-end as follows (3-12)
1 1 = keq i =1 ki
( for series springs )
Free Vibration without damping.

Consider the mass spring system shown in Figure 3-11. The equation of motion can be given by1
or
m && + k x = 0 x && + x k 2 x = 0 && + n x = 0 x m
where
n =
k m
is the natural frequency of the system and is expressed in rad/s. Taking LT of both sides of the above equation where
x ( 0 ) = xo
and
& & x ( 0 ) = xo
gives
x (t )
Figure 3-11 Mass Spring System
2 & s 2 X ( s ) sx ( 0 ) x ( 0 ) + n X ( s ) = 0 1444 24444 4 3 && L [x ]
rearrange to get
The weight
W = mg
of the mass
is equal to the static deflection of the spring. Therefore, they
will cancel each other, (See Appendix A). 11/34
X (s) =
& sxo + xo , Remember poles are s = jn 2 2 1 24 4 3 s + n X ( s) =
complex conjugates
and the response
x (t )
n s + xo 2 2 2 n s + n s + n
& xo
2
is given by
x (t ) =
It is clear that the response
& xo
sin (nt ) + xo cos (nt )

consists of a sine and cosine terms and depends
x (t )
on the values of the initial conditions
by the above equation is called simple harmonic motion.
xo
and
& xo . Periodic motion such that described
x (t )
& slope = xo
Im
xo
t
s plane
n
Re
n
Period = T =
2 n
Figure 3-12 Free response of a simple harmonic motion and pole location on the s-plane
if
& & x ( 0 ) = xo = 0,
x ( t ) = xo cos (nt )
The period T is the time required for a periodic motion to repeat itself. In the present case,
Period T =
The frequency
seconds
of a periodic motion is the number of cycles per second (cps), and
the standard unit of frequency is the Hertz (Hz); that is 1 Hz is 1 cps. In the present case,
12/34
Frequency f =
The undamped natural frequency denoted by system,
1 = Hz T 2
is the frequency in the free vibration of a
system having no damping. If the natural frequency is measured in Hz or in cps, it is
fn .
If it is measured in rad/sec, it is denoted by
n .
In the present
n = 2 f n =
Rotational System.
k rad/sec m J . Friction
Rotor mounted in bearings is shown in figure 3-
13 below. The moment of inertia of the rotor about the axis of rotation is
in the bearings is viscous friction and that no external torque is applied to the rotor.
J
1442443
T (t )
Figure 3-13 Rotor mounted in bearings and its FBD. Apply Newtons second law for a system in rotation
&& & M = J = J
& & J + b = 0 + ( b / J ) = 0
or
& +
Define the time constant form
= ( J / b ) , the previous equation can be written in the

& + = 0, ( 0 ) = o 1
1 =0 ( J / b)
which represents the equation of motion as well as the mathematical model of the system shown. It represents a first order system. To find the response LT of both sides of the previous equation.
( t ) , take
13/34
s ( s ) ( 0 ) + 1 ( s ) = 0 4 3 14 244 { & L[ ] L[ ] 1 s + ( s ) = o the denominator s + (1 ) s + (1 ) = 0
(s) =
s + (1 )
where
is known as the characteristic polynomial and the
equation
is called the characteristic equation. Taking inverse LT of the
above equation will give the expression of
(t )
( t ) = o e (b / J ) t = o e (1/ )t = o e t
It is clear that the angular velocity decreases exponentially as shown in the figure below. Since
lim e
t
( t / )
= 0;
then for such decaying system, it is convenient to
depict the response in terms of a time constant.
Free response of a rotor bearing system 1.5
=0
=0.2
(t)
=0.5 =0.7 =1
0.5
=2 =5
=10
0 0
10 time (t)
15
20
Figure 3-14 Graph of
o e t
for ranges of
14/34
A time constant is that value of time that makes the exponent equal to -1. For this system, time constant = J / b . When t = , the exponent factor is
( t / )
=e
( / )
= e 1 = 0.368 = 36.8 %
This means that when time constant = , the time response is reduced to
36.8 %
of its final value.
We also have
= J / b = time constant ( ) = 0.37 o ( 4 ) = 0.02 o
Figure 3-15 Curve of angular velocity versus time
t for the rotor shown in Figure 3-13.
Spring-Mass-Damper System.
Consider the simple mechanical system shown involving viscous damping. Obtain the mathematical model of the system shown.
b
m
x (t )
& Fb = b x
Fk = k x
m
+x
14444244443
Free Body Diagram (FBD)
Figure 3-16 Mass -Spring Damper System and the FBD. i) ii) The FBD is shown in the figure 3-16. Apply Newtons second law of motion to a system in translation:
F
Rearranging
&& = mx
& && bx kx = mx
15/34
&& & m x + bx + k x = 0
The above equation represents the mathematical model as well as the free vibration for a second order model. If m = 0.1 kg, b = 0.4 N/m-s, and k = 4 N/m , the above differential equation becomes
& 0.1 && + 0.4 x + 4 x = 0 x

