Modeling of Mechanical Systems

Mechanical System Modeling
Dr. Kevin Craig

Professor of Mechanical Engineering
Rensselaer Polytechnic Institute
K. Craig
References for Mechanical Systems

System Dynamics, E. Doebelin, Marcel Dekker,
1998. (This is the finest reference on system
dynamics available; many figures in these notes
are taken from this reference.)
Modeling, Analysis, and Control of Dynamic
Systems, W. Palm, 2nd Edition, Wiley, 1999.
Vector Mechanics for Engineers: Dynamics, 7th
Edition, F. Beer, E.R. Johnston, and W. Clausen,
McGraw Hill, 2004.
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Mechanical System Elements

Three basic mechanical elements:
Spring (elastic) element
Damper (frictional) element
Mass (inertia) element
Translational and Rotational versions
These are passive (non-energy producing) devices
Driving Inputs
force and motion sources which cause elements
to respond
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Each of the elements has one of two possible

energy behaviors:
stores all the energy supplied to it
dissipates all energy into heat by some kind of
frictional effect
Spring stores energy as potential energy
Mass stores energy as kinetic energy
Damper dissipates energy into heat
Dynamic Response of each element is important

step response
frequency response
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Spring Element
Real-world design situations

Real-world spring is neither pure nor ideal
Real-world spring has inertia and friction
Pure spring has only elasticity - it is a
mathematical model, not a real device
Some dynamic operation requires that spring
inertia and/or damping not be neglected
Ideal spring: linear
Nonlinear behavior may often be preferable and
give significant performance advantages
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Device can be pure without being ideal (e.g.,

nonlinear spring with no inertia or damping)
Device can be ideal without being pure (e.g., device
which exhibits both linear springiness and linear
damping)
f = K s ( x1 x 2 ) = K s x
Pure and ideal spring element:
T = K s ( 1 2 ) = K s
Ks = spring stiffness (N/m or N-m/rad)

1/Ks = Cs = compliance (softness parameter)
x
Ks
Cs
x = Cs f
= Cs T
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Energy stored in a spring
Cs f 2 K s x 2
Es =
=
2
2
Dynamic Response: Zero-Order Dynamic System

Model
Step Response
Frequency Response
Real springs will not behave exactly like the

pure/ideal element. One of the best ways to
measure this deviation is through frequency
response.
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Spring Element
Differential Work Done
= ( f ) dx = ( K s x ) dx
Total Work Done
=
x0
K s x 02 Cs f 02
=
( K s x )dx =
2
2
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Frequency Response
Of
Spring Elements
f = f 0 sin ( t )
x = Cs f 0 sin ( t )
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Zero-Order Dynamic System Model
Step Response
Frequency Response
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10
More Realistic Lumped-Parameter Model for a Spring

Ks
f, x
Ks
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Linearization
for a
Nonlinear Spring
df
y = f (x 0 ) +
dx
y y0 +
df
dx
d 2f
( x x0 ) + 2
dx
x =x0
( x x0 )
2!
x =x0
+"
( x x0 )
x =x0
y y0 +
df
dx
( x x0 )
x = x0
y = Kx
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12
Real Springs
nonlinearity of the
force/deflection curve
noncoincidence of the
loading and unloading
curves (The 2nd Law of
Thermodynamics
guarantees that the area
under the loading f vs. x
curve must be greater
than that under the
unloading f vs. x curve.
It is impossible to recover
100% of the energy put
into any system.)
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13
Several Types of Practical

Springs:
coil spring
hydraulic (oil) spring
cantilever beam spring
pneumatic (air) spring
clamped-end beam spring
ring spring
rubber spring (shock mount)
tension rod spring
torsion bar spring
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14
Spring-like Effects in
Unfamiliar Forms
aerodynamic spring
gravity spring (pendulum)
gravity spring (liquid
column)
buoyancy spring
magnetic spring
electrostatic spring
centrifugal spring
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15
Damper Element
A pure damper dissipates all the energy supplied
to it, i.e., converts the mechanical energy to
thermal energy.
Various physical mechanisms, usually associated
with some form of friction, can provide this
dissipative action, e.g.,
Coulomb (dry friction) damping
Material (solid) damping
Viscous damping
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Pure / ideal damper element provides viscous

