ASS 2.

8 PAGE 66

x2

x1
K 1N .m 1

fv1 1 N .s.m

M 2 1 kg

f (t )

M 1 1 kg

fv4 1 N .s.m

fv4 1N .s.m 1

fv2 1N .s.m 1

To obtain the equation of motion of the system, one can use the principle of
superposition of motion. [The principle is valid for LTI systems].
a) The system is 2-DOF. In other words, two independent variables (coordinates) are
required to describe the motion of the system.
To obtain the equation of motion of M 1
Step I

Hold M 2 , push M1 by x1 to the right

x1

M1s X1 (s)

Hold M1 , push M 2 by x 2 to the right

x1

fv1 sX 1 ( s )

fv1 sX 2 ( s )

KX 1 ( s )

KX 2 ( s )

F (s)

fv3 sX 1 ( s )

fv3 sX 2 ( s )

fv2 sX 1 ( s )

fv2 sX 2 ( s )

Forces acting on M 2
Step II
Analogous to the step I above.

Prof A A Alugongo

AUTOMATIC CONTROL_SEPT., 2016

x2
x1

fv1 sX 1 ( s )

x2

fv1 sX 2 ( s )

KX 1 ( s )

KX 2 ( s )
M 2 s2 X 2

fv3 sX 1

fv3 sX 2

fv2 sX 1 ( s )

fv4 sX 2

fv2 sX 2 ( s )

+
Equation of motion of system I
M1s 2 X1 ( s) sfv1 X1 ( s) KX1 ( s) fv3 X1s( s) fv2 sX1 ( s) sfv1 X 2 ( s) KX 2 ( s) fv3 X 2 s(s) fv2 sX 2 (s) F ( s) 0

(1)
Equation of motion of system II
sfv1 X 1 ( s) KX 1 ( s) fv3 X 1s( s) fv2 sX 1 ( s) sfv1 X 2 ( s) KX 2 ( s) fv3 X 2 s( s) fv2 sX 2 ( s) M 2 s 2 X 2 (s ) fv4 sX 2 ( s) 0

(2)
Equation 1 can be written as
M1s 2 sfv1 K fv3 fv2 s X 1 (s ) sfv1 K fv3 fv2 s X 2 (s ) F (s )

(1)

Write equation 2 as
sfv1 K fv3 fv2 s ) X 1 ( s ) sfv1 K fv3 fv2 s M 2 s 2 fv4 s X 2 (s ) 0

(2)

and
sfv1 K fv3 fv2 s M 2 s 2 fv4 s
X (s)
X1 ( s)
2
sfv1 K fv3 fv2 s )

(2)

Substitute (2) in Equation 1 and

Obtain
4s K M 3 s 2 X 2 (s)

M 1 s 2 3s K
3s K X 2 ( s ) F ( s )

3s K
4 s K M 3 s 2 X 2 ( s ) 3s K X 2 ( s )

M 1 s 2 3s K
F (s)
3s K
2

Hence
X 2 (s)
3s K
3s 1
3s 1

2
2
F (s)
M 1 s 2 3s K 4s K M 2 s 2 3s K
s 2 3s 1 4s 1 s 2 3s 1
s s 3 7 s 2 5s 1

Prof A A Alugongo

AUTOMATIC CONTROL_SEPT., 2016