Translational System Modeling

Translational System Modeling

Decide what are you trying to learn from the model?

Dont make model more complicated than it needs to be

Locate energy storing elements

Parts of the system that are rigid and/or have significant mass modeled as a lumped mass Parts of the system that are relatively compliant are modeled as lumped springs between masses or ground

Locate energy removing elements

Significant friction forces modeled by lumped dampers

Model #1
A car accelerating in straight line

Model #2
M f
A car crashing into a wall at 5 mph
K1 M1 B1 v1

What system aspects would this model capture?

What system aspects would this model capture?

What system aspects would this model not capture?

What system aspects would this model not capture?

Model #3
A car turning a corner

Models for a Tractor-Trailer

M
How would you model if you were interested in:
Driver comfort Accelerations applied to load of eggs in the trailer Handling characteristics as truck swerves left-to-right left- to-

What system aspects would this model capture?

What system aspects would this model not capture?

Models for a Fishing Rod

How would you model if you were interested in:
How far a particular 1.5 oz lure can be cast? How much the rod bends when you catch a 20 lb bass? How far you can throw the darn thing when the fish are not biting?

Elements of Translational Systems

Mass: stores kinetic energy - variable = velocity Spring: stores potential energy - variable = displacement Damper: dissipates energy - variable = velocity

M K B

K M B

Element Law: Mass

x, v, a
M f Three quantities of interest: x= position v= velocity a= acceleration

Mass w/DAlemberts Principle

f = mv f mv = 0 & &
DAlemberts suggestion: - Think of m v as a force that opposes motion. & - Now you have a statics problem!

Assuming a constant mass, Newtons 2nd Law tells us*: f = ma Further, x, v, and a are related according to: dx v= =x & dt f = m v = m && x & dv & a= =v dt *Note that the velocity is ABSOLUTE.

x, v, a
f

M M

mv &

Always opposite directions

Now, sum forces and set equal to zero:

F

: + (+ f ) + ( mv ) = 0 f m v = 0 & &
*Note that the velocity is ABSOLUTE.

Group Exercise: Steps to DAlembert

1. Determine positive displacement/velocity
direction.

Applying DAlemberts Principle

fi = 0
x, v

2. Put a DAlembert force in opposition to

each inertias positive motion.
x1 x2

M 3v3 &
x4 M3 M4

M 1v1 &
M1 M2

ice

M 2 v2 &

x3

M 4 v4 &

Two Ways to Do the Problem:

Assume forces are positive to the right: f x, v
+

Forces vs. Displacements:Choosing Sign Conventions

fi = 0

M v &
x, v

f M v = 0 & fi = 0

Assume forces are positive to the left: f

+

M v &

M v f = 0 &

WHY would we choose forces to be of different sign than displacements?! Situations WILL arise when you have multiple displacement measurement locations. Not all of them will be measured in such a way that they have the same sign convention. As long as you are CONSISTENT, it WILL work.