friction.
All mechanical elements are defined in terms of
their force/motion relation. (Electrical elements
are defined in terms of their voltage/current
relations.)
Pure / Ideal Damper
Damper force or torque is directly proportional
to the relative velocity of its two ends.
dx
dx1 dx 2
f = B
=B
dt
dt
dt
d
d1 d2
T = B
=B
dt
dt
dt
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Forces or torques on the two ends of the

damper are exactly equal and opposite at all
times (just like a spring); pure springs and
dampers have no mass or inertia. This is NOT
true for real springs and dampers.
Units for B to preserve physical meaning:
N/(m/sec)
(N-m)/(rad/sec)
Transfer Function
Differential
Operator
Notation
dx
Dx
dt
x
(x)dt
D
d2x
D x 2
dt
x
( x ) dt dt
2
D
2
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Operational Transfer Functions
f = BDx
T = BD
f
( D ) BD
x
x
1
( D)
f
BD
T
( D ) BD
1
( D)
T
BD
We assume the initial conditions are zero.
Damper element dissipates into heat all

mechanical energy supplied to it.
dx
dx
Power ( force )( velocity ) = f = B
dt
dt
Force applied to damper causes a velocity in same

direction.
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Power input to the device is positive since the force

and velocity have the same sign.
It is impossible for the applied force and resulting
velocity to have opposite signs.
Thus, a damper can never supply power to another
device; Power is always positive.
A spring absorbs power and stores energy as a force
is applied to it, but if the force is gradually relaxed
back to zero, the external force and the velocity now
have opposite signs, showing that the spring is
delivering power.
Total Energy Dissipated
2
dx
dx
( P )dt = B dt dt = B dt dx = ( f )dx
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Damper Element
Step Input Force

causes instantly
(a pure damper
has no inertia) a
Step of dx/dt
and a
Ramp of x
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Frequency
Response
of
Damper
Elements
f = f 0 sin ( t )
=B
dx
dt
t
1
x x 0 = f 0 sin ( t ) dt
B0
f0
1 cos ( t )
=
B
f0
A x B
1
=
=
Af
f0
B
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Sinusoidal Transfer Function

x
1
( D) =
f
BD
D i
x
1
= M
( i ) =
f
i B
M is the amplitude ratio of output over input

is the phase shift of the output sine wave with
respect to the input sine wave (positive if the
output leads the input, negative if the output lags
the input)
x
1
1
i
M
= =
90
( ) =
f
i B
B
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Real Dampers
A damper element is used to model a device
designed into a system (e.g., automotive shock
absorbers) or for unavoidable parasitic effects
(e.g., air drag).
To be an energy-dissipating effect, a device
must exert a force opposite to the velocity;
power is always negative when the force and
velocity have opposite directions.
Lets consider examples of real intentional
dampers.
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24
Viscous (Piston/Cylinder) Damper
A relative velocity between the

cylinder and piston forces the
viscous oil through the clearance
space h, shearing the fluid and
creating a damping force.
= fluid viscosity
2
2
6L
h
R
R
2
2
1
B=
h
R 2 R 1
3
h
2
R 2 h
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Simple Shear Damper

And
Viscosity Definition
2A
F=
V
t
F 2A
B= =
V
t
fluid viscosity
shearing stress
F/A

=
velocity gradient V / t
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Examples
of
Rotary Dampers
D04
B=
16t
D3L
B=
4t
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27
Commercial Air Damper
(Data taken with valve shut)
laminar flow
linear damping
turbulent flow
nonlinear damping
Air Damper
much lower viscosity
less temperature dependent
no leakage or sealing problem
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28
Motion of the conducting

cup in the magnetic field
generates a voltage in the
cup.
A current is generated in
the cups circular path.
A current-carrying
conductor in a magnetic
field experiences a force
proportional to the current.
The result is a force
proportional to and
opposing the velocity.
The dissipated energy
shows up as I2R heating of
the cup.
Eddy-Current Damper
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Temperature Sensitivity
Of
Damping Methods
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Other Examples
of
Damper Forms
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The damper element can also be used to represent

unavoidable parasitic energy dissipation effects in
mechanical systems.
Frictional effects in moving parts of machines
Fluid drag on vehicles (cars, ships, aircraft, etc.)
Windage losses of rotors in machines
Hysteresis losses associated with cyclic stresses in
materials
Structural damping due to riveted joints, welds,
etc.
Air damping of vibrating structural shapes
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Hydraulic Motor Friction

and its Components
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Coulomb Friction: Modeling and Simulation

