Mathematical Modelling of Mechanical Systems

We have two types of mechanical systems. Mechanical system may be a linear mechanical
system or it may be a rotational mechanical type of system.
In linear mechanical type of systems we have three variables 1. Force which is represented by F.
2. Velocity which is represented by V.
3.

Linear displacement represented by X.

And also we have three parameters1. Mass which is represented by M.

2. Coefficient of viscous friction which is represented by B.
3. Spring constant which is represented by K.
In rotational mechanical type of systems we have three variables1. Torque which is represented by T.
2. Angular velocity which is represented by
3. Angular displacement represented by
And also we have two parameters 1.

Moment of inertia which is represented by J.

2. Coefficient of viscous friction which is represented by B.

Now let us consider the linear displacement mechanical system which is shown below-

We have already marked various variables in the diagram itself. We have x is the displacement as
shown in the diagram. From the Newtons second law of motion, we can write force as-

From the diagram we can see that the,

On substituting the values of F1, F2 and F3 in the above equation and taking the Laplace
transform we have the transfer function as,

This equation is mathematical modelling of mechanical control system.

Sl.
No.

4.

Mechanical
Translational(linear)
System
Force (F)
Mass (M)
Viscous friction (D or B
or F)
Spring stiffness (k)

5.

Linear displacement (x)

6.

Linear velocity (u or v)

1.
2.
3.

Mechanical Rotational
System
Torque (T)
Moment of Inertia (M)
Viscous friction (D or B
or F)
Torsional spring
stiffness
(k)
Angular displacement
( )
Angular Velocity (w)

Sl.
No.

4.

Mechanical
Translational(linear)
System
Force (F)
Mass (M)
Viscous friction (D or B
or F)
Spring stiffness (k)

5.

Linear displacement (x)

6.

Linear velocity (u or v)

1.
2.
3.

Mechanical Rotational
System
Torque (T)
Moment of Inertia (M)
Viscous friction (D or B
or F)
Torsional spring
stiffness
(k)
Angular displacement
( )
Angular Velocity (w)

F.V
Analogy

F.I
Analogy

Voltage (V)
Inductance (L)
Resistance (R)

Current (I)
Capacitance (C)
Conductance (G)

Reciprocal
of Capacitance
(1/C)
Charge (q)

Reciprocal
of Inductance
(1/L)
Flux

Current (i)

Voltage (v)