To obtain the free response x transform of both sides of the given equation
&& + 4 x + 40 x = 0 & x
and
( t ) , assume x ( 0 ) = xo
& x ( 0 ) = 0.
Take Laplace
2 & sX ( s ) ) X24 s X ( s ) s x ( 0 ) x ( 0 ) + 4 144 x ( 0 ) + 40 4 ( s3 = 0 244 3 1 14444 24444 3

L &&( t ) x L x( t ) & L x( t )
Substitute in the transformed equation obtain
x ( 0 ) = xo
and
& x ( 0 ) = 0,
and rearrange, we
or solving for
X (s)
s 2 + 4 s + 40 X ( s ) = [ sxo + 4 xo ]
yields
X (s) =
which can be written as
s + 4 s + 40
2
( sxo + 4 xo )
( s + 4)
Characteristic polynomial
s + 4 s + 40 14243
2
xo
G (s) = G (s)
X (s) ( s + 4) = 2 xo s + 4 s + 40 14243
where
is referred to as the transfer function that gives the relationship
between the input
xo
and the output
X (s) . G (s)
can be shown graphically as:
xo
(s + 4 )
s + 4s + 3 40 14 244 4
2
X(s)
1444 2444 3
Transfer function
Figure 3-17 Transfer function between input and output. iii) It is clear that the characteristic equation of the system is has complex conjugates roots.
16/34
s 2 + 4 s + 40 = 0
and
s 2 + 4s + 40 = s 2 44 s + 4 + 36 = ( s + 2 ) + 62 = 0 1+24 3
2
( s + 2 )2
The roots of the above equation are therefore complex conjugate poles given by
s1 = 2 + j 6 and s2 = 2 j 6
iv) The expression of
X (s)
can be written now as:
X (s) = =
( s + 4)
s + 4 s + 40
2
xo =
2 ( s + 2 + 2) x = ( s + 2) x + xo o o 2 2 2 s + 2 ) + 62 s + 2 ) + 62 s + 2 ) + 62 ( ( (
( s + 2) x + 1 6 xo 2 2 o 3 ( s + 2 )2 + 62 ( s + 2) + 6
x ( t ) = L1 X ( s ) x (t ) =
yields
v) Or
Solving for
2
1 x ( t ) = xo e 2t cos 6t + e 2t sin 6t 3
10 2t xoe ( sin 6t + 71.56o ) 3
x ( t)
e 2t
s1 = 2 + j 6
Im
s plane
1 x (t ) = xo e2t cos 6t + e2t sin 6t 3
j6
2
Re
t
Td = 2
j6
s2 = 2 j 6
& x ( 0 ) = 0, .
Figure 3-18 Free Vibration of the mass-spring-damper system described by
&& + 4 x + 40 x = 0 with initial conditions x ( 0 ) = xo & x
and
(See Appendix B). 17/34
Pole-Zero Map 10
5 Imaginary Axis
-5
-10 -4
-3.5
-3
-2.5
-2 Real Axis
-1.5
-1
-0.5
Free vibration of mass-spring-damper system 1.5
xo x(t)
0.5
-0.5
0.5
1.5
2.5 t (sec)
3.5
4.5
Figure 3-18 Free Vibration of the mass-spring-damper system described by
&& + 4 x + 40 x = 0 with initial conditions x ( 0 ) = xo & x
and
& x ( 0 ) = 0, .
3.4 WORK ENERGY, AND POWER