In most control systems, Coulomb friction is a
nuisance.
Coulomb friction is difficult to model and
troublesome to deal with in control system design.
It is a nonlinear phenomenon in which a force is
produced that tends to oppose the motion of
bodies in contact in a mechanical system.
Undesirable effects: hangoff and limit cycling
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34
Hangoff (or dc limit cycle) prevents the steadystate error from becoming zero with a step
command input.
Limit Cycling is behavior in which the steady-state
error oscillates or hunts about zero.
What Should the Control Engineer Do?
Minimize friction as much as possible in the design
Appraise the effect of friction in a proposed control
system design by simulation
If simulation predicts that the effect of friction is
unacceptable, you must do something about it!
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35
Remedies can include simply modifying the design

parameters (gains), using integral control action, or
using more complex measures such as estimating the
friction and canceling its effect.
Modeling and simulation of friction should contribute
significantly to improving the performance of motion
control systems.
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36
Modeling Coulomb Friction

Ff
Fstick
Fslip
V
"Stiction" Coulomb
Friction Model
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37
Case Study to Evaluate Friction Model

V0
k
m
m = 0.1 kg
k = 100 N/m
Fstick = 0.25 N
Fslip = 0.20 N (assumed independent of velocity)
V0 = step of 0.002 m/sec at t = 0 sec
Ff
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Friction Model in Simulink
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Simulink Block Diagram
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Example with Friction Model
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Position, Velocity, Friction Force vs. Time
2*position, velocity, 0.1*Friction Force
0.025
0.02
0.015
0.01
0.005
0.5
1.5
2.5
3
time (sec)
3.5
4.5
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42
Inertia Element
A designer rarely inserts a component for the
purpose of adding inertia; the mass or inertia
element often represents an undesirable effect
which is unavoidable since all materials have
mass.
There are some applications in which mass itself
serves a useful function, e.g., accelerometers and
flywheels.
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43
Accelerometer
Useful Applications
of
Inertia
Flywheels are used as
energy-storage devices or as
a means of smoothing out
speed fluctuations in engines
or other machines.
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44
Newtons Law defines the behavior of mass

elements and refers basically to an idealized
point mass:
forces = ( mass )( acceleration )
The concept of rigid body is introduced to deal

with practical situations. For pure translatory
motion, every point in a rigid body has identical
motion.
Real physical bodies never display ideal rigid
behavior when being accelerated.
The pure / ideal inertia element is a model, not
a real object.
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Rigid and Flexible Bodies: Definitions and Behavior

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46
Newtons Law in rotational form for bodies

undergoing pure rotational motion about a single
fixed axis:
torques = ( moment of inertia )( angular acceleration )

The concept of moment of inertia J also considers
the rotating body to be perfectly rigid.
Note that to completely describe the inertial
properties of any rigid body requires the
specification of:
Its total mass
Location of the center of mass
3 moments of inertia and 3 products of inertia
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47
Rotational Inertia
J (kg-m2)
tangential force
= ( mass )( acceleration )
= ( 2rL )( dr ) ( r )
2
2
R
MR
total torque = ( 2Lr 3 ) dr = R 2 L
=
= J
2
2
0
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Moments of Inertia
For
Some Common Shapes
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49
How do we determine J for complex shapes

with possibly different materials involved?
In the design stage, where the actual part exists only
on paper, estimate as well as possible!
Once a part has been constructed, use experimental
methods for measuring inertial properties. How?
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50
Experimental Measurement
Of
Moment of Inertia
d 2
( torques ) = J = J dt 2
d 2
K s = J 2
dt
d 2 K s
+
=0
2
dt
J
( 0 = 0)
= 0 cos n t
Ks
rad/sec
n
J
n
fn
cycles/sec
2
Ks
J= 2 2
4 f n
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51
Actually the oscillation will gradually die out

due to the bearing friction not being zero.
If bearing friction were pure Coulomb friction,
it can be shown that the decay envelope of the
oscillations is a straight line and that friction
has no effect on the frequency.
If the friction is purely viscous, then the decay
envelope is an exponential curve, and the
frequency of oscillation does depend on the
friction but the dependence is usually negligible
for the low values of friction in typical
apparatus.
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52
Inertia Element
Real inertias may be
impure (have some
springiness and friction)
but are very close to
ideal.
x
1
1
( D) = 2
(D) = 2
f
MD
T
JD
Inertia Element stores
energy as kinetic energy:
Mv 2
2
J2
or
2
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53
A step input force applied to a mass initially at

