ME 211 Modeling and Analysis of Dynamic Systems Dr. Robert G.

Landers

Mechanical Translational Systems

Mechanical Translational Systems

Dr. Robert G. Landers

Introduction

Mechanical translational systems are comprised of a group of mechanical elements that only translate. We will only consider one dimensional displacements. The choice of positive displacement is arbitrary; however, the equations must be consistent. Typically, x = 0 is chosen when the system is in the equilibrium position (i.e., at rest). The kinematic relationships for a mass translating in one dimension are

dx ( t ) = x (t ) = v (t ) dt
a t v x acceleration (m/s2) time (s) velocity (m/s) displacement (m)

d 2 x (t ) = x (t ) = v (t ) = a (t ) 2 dt

Mechanical Translational Systems

Dr. Robert G. Landers

Mass Elements
Mass element

Newtons Second Law: sum of forces acting on a body is equal to the time rate of change of the bodys momentum Momentum must be measured with respect to an inertial reference frame (typically the earth). If mass is constant

d ( M (t ) v (t )) = f (t ) dt

Mv ( t ) = f ( t )

Mass elements are energy storage elements (i.e., the energy put into these elements can be recovered).
M mass (kg) f summation of applied forces (N)

Mechanical Translational Systems

Dr. Robert G. Landers

Frictional Elements
Forces that are algebraic functions of velocity are frictional forces.

The constitutive law describing the force applied to the damper is

f ( t ) = B v2 ( t ) v1 ( t ) = Bv ( t )

viscous friction coefficient (N/(m/s))

Mechanical Translational Systems

Dr. Robert G. Landers

Frictional Elements

Dry friction, also known as Coulomb friction, has the constitutive law

A if f ( t ) = A sgn v ( t ) = Asign v ( t ) = 0 if A if
Drag friction (i.e., a body moving through a fluid) has the constitutive law

v ( t ) = 0 v ( t ) > 0

v ( t ) < 0

f ( t ) = D v ( t ) v ( t )

The parameters A and D are constants. Frictional forces always act opposite to the systems direction of motion. Frictional elements are energy dissipative elements (i.e., the energy put into these elements can never be recovered).

Mechanical Translational Systems

Dr. Robert G. Landers

Frictional Elements

Mechanical Translational Systems

Dr. Robert G. Landers

Spring Elements
If the force applied to an element is an algebraic function of the displacement across the element, the element is represented by a spring. A linear spring is shown below.

The constitutive law describing the force applied to the spring is

f ( t ) = K x2 ( t ) x1 ( t ) = K x ( t )

Spring elements are energy storage elements (i.e., the energy put into these elements can be recovered).
K do spring stiffness, spring constant (N/m) unstretched spring length (m)

Mechanical Translational Systems

Dr. Robert G. Landers

Free Body Diagrams

When analyzing a mechanical translational system, first identify each mass and junction point (i.e., every point having a unique displacement). Next, draw a Free Body Diagram (FBD) or each mass and junction point. A FBD is a schematic that shows all of the forces acting on the mass or junction point. When drawing FBDs, the positive directions of the mass or junction point displacements and the forces are arbitrary. However, after the positive directions of the mass displacements, junction point displacements, and forces have been set, the inertial, damping, and spring forces are unique.

Mechanical Translational Systems

Dr. Robert G. Landers

Free Body Diagrams

Hold M2 constant and move M1 to the right. In this case the damper and spring forces act to the left on M1 and to the right on M2. Hold M1 constant and move M2 to the left (i.e., its positive direction). Again the damper and spring forces act to the left on M1 and to the right on M2. Damper force

f B ( t ) = B x1 ( t ) + x2 ( t )
f K ( t ) = K x1 ( t ) x2 ( t )

Spring force

Mechanical Translational Systems

Dr. Robert G. Landers

Interconnection Laws

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DAlemberts Law: The sum of the forces applied to the mass minus the inertial force, known as DAlemberts force, is equal to zero

f ( t ) Mv ( t ) = 0
Law of Reaction Forces: If a mechanical connection is broken, the forces on either side of the connection are equal in magnitude and opposite in direction

Mechanical Translational Systems

Dr. Robert G. Landers

System Model
To obtain the system model:

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1. Identify each mass and junction point (i.e., every point having a unique displacement) 2. Draw a Free Body Diagram (FBD) of each mass and junction point 3. Label positive displacement directions for each mass and junction point 4. For each broken mechanical connection apply the Law of Reaction Forces 5. Label positive directions for each force 6. Apply friction and spring elemental laws 7. Apply DAlemberts Law to each mass and junction point 8. Mathematically manipulate equations to obtain desired dynamic model

Mechanical Translational Systems

Dr. Robert G. Landers

Example 1

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For the mechanical system below, the displacements are zero when the spring is at its free length. Complete the following: a. Draw Free Body Diagrams of each mass and junction point. b. Determine a set of first order differential equations describing the system dynamics.

Mechanical Translational Systems

Dr. Robert G. Landers

Example 1
The point between the spring and damper has a unique motion and, therefore, is a junction point. A FBD is given to the right.