Work. The work done in a mathematical system is the product of a force and a distance (or a torque and the angular displacement) through which the force is exerted with both force and distance measured in the same direction.
F
W =F d
W = F d cos
Figure 3-19 Work done by a force The units of work in SI units are :
[ work ] = [ force distance ] = [ N-m ] = [ Joule ] = [ J ]

The work done by a spring is given by:
18/34
1 W = k x dx = k x 2 { 2 0 F
k
F
l+x
l
Figure 3-19 Work done by a spring.
Energy. Energy can be defined as ability to do work. Energy can be found in many different forms and can be converted from one form to another. For instance, an electric motor converts electrical energy into mechanical energy, a battery converts chemical energy into electrical energy, and so forth.
According to the law of conservation of energy, energy can be neither created nor destroyed. This means that the increase in the total energy within a system is equal to the net energy input to the system. So if there is no energy input, there is no change in the total energy of the system.
Potential Energy. The Energy that a body possesses because of its position is called potential energy. In mechanical systems, only mass and spring can store potential energy. The change in the potential energy stored in a system equals the work required to change the systems configuration. Potential energy is always measured with reference to some chosen level and is relative to that level.
m
h
mg
Figure 3-20 Potential energy Refer to Figure 3-20, the potential energy,
x
U of a mass m
is given by:
U = mg dx = mgh
0
19/34
For a translational spring, the potential energy U (sometimes called strain energy which is potential energy that is due to elastic deformations) is:
U = F dx = k x dx =
0 0
1 2 kx 2 1 2 1 2 k x2 k x1 2 2
If the initial and final values of
are
x1 and x2 , respectively, then

x2 x1
Change in potential energy
U = F dx = k x dx =
x1
x2
Similarly, for a torsional spring
Change in potential energy U

Kinetic Energy. mechanical systems.
= T d = kT dx =
1 1
1 1 kT 22 kT 12 2 2
Only inertia elements can store kinetic energy in
1 mv 2 T = Kinetic energy= 2 & 1 J 2 2 T
(Translation) (Rotation)
The change in kinetic energy of the mass is equal to the work done on it by an applied force as the mass accelerates or decelerates. Thus, the change in kinetic energy of a mass
moving in a straight line is
Change in kinetic energy
T = W = F dx = F
x1 t1 t2 t2
x2
t2
dx dt dt
v2
& = F v dt = mv v dt = m v dv
t1 t1 v1
The change in kinetic energy of a moment of inertia in pure rotation at angular velocity
1 1 2 = mv2 mv12 2 2
&
is
Change in kinetic energy
T =
1 &2 1 &2 J 2 J1 2 2
20/34
Dissipated Energy.
energy
Consider the damper shown in Figure 3-21 in
which one end is fixed and the other end is moved from
x1
to
x2 . The dissipated
in the damper is equal to the net work done on it:

x2 x2 t2 t
2 dx & & & W = F dx = b x dx = b x dt = b x 2 dt { dt x1 x1 F t1 t1
x2
x1
x
b
Figure 3-20 Damper.
Power.
Power is the time rate of doing work. That is,
Power = P =
dW dt
where dW denotes work done during time interval dt . In SI units, the work done is measured in Newton-meters and the time in seconds. The unit of power is :
[ Power ] =
N-m Joule = = [ Watt ] = W . s s
Passsive Elements. Non-energy producing element. They can only store energy, not generate it such as springs and masses. Active Elements.
forces and torques. Energy producing elements such as external
Energy Method for Deriving Equations of Motion. Equations of motion are derive from the fact that the total energy of a system remains the same if no energy enters or leaves the system. Conservative Systems. Systems that do not involve friction (damping) are called conservative systems.
21/34
Change in the total energy
(T + U ) 1 24 4 3
Net work done on the system by external forces
W {
If no external energy enters the system ( W forces) then
= 0 , no work done by external

Conservation of energy only for conservative systems (No friction or damping)
(T + U ) = 0
or
(T + U ) = constant
An Energy Method for Determining Natural Frequencies.