rest causes an instantaneous jump in
acceleration, a ramp change in velocity, and a
parabolic change in position.
The frequency response of the inertia element is
obtained from the sinusoidal transfer function:
x
1
1
180
( i ) =
2
2
f
M
M ( i )
At high frequency, the inertia element becomes very
difficult to move.
The phase angle shows that the displacement is in a
direction opposite to the applied force.
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54
Useful Frequency Range

for
Rigid Model
of a
Real Flexible Body
A real flexible body
approaches the
behavior of a rigid body
if the forcing frequency
is small compared to
the bodys natural
frequency.
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55
Analysis:
2AE
= ALx o
( xi xo )
L
L2
x o + x o = x i
2E
D2
2E
n
2 + 1 x o = x i
2
L
xi
1
(D) = 2
D
xo
+1
2
n
xi
1
1
=
( i ) =
2
2
xo
i

+1 1
n
n
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56
xo
( i) = 1.05 =
xi
1
max
1
max = 0.218n =
0.308 E
L
96200 cycles/min
for a 6-inch
steel rod
max is the highest frequency for which the real

body behaves almost like an ideal rigid body.
Frequency response is unmatched as a technique
for defining the useful range of application for all
kinds of dynamic systems.
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57
Motion Transformers
Mechanical systems often include mechanisms
such as levers, gears, linkages, cams, chains, and
belts.
They all serve a common basic function, the
transformation of the motion of an input member
into the kinematically-related motion of an output
member.
The actual system may be simplified in many
cases to a fictitious but dynamically equivalent
one.
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58
This is accomplished by referring all the

elements (masses, springs, dampers) and driving
inputs to a single location, which could be the
input, the output, or some selected interior point of
the system.
A single equation can then be written for this
equivalent system, rather than having to write
several equations for the actual system.
This process is not necessary, but often speeds the
work and reduces errors.
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59
Motion Transformers
Gear Train Relations:
m N 2
=
N
m N 1
Tm N 1 1
=
Tm N 2 N
N1
Tm m
N2
Tm m
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60
Translational Equivalent
for
A Complex System
Refer all elements and

inputs to the x1 location
and define a fictitious
equivalent system
whose motion will be
the same as x1 but will
include all the effects
in the original system.
x 1, x 2,
are
kinematically related
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61
Define a single equivalent spring element

which will have the same effect as the three
actual springs.
Mentally apply a static force f1 at location x1
and write a torque balance equation:
L2
x 1K s
f1L1 = ( K s1x1 ) L1 + x1K s2 L 2 +
L1
L1
f1 = K se x1
2
L2
1
K se K s1 + K s2 + 2 K s
L1
L1
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The equivalent spring constant Kse refers to a

fictitious spring which, if installed at location
x1, would have exactly the same effect as all the
springs together in the actual system.
To find the equivalent damper, mentally
remove the inertias and springs and again apply
a force f1 at x1: f1L1 = ( x 1B1 ) L1 + ( x 2 B2 ) L 2 + B
L22
x 1

= x1B1L1 +
x1B 2 + B
L1
L1
f1 = Be x 1
2
L2
1
Be B1 + B2 + 2 B
L1
L1
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63
Finally, consider only the inertias present.

1
x1
x1
2 x
f1L1 ( M L ) + ( M 2 L 2 ) + ( J )
L1
L1
L1
f1 M e x1
2
1 1
L2
1
M e M1 + M 2 + 2 J
L1
L1
While the definitions of equivalent spring and

damping constants are approximate due to the
assumption of small motions, the equivalent
mass has an additional assumption which may
be less accurate; we have treated the masses as
point masses, i.e., J = ML2.
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64
To refer the driving inputs to the x1 location we

note that a torque T is equivalent to a force T/L1
at the x1 location, and a force f2 is equivalent to
a force (L2/L1)f2.
If we set up the differential equation of motion
for this system and solve for its unknown x1,
we are guaranteed that this solution will be
identical to that for x1 in the actual system.
Once we have x1, we can get x2 and/or
immediately since they are related to x1 by
simple proportions.
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65
Rules for calculating the equivalent elements

