Professional Documents
Culture Documents
Vidhya Ragesh
06-02-2014
Outline of this
Lecture
Overview
The transfer function of a process
shows the characteristics of its
dynamic behavior assuming a
linear representation of the
process.
Rotational
Rotational Motion
Part-I
TRANSLATIONAL MECHANICAL
SYSTEMS
6
ii)
iii)
Translational
Spring
Translational
Mass
Translational
Damper
Translational Spring
A translational spring is a mechanical
element that can be deformed by an
external force such that the deformation is
directly proportional to the force applied to
it.
i)
Translational
Spring
Circuit Symbols
Translational Spring
Translational Spring
If F is the applied force
x2
Then x1
x1
x 2if 0
is the deformation
Or ( x1 x 2 )
is the deformation.
F k ( x1 x2 )
Where k
N/m
F
F
Translational Mass
Translational Mass is an
inertia element.
ii)
Translational
Mass
A
mechanical
system
without mass does not
exist.
If a force F is applied to a
mass and it is displaced to
x meters then the relation
b/w
force
and
displacements is given by
Newtons law.
F Mx
x(t )
F (t )
Translational Damper
When the viscosity or drag
is not negligible in a
system, we often model
them with the damping
force.
All the materials exhibit
the property of damping
to some extent.
If damping in the system
is not enough then extra
elements (e.g. Dashpot)
are added to increase
iii)
Translational
Damper
Bridge Suspension
Vehicle Suspension
Flyover Suspension
Translational Damper
F Cx
F C ( x 1 x 2 )
mx kx
or
mx kx 0
14
Example-2
Consider the following system (friction is
negligible)
k
Free Body
Diagram
fk
F
fM
fM
Where f k and
are force applied by the
spring and inertial force respectively.
15
Example-2
fk
F
fM
F fk fM
F Mx kx
Taking the Laplace Transform of both sides
and ignoring initial conditions we get
F (s ) Ms 2 X (s ) kX (s )
16
Example-2
F (s ) Ms 2 X (s ) kX (s )
The transfer function of the system is
X (s )
1
F (s ) Ms 2 k
if
M 1000kg
k 2000 Nm 1
X (s )
0.001
2
F (s ) s 2
17
Example-2
X (s )
0.001
2
F (s ) s 2
40
30
Imaginary Axis
20
10
0
-10
-20
-30
-40
-1
-0.5
0
Real Axis
0.5
18
Example-3
Consider the following system
k
M
C
Free Body
Diagram
fk
F
fC
fM
F fk f M fC
19
Example-3
F Mx Cx kx
F (s ) Ms 2 X (s ) CsX (s ) kX (s )
X (s )
1
F (s ) Ms 2 Cs k
20
Example-3
X (s )
1
F (s ) Ms 2 Cs k
if
1.5
M 1000kg
C 1000 N / ms 1
1
Imaginary Axis
k 2000 Nm 1
Pole-Zero Map
0.5
0
-0.5
-1
X (s )
0.001
2
F (s ) s s 1000
-1.5
-2
-1
-0.5
0.5
Real Axis
21
Example-4
Consider the following system
fB
fM
F fk fM fB
X (s )
1
F (s ) Ms 2 Bs k
22
Example-5
Consider the following system
x2
x1 k
Mechanical Network
x1
F
x2
M
23
Example-5
Mechanical Network
x1
F
x2
M
At node x1
F k ( x1 x 2 )
At node x 2
0 k ( x 2 x1 ) Mx2 Bx 2
24
Example-6
M1
M2
Example-7
x1
B3
f (t )
x2
M1
B4
M2
B1
B2
26
Example-8
Find the transfer function of the mechanical
translational system given in Figure-1.
Free Body Diagram
fk
fB
Figure-1
M
f (t )
f (t ) f k f M f B
fM
X (s )
1
F (s ) Ms 2 Bs k
27
Example-9
28
Example-10
f k1 f k f B
2
M2
k2
F (t ) f M 2
f k1
fB
M1
f M1
F (t ) f k1 f k 2 f M 2 f B
0 f k1 f M 1 f B
29
Example-11
x1
u(t )
x2
k1
B1
x3
B4
B3
M1
k2
B2
M2
k3
B5
30
Example-12: Automobile
Suspension
31
Automobile Suspension
32
Automobile Suspension
mxo b( x o x i ) k ( xo xi ) 0
(eq .1)
eq. 2
ms X o (s ) bsX o (s ) kX o (s ) bsX i (s ) kX i (s )
X o (s )
bs k
X i (s ) ms 2 bs k
33
Example-13: Train
Suspension
Car Body
Bogie1
Bogie2
Secondar
y
Wheelsets
Suspensio
n
Primary
Bogie
Frame
Suspensio
n
34
35