The natural frequency of a conservative system can be obtained from a consideration of the kinetic energy and the potential energy of the system. Let us assume that we choose the datum line so that the potential energy at the equilibrium state is zero. Then in such a conservative system, the maximum kinetic energy equals the maximum potential energy , or
Tmax = U max
Solved Problems.
Example 3-5 Page 80 (Textbook) Consider the system shown in the Figure shown. The displacement measured from the equilibrium position. The Kinetic energy is: The potential energy is:
is
1 & T = m x2 2 1 U = k x2 2 1 1 & T + U = m x2 + k x2 2 2
k
m
x
The total energy of the system is The change in the total energy is
d d 1 1 & (T + U ) = m x 2 + k x 2 = 0 dt dt 2 2 1 1 &&& & = 2 m xx + 2 k xx = 0 2 2 & && = x (m x + k x) = 0

Since
& x is not zero then we should have && mx + k x = 0

22/34
or
&& + x
where
k 2 x = 0 && + n x = 0 x m
n =
k m
is the natural frequency of the system and is expressed in rad/s. Another way of finding the natural frequency of the system is to assume a displacement of the form
x = A sin nt
Where
A is the amplitude of vibration. Consequently,
1 1 2 & T = m x 2 = m A2 2 ( cos n t ) 2 2 1 1 2 U = k x 2 = k A2 ( sin n t ) 2 2

Hence the maximum values of
and
are given by
Since
Tmax = U max , we have
1 2 Tmax = m A2n , 2
U max =
1 k A2 2
From which
1 1 2 m A2n = k A2 2 2
n =
k m
23/34
Problem
24/34
Problem
25/34
26/34
27/34
28/34
29/34
TABLE 1.
Summary of elements involved in linear mechanical systems

Translation x Rotation
Element
F4
Inertia
F3
F2 F1
T
F = m a
T = J
x2
x1
F Spring k
k T
F = k ( x1 x2 ) = kx
T = k (1 2 ) = k
& x1
& x2
b F T T
F Damper b
&1
&2
& & & F = b( x1 x2 ) = bx
T = b(&1 &2 ) = b&
PROCEDURE The motion of mechanical elements can be described in various dimensions as translational, rotational, or combination of both. The equations governing the motion of mechanical systems are often formulated from Newtons law of motion. 1. Construct a model for the system containing interconnecting elements. 2. Draw the free-body diagram. 3. Write equations of motion of all forces acting on the free body diagram. For translational motion, the equation of motion is Equation (1), and for rotational motion, Equation (2) is used.
30/34
APPENDIX A: Static Equilibrium
Lo
k
st
m
k st
m
x
k( x +st )
m
mg
At static equilibrium, we have:
m
mg
mg = K st
Let the mass be displaced a distance x downward from its equilibrium, the spring force becomes
f = K ( x + st ) . Apply Newtons second law for the mass-spring

&& F = mx
system, one can write:
or
&& K ( x + st ) + mg = mx
or
&& Kx K st + mg = mx 1 24 4 3
= 0 ( Static Equilibrium )
Therefore
&& mx + Kx = 0
31/34
The above equation represents the mathematical model for the mass-spring system. It is a second order ordinary differential equation with constant coefficients. It is clear that the weight mg cancels with the static deflection K st of the system. Therefore, it does not appear in the equation of motion.
32/34
APPENDIX B:
The expression of
sin (t ) , that is
a cos (t ) + b sin (t )
can be written in terms of
cos (t )
or
a b a cos ( t ) + b sin ( t ) = a 2 + b2 2 cos ( t ) + sin ( t ) 2 a 2 + b2 a +b