without deriving them from scratch:
When referring a translational element (spring,
damper, mass) from location A to location B, where
As motion is N times Bs, multiply the elements
value by N2. This is also true for rotational elements
coupled by motion transformers such as gears, belts,
and chains.
When referring a rotational element to a
translational location, multiply the rotational
element by 1/R2, where the relation between
translation x and rotation (in radians) is x = R .
For the reverse procedure (referring a translational
element to a rotational location) multiply the
translational element by R2.
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66
When referring a force at A to get an equivalent

force at B, multiply by N (holds for torques).
Multiply a torque at by 1/R to refer it to x as a
force. A force at x is multiplied by R to refer it as a
torque to .
These rules apply to any mechanism, no matter

what its form, as long as the motions at the two
locations are linearly related.
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67
Mechanical Impedance
When trying to predict the behavior of an
assemblage of subsystems from their calculated or
measured individual behavior, impedance methods
have advantages.
Mechanical impedance is defined as the transfer
function (either operational or sinusoidal) in which
force is the numerator and velocity the
denominator. The inverse of impedance is called
mobility.
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68
Mechanical Impedance for the Basic Elements
Ks
f
ZS ( D ) ( D ) =
v
D
f
ZB ( D ) ( D ) = B
v
f
ZM ( D ) ( D ) = MD
v
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Measurement of impedances of subsystems can be

used to analytically predict the behavior of the
complete system formed when the subsystems are
connected. We can thus discover and correct
potential design problems before the subsystems
are actually connected.
Impedance methods also provide shortcut
analysis techniques.
When two elements carry the same force they are said
to be connected in parallel and their combined
impedance is the product of the individual impedances
over their sum.
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70
For impedances which have the same velocity, we say

they are connected in series and their combined
impedance is the sum of the individual ones.
Consider the following systems:
x 1, v 1
K
f, v
Series Connection
f, v
Parallel Connection
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71
Parallel Connection
K
B
f
KB
D
=
(D) = K
v
+ B BD + K
D
Series Connection
f
K BD + K
(D) = B + =
v
D
D
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72
Force and Motion Sources

The ultimate driving agency of any mechanical
system is always a force not a motion; force causes
acceleration, acceleration does not cause force.
Motion does not occur without a force occurring
first.
At the input of a system, what is known, force or
motion? If motion is known, then this motion was
caused by some (perhaps unknown) force and
postulating a problem with a motion input is
acceptable.
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73
There are only two classes of forces:

Forces associated with physical contact between two
bodies
Action-at-a-distance forces, i.e., gravitational, magnetic,
and electrostatic forces.
There are no other kinds of forces! (Inertia force is a

fictitious force.)
The choice of an input form to be applied to a system
requires careful consideration, just as the choice of a
suitable model to represent a component or system.
Here are some examples of force and motion sources.
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Force and Motion Inputs

acting on a
Multistory Building
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A Mechanical Vibration
Shaker:
Rotating Unbalance
as a
Force Input
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Electrodynamic Vibration Shaker as a Force Source
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Force Source
Constructed from a
Motion Source
and a
Soft Spring
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Energy Considerations
A system can be caused to respond only by the source
supplying some energy to it; an interchange of energy
must occur between source and system.
If we postulate a force source, there will be an
associated motion occurring at the force input point.
The instantaneous power being transmitted through this
energy port is the product of instantaneous force and
velocity.
If the force applied by the source and the velocity
caused by it are in the same direction, power is supplied
by the source to the system. If force and velocity are
opposed, the system is returning power to the source.
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79
The concept of mechanical impedance is of some help

here.
The transfer function relating force and velocity at the
input port of a system is called the driving-point
impedance Zdp.
f
Zdp (D) = (D)
v
f
Zdp (i) = (i)
v
We can write an expression for power:
f
f2
P = fv = f
=
Zdp Zdp
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If we apply a force source to a system with a high value

of driving-point impedance, not much power will be
taken from the source, since the force produces only a
small velocity. The extreme case of this would the
application of a force to a perfectly rigid wall (drivingpoint impedance is infinite, since no motion is produced
no matter how large a force is applied). In this case the
source would not supply any energy.
The higher the driving-point impedance, the more a real
force source behaves like an ideal force source.
The lower the driving-point impedance, the more a real
motion source behaves like an ideal motion source.
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Real sources may be described accurately as

combinations of ideal sources and an output impedance
characteristic of the physical device.
A complete description of the situation thus requires
knowledge of two impedances:
The output impedance of the real source
The driving-point impedance of the driven system
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Mechanical System Examples