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Summing the forces acting on the junction point fB1 = B1v1 and fK = K(x1x2)

f B1 ( t ) f K ( t ) 0 = 0
inertial

B1v1 ( t ) K x1 ( t ) x2 ( t ) = 0 x1 ( t ) = v1 ( t )

The kinematic relationship between the position and velocity is Combining equations

B1 x1 ( t ) = Kx1 ( t ) + Kx2 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 1
The mass a unique displacement. A FBD of the mass is given to the right.

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Summing the forces acting on the mass

f K ( t ) f B 2 ( t ) + f a ( t ) Ma2 ( t ) = 0

fB2 = B2v2 and fK = K(x1x2)

K x1 ( t ) x2 ( t ) B2 v2 ( t ) + f a ( t ) Ma2 ( t ) = 0
The kinematic relationship between the position and velocity is

x2 ( t ) = v2 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 1
The kinematic relationship between the velocity and acceleration is

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v2 ( t ) = a2 ( t )

Combining equations

Mv2 ( t ) = B2 v2 ( t ) Kx2 ( t ) + f a ( t ) + Kx1 ( t )

Three first order differential equations describing the system dynamics are

B1 x1 ( t ) = Kx1 ( t ) + Kx2 ( t ) x2 ( t ) = v2 ( t ) Mv2 ( t ) = B2 v2 ( t ) Kx2 ( t ) + f a ( t ) + Kx1 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 1
Changing sign conventions of applied forces does not change the results. The positive directions for the damping forces have been changed. Now fB1 = B1v1 and fB2 = B2v2.

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f B1 ( t ) f K ( t ) = 0 B1v1 ( t ) K x1 ( t ) x2 ( t ) = 0 B1 x1 ( t ) = Kx1 ( t ) + Kx2 ( t )

f K ( t ) + f B 2 ( t ) + f a ( t ) Ma2 ( t ) = 0 Mv2 ( t ) = B2 v2 ( t ) Kx2 ( t ) + f a ( t ) + Kx1 ( t ) x2 ( t ) = v2 ( t )

The three first order differential equations are exactly the same.

K x1 ( t ) x2 ( t ) B2 v2 ( t ) + f a ( t ) Ma2 ( t ) = 0

Mechanical Translational Systems

Dr. Robert G. Landers

Example 1
Changing sign conventions of positive displacement only changes the sign of that variable. Now fB1 = B1v1 and fK = K(x1x2). The positive direction for x1 is now changed.

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f B1 ( t ) + f K ( t ) = 0

B1 x1 ( t ) = Kx1 ( t ) + Kx2 ( t )
f K ( t ) f B 2 ( t ) + f a ( t ) Ma2 ( t ) = 0

B1v1 ( t ) + K x1 ( t ) x2 ( t ) = 0

Mv2 ( t ) = B2 v2 ( t ) Kx2 ( t ) + f a ( t ) Kx1 ( t ) x2 ( t ) = v2 ( t )

The three first order differential equations are the same except that the signs in front of the x1 variables are the opposite.

K x1 ( t ) x2 ( t ) B2 v2 ( t ) + f a ( t ) Ma2 ( t ) = 0

Mechanical Translational Systems

Dr. Robert G. Landers

Example 2

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For the mechanical system below, the mass displacement is zero when the spring is at its free length. Complete the following: a. Draw Free Body Diagrams of each mass and junction point. b. Determine a set of first order differential equations describing the system dynamics.

Mechanical Translational Systems

Dr. Robert G. Landers

Example 2
The mass has a unique displacement. A FBD of the mass is given to the right.

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Summing the forces acting on the mass

Ma ( t ) + f a ( t ) + Mg f K ( t ) f B ( t ) = 0

fB = Bv and fK = Kx

Ma ( t ) + f a ( t ) + Mg Kx ( t ) Bv ( t ) = 0

Mechanical Translational Systems

Dr. Robert G. Landers

Example 2
The kinematic relationship between the position and velocity is The kinematic relationship between the velocity and acceleration is

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x (t ) = v (t ) v (t ) = a (t )

Two first order differential equations describing the system dynamics are

x (t ) = v (t ) Mv ( t ) = Bv ( t ) Kx ( t ) + f a ( t ) + Mg

Mechanical Translational Systems

Dr. Robert G. Landers

Example 2
If fa(t) = 0 and the system is at equilibrium (i.e., all derivatives are zero), the mass displacement is

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v ( t ) = x ( t ) = 0 Kx = Mg
Defining a new variable whose displacement is zero when the system is in its equilibrium position Two first order differential equations describing the system dynamics are

Mg x= K

z (t ) = x (t ) x

z (t ) = v (t )

Mv ( t ) + Bv ( t ) + K z ( t ) + x = f a ( t ) + Mg Mv ( t ) = Bv ( t ) Kz ( t ) + f a ( t ) z (t ) = v (t ) Mv ( t ) = Bv ( t ) Kz ( t ) + f a ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 3

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For the mechanical system below, the mass displacements are zero when spring 1 is at its free length and spring 2 is compressed by an amount M2g/K2. Assuming the pulley is massless and frictionless, and there is no slippage between the cable and pulley, complete the following: a. Draw Free Body Diagrams of each mass and junction point. b. Determine a set of first order differential equations describing the system dynamics.