Define
such that
cos = sin =
Therefore
a +b b 2 2 a +b
2 2
b = tan 1 a
a cos ( t ) + b sin ( t ) =
Using the identity
a 2 + b 2 (cos cos ( t ) + sin sin ( t ) )
cos ( t ) = cos ( t ) cos + sin ( t ) sin

Therfore,
a cos ( t ) + b sin ( t ) =
or
a 2 + b 2 (cos t ) a 2 + b 2 (sin t + )
a cos ( t ) + b sin ( t ) =
Where
sin = cos =
a +b b a2 + b2
2 2
a = tan 1 b
33/34
UsefulSites
Torsion http://www.esm.psu.edu/courses/emch13d/design/animation/animation.htm Mass Spring System http://www.colorado.edu/physics/phet/simulations/massspringlab/MassSpringLab2.swf http://physics.bu.edu/~duffy/java/Spring2.html http://www.ngsir.netfirms.com/englishhtm/SpringSHM.htm http://www.myphysicslab.com/spring1.html http://www.walter-fendt.de/ph11e/springpendulum.htm http://webphysics.davidson.edu/physlet_resources/gustavus_physlets/VerticalSpring.html http://www.sciences.univ-nantes.fr/physique/perso/gtulloue/equadiff/equadiff.html Response of First and second Order Systems http://www.sciences.univ-nantes.fr/physique/perso/gtulloue/equadiff/equadiff.html
34/34

Files-2-Chapters Chapter III Mechanical Systems 3

Uploaded by

Document Information

Original Description:

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

Files-2-Chapters Chapter III Mechanical Systems 3

Uploaded by

Copyright:

Available Formats

ME 413 Systems Dynamics & Control

Chapter Three: Mechanical Systems

Chapter 3 Mechanical Systems

3.2 MECHANICAL ELEMENTS

inertia (moment of inertia) =

change in torque change in ang. accel.

ME 413 Systems Dynamics & Control

Chapter Three: Mechanical Systems

P , the spring force F P.

acts opposite to the direction of the force

deflected. ( X is the natural length of the spring)

of the spring are

applied at each end. The net elongation of the spring

x1 x2 . The force acting in the spring is then

Notice that the displacement

of the ends of the spring are measured

relative to the same reference frame.

ME 413 Systems Dynamics & Control

Chapter Three: Mechanical Systems

in the torsional spring is

is the angular displacement and

torsional spring and has units of [Torque/angular displacement]=[N-m/rad] in SI units.

is the spring constant for

acting in the torsional spring is

may be defined as follows

change in force change in displacement of spring change in torque

change in angular displacement of spring

to a soft spring. The reciprocal of the spring

ME 413 Systems Dynamics & Control

Chapter Three: Mechanical Systems

is called compliance or mechanical capacitance

ME 413 Systems Dynamics & Control

Chapter Three: Mechanical Systems

(a) Translational damper; (b) torsional (or rotational) damper.

& & x2 . Velocities x1

are taken relative to the

In the damper, the damping force velocity differences

that arises in it is proportional to the

& & & F = b ( x1 x2 ) = bx

(3-5) relating the damping force

& & & x = x1 x2

and the proportionality constant

to the velocity difference

friction constant. The dimension of

is called the viscous friction coefficient or viscous

is [force/Velocity] = [N-s/m] in SI units.

and they are taken the

& & & T = bT 1 2 = bT

& & = 1 &2

and the proportionality

relating the damping torque

to the angular velocity difference

ME 413 Systems Dynamics & Control

Chapter Three: Mechanical Systems

is [torque/angular velocity] = [N-m-s/rad] in SI units.

Practical damper versus ideal damper

Figure 3-5 Characteristic curve for square-law friction.

ME 413 Systems Dynamics & Control

Chapter Three: Mechanical Systems

3.3 MATHEMATICAL MODELING MECHANICAL SYSTEMS

and angular velocity

and is called angular

( mass ) ( acceleration ) = force