Rack-and-Pinion Gear System
Problem Statement
Develop the equivalent rotational
model of the rack-and-pinion gear
system shown. The applied torque T is
the input variable, and the angular
displacement is the output variable.
Neglect any twist in the shaft.
Bearings are frictionless. The pinion
gear mass moment of inertia about its
CG (geometric center) is Ip.
(I
2
2
2
+
I
+
I
+
m
R
+
cR
+
kR
=T
)
m
s
p
r
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83
Multi-Gear System
Problem Statement
A load inertia I5 is driven through a
double-gear pair by a motor with inertia
I4, as shown. The shaft inertias are
negligible. The gear inertias are I1, I2,
and I3. The speed ratios are 1/2 = 2
and 2/3 = 5. The motor torque is T1
and the viscous damping coefficient c =
4 lb-ft-sec/rad. Neglect elasticity in the
system, and use the following inertia
values (sec2-ft-lb/rad): I1 = 0.1, I2 = 0.2,
I3 = 0.4, I4 = 0.3, I5 = 0.7. Derive the
mathematical model for the motor shaft
speed 1 with T1 as the input.
2
2
2
1 2
1 1
1
( I 4 + I1 ) + ( I5 + I3 ) + I 2 1 + c 1 = T1
5
5 2
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84
Dynamic Vibration Absorber

Problem Statement
A dynamic vibration absorber consists of
a mass and an elastic element that is
attached to another mass in order to
reduce its vibration. The figure is a
representation of a vibration absorber
attached to the cantilever support. For a
cantilever beam with a force at its end, k
= Ewh3/4L3 where L = beam length, w =
beam width, and h = beam thickness. (a)
Obtain the equation of motion for the
system. The force f is a specified force
acting on the mass m, and is due to the
rotating unbalance of the motor. The
displacements x and x2 are measured
from the static equilibrium positions
when f = 0. (b) Obtain the transfer
functions x/f and x2/f.
Physical Model
Physical System
m2 D2 + k 2
x
=
F mm 2 D 4 + [ m 2 ( k + k 2 ) + mk 2 ] D 2 + kk 2
x2
k2
=
F mm 2 D 4 + [ m 2 ( k + k 2 ) + mk 2 ] D 2 + kk 2
K. Craig
85
Rigid Body Dynamics: Kinematics

y1
R1
y
x1
z1
z
Reference Frames
R - Ground xyz
R1 - Body x1y1z1
G
G
G
v A + ( R R1 r AP ) +
R1
G
vP
G
G
G
G
G
G
G
a P = R a A + R R1 ( R R1 r AP ) + R R1 r AP
R1 G P
R1 G P
R G R1
+ a + 2 v
G
q
Note: For any vector
G
vP =
G R1 G
dq
dq R G R1 G
=
+ q
dt
dt
K. Craig
86
Rigid-Body Kinematics Example

G R1
= constant
=
5i
Given:
R1 G R 2
= 4k 1 = constant
Find: R aG P
r = 0.06 m
R1
O
i1 1
0
0 i

j1 = 0 cos sin j
k 0 sin cos k

1
y1
y1
y2
x2
x1
R2
= 30
Reference Frames:
R ground: xyz
R1 shaft: x1y1z1
R2 disk: x2y2z2
O
z1
K. Craig
87
G
G
G
a P = R a O + R R 2
G
G
G
G
R 2 r OP ) + R R 2 r OP
R2 G P
R2 G P
R G R2
+ a + 2 v
GO
a = 0 Point O at end of rotating shaft fixed in R
R2 G P
a =0
Point P fixed in R2 (disk)
R2 G P
v =0
G
G
R G R2
= R R1 + R1 R 2 = 5i + 4k 1
G OP
r = ( r cos ) i1 + ( r sin ) j1
R R G R2
R
d
d
G
R R2
5i + 4k 1
=
=
dt
dt
G
R
dk1
R G R1
= 0+4
= 4 k 1
dt
= 4 5i1 k 1 = 20j1
R
(
(
= 20 jcos + k sin
K. Craig
88
After Substitution and Simplification:

R
G
a P = ( 16r cos ) i1 + ( 41r sin ) j1 + ( 40r cos ) k 1
Alternate Solution:
R
G
G
G
a P = R a O + R R1
GO
a =0
R G R1
= 5i = constant
R R G R1
d
R G R1
=
=0
dt
R
G
G
G
G
R1 r OP ) + R R1 r OP
R1 G P
R1 G P
R G R1
+ a + 2 v
G OP
r = ( r cos ) i1 + ( r sin ) j1
K. Craig
89
R1
GP
a =
R1
GO
R1 G R 2
a +
GO
a =0
R1 G R 2
= 4k 1
R1
R1
G R 2 G OP
G OP
R1 G R 2
r ) + r
(P is fixed in R2)
G R 2 R1
d
d
R1 G R 2
4k1 = 0
=
=
dt
dt
G OP
R1 G P
R1 G O
R1 G R 2
v = v +( r )
R1 G O
v =0
R1
R1
G OP
r = ( r cos ) i1 + ( r sin ) j1
After Substitution and Simplification:

R
G
a P = ( 16r cos ) i1 + ( 41r sin ) j1 + ( 40r cos ) k 1
(same result)
K. Craig
90
Rigid Body Dynamics: Kinetics

Point C: mass center of a rigid body of mass m.
G
Linear Momentum L = m R vG C
Angular Momentum about point C
G
H = H x1 i1 + H y1 j1 + H z1 k 1
y
H x1 Ix1x1

H y1 = Iy1x1
H I
z1 z1x1
Ix1y1
Iy1y1
Iz1y1
Ix1z1
R R1
Iy1z1 y1
Iz1z1 R zR11
Equations of Motion
R1
x1
R R GC
G
d v
F = m
dt
G
R
G
dH
M =
dt
y1
y1 C
R1
A
x1
z1
z
Reference Frames
R - Ground xyz
R1 - Body x1y1z1
K. Craig
91
K. Craig
92
K. Craig
93
K. Craig
94
K. Craig
95
K. Craig
96
K. Craig
97
K. Craig
98
K. Craig
99

Modeling of Mechanical Systems

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Modeling of Mechanical Systems

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Mechanical System Modeling

Dr. Kevin Craig

References for Mechanical Systems

Mechanical System Modeling

Mechanical System Elements

Each of the elements has one of two possible

Dynamic Response of each element is important

Real-world design situations

Device can be pure without being ideal (e.g.,

Ks = spring stiffness (N/m or N-m/rad)

Mechanical System Modeling

Energy stored in a spring

Dynamic Response: Zero-Order Dynamic System

Real springs will not behave exactly like the

Mechanical System Modeling

Mechanical System Modeling

Mechanical System Modeling

Zero-Order Dynamic System Model

More Realistic Lumped-Parameter Model for a Spring

Mechanical System Modeling

Several Types of Practical

Mechanical System Modeling

Mechanical System Modeling

Pure / ideal damper element provides viscous

Forces or torques on the two ends of the

Operational Transfer Functions

We assume the initial conditions are zero.

Damper element dissipates into heat all

Force applied to damper causes a velocity in same

Power input to the device is positive since the force

Step Input Force

Sinusoidal Transfer Function

M is the amplitude ratio of output over input

Mechanical System Modeling

Viscous (Piston/Cylinder) Damper

A relative velocity between the

Mechanical System Modeling

Simple Shear Damper

Mechanical System Modeling

Commercial Air Damper

(Data taken with valve shut)

Motion of the conducting

Mechanical System Modeling

Mechanical System Modeling

Mechanical System Modeling

The damper element can also be used to represent

Hydraulic Motor Friction

Mechanical System Modeling

Coulomb Friction: Modeling and Simulation

Mechanical System Modeling

Mechanical System Modeling

Remedies can include simply modifying the design

Mechanical System Modeling

Modeling Coulomb Friction

Mechanical System Modeling

Case Study to Evaluate Friction Model

Friction Model in Simulink

Mechanical System Modeling

Simulink Block Diagram

Mechanical System Modeling

Example with Friction Model

Mechanical System Modeling

Position, Velocity, Friction Force vs. Time

2*position, velocity, 0.1*Friction Force

2position, velocity, 0.1Friction Force