Mechanical Translational Systems

Dr. Robert G. Landers

Example 3
Mass Free Body Diagram

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Summing forces acting on mass fB1 = B1v1 fK1 = K1(x1x2)

Ma1 ( t ) f K 1 ( t ) f B1 ( t ) + f a ( t ) = 0

Ma1 ( t ) K1 x1 ( t ) x2 ( t ) B1v1 ( t ) + f a ( t ) = 0
x1 ( t ) = v1 ( t ) v1 ( t ) = a1 ( t )

Kinematic relationships Combining equations

Mv1 ( t ) = B1v1 ( t ) K1 x1 ( t ) + f a ( t ) + K1 x2 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 3
Mass Free Body Diagram Summing forces acting on mass

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M 2 a2 ( t ) + f K 1 ( t ) f B 2 ( t ) f K 2 ( t ) = 0
fB2 = B2v2 and fK2 = K2x2

M 2 a2 ( t ) + K1 x1 ( t ) x2 ( t ) B2 v2 ( t ) K 2 x2 ( t ) = 0
Kinematic relationships Combining equations

x2 ( t ) = v2 ( t )

v2 ( t ) = a2 ( t )

M 2 v2 ( t ) = B2 x2 ( t ) [ K1 + K 2 ] x2 ( t ) + K1 x1 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 3

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Four first order differential equations describing the system dynamics are

x1 ( t ) = v1 ( t ) x2 ( t ) = v2 ( t ) Mv1 ( t ) = B1v1 ( t ) K1 x1 ( t ) + f a ( t ) + K1 x2 ( t ) M 2 v2 ( t ) = B2 x2 ( t ) [ K1 + K 2 ] x2 ( t ) + K1 x1 ( t )
There is an implicit assumption that x1(t) x2(t) 0. If this condition is not true, the cable will become slack.

Mechanical Translational Systems

Dr. Robert G. Landers

Example 3

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The variables describing the system dynamics are known as the state variables. The set of first order differential equations are known as the state equations. In this example the state variables are x1, v1, x2, and v2. Knowledge of these variables provides complete knowledge of the dynamic system. The set of state variables is not unique. In this example, fK1 could have been selected instead of x1. Since fK1 = K1x1, a set of first order differential equations describing the system dynamics is

f K 1 ( t ) = K1v1 ( t ) x2 ( t ) = v2 ( t ) Mv1 ( t ) = B1v1 ( t ) f K 1 ( t ) + f a ( t ) + K1 x2 ( t ) M 2 v2 ( t ) = B2 x2 ( t ) [ K1 + K 2 ] x2 ( t ) + f K 1 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 4

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For the mechanical system below, complete the following: a. Draw Free Body Diagrams of each mass and junction point. b. Determine a set of first order differential equations describing the system dynamics. c. Redo parts a and b with mass 1 measured relative to mass 2.

Mechanical Translational Systems

Dr. Robert G. Landers

Example 4
Free Body Diagrams

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Summing forces acting on M1 Summing forces acting on M2 Kinematic relationships

M 1a1 ( t ) + B v2 ( t ) v1 ( t ) + f a ( t ) = 0

M 2 a2 ( t ) B v2 ( t ) v1 ( t ) = 0
v2 ( t ) = a2 ( t )

v1 ( t ) = a1 ( t )

Combining equations, two first order differential equations describing the system dynamics are

M 1v1 ( t ) = Bv1 ( t ) + f a ( t ) + Bv2 ( t )

M 2 v2 ( t ) = Bv2 ( t ) + Bv1 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 4
When x1 is measured relative to x2, the inertial force of mass 1 is M1(a1+a2) and the damping force is Bv1. Free Body Diagrams are

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Summing forces acting on M1

M 1 a1 ( t ) + a2 ( t ) Bv1 ( t ) + f a ( t ) = 0 M 2 a2 ( t ) + Bv1 ( t ) = 0
v2 ( t ) = a2 ( t )

Summing forces acting on M2 Kinematic relationships

v1 ( t ) = a1 ( t )

Mechanical Translational Systems

Dr. Robert G. Landers

Example 4
Combining equations

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M 2 v2 ( t ) = Bv1 ( t )

M 1 v1 ( t ) + v2 ( t ) = Bv1 ( t ) + f a ( t )

To derive two first order differential equations describing the system dynamics, the second equation is substituted into the first equation. In this case, the two first order differential equations are

M1 M 1v1 ( t ) = B 1 + v1 ( t ) + f a ( t ) M2

M 2 v2 ( t ) = Bv1 ( t )

If mass positions were of interest, kinematic equations would be used to augment the two first order differential equations

M1 M 1v1 ( t ) = B 1 + v1 ( t ) + f a ( t ) M2 x1 ( t ) = v1 ( t ) x2 ( t ) = v2 ( t )

M 2 v2 ( t ) = Bv1 ( t )