Dynamic Systems Mechanical Systems 031906 DYNSYS PDF

Mechanical Systems
FRF
TIME
FRF
FRF
TIME
TIME
= 0.1
=0
= 0.3
FRF
TIME
= 0.7
= 1.0
TIME
> 1.0
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
TIME
22.451 Dynamic Systems Chapter 4
STABLE
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
UNSTABLE
Mechanical Systems-Translational Mass Element

Translation of a particle moving in space due to an
applied force is given by:
dp
f=
dt
Where:
f = force
p = momentum = mv
Considering the mass to be constant:
d (mv)
dv
f=
fdt = mdv f = m
= ma
dt
dt
Dr. Peter Avitabile

Mechanical Systems Translational Mass Element

Displacement, velocity, and acceleration are all
related by time derivatives as:
d d 2 x
a=
= 2
dt dt
a = v& = &x&
Dr. Peter Avitabile

Mechanical Systems Rotational Mass Element

Centroidal mass moment of inertia Ic (not to be
confused with I area moment of inertia used in
strength of materials)
d
&
=
=
dt
Angular acceleration
where:
= angular velocity
= angular displacement
Then:
d d 2
=
=
dt
dt
Dr. Peter Avitabile

Mechanical Systems - Translational Spring Element

A linear spring is considered to have no mass
described by:
k
fk
fk
x1
x2
f k = kx rel = k (x1 x 2 )
(Torsional spring follows the same relationship)
Dr. Peter Avitabile

Translational Spring Element

Hardening Spring
Linear
k
Softening Spring
Bi-Linear
f
Gap
= N/m
Cubic
f
f
x
k = lb/in
Dr. Peter Avitabile

Damper Element
Viscous (fluid), Coulomb (dry friction), and structural
damping (hysteretic)
vrel
Viscous Dashpot
f c = c rel
fc
fa
Coulomb Damper
In order to have motion, the applied force must
overcome the static friction. As soon as sliding occurs,
the dynamic friction becomes appropriate.
fc
f c = c(1 2 )
Linear
c
fc
x&
c
v1
v2
fc
Dr. Peter Avitabile

Equivalence - Springs in Parallel

f
f
x
x
k1
k2
keq
Both springs see the same displacement
f=f1 + f2
f
f1
f1=k1x
f2
keqx=k1x + k2x
f2=k2x
=(k1 + k2)x
k eq = k1 + k 2
Dr. Peter Avitabile

Equivalence - Springs in Series

f=keq
f
k1
k2
x1
x2
keq
f=k1(x1-x2)=k1 1
k1
f
k2
f2=k2x2=k2 2
Both springs see the same force but different displacements
= 1 + 2
f
f1 f 2
= +
k eq k1 k 2
1
1
1
= +
k eq k1 k 2
k eq
But f = f1 = f 2
k1k 2
=
k1 + k 2
Dr. Peter Avitabile

Translational Systems
Newtons Second Law- THE RIGHT WAY
F = ma
OR
Fx = ma x
Fy = ma y
+
+
Note that this applies to the center of mass which is not

necessarily the center of gravity.
Free-Body Diagram & Sign Convention
kx
cx&
10
f (t)
x + x& &x&
Dr. Peter Avitabile

Translational Systems Newtons 2nd Law

Assume spring and dashpot are stretched
Fx = ma x
f ( t ) Fc Fk = m&x&
OR
f ( t ) cx& kx = m&x&
or in standard input-output differential form
c
k
f (t)
&x& + x& + x =
m
m
m
m&x& + cx& + kx = f ( t )
=
&x& + 2n x& + n x = f ( t )
c
cc
- damping ratio
cc = 2mn critical damping

k
n2 =
m n natural frequency
11
Dr. Peter Avitabile

DAlemberts Principle The Fictitious Force

The mass times acceleration is sometimes described
as a fictitious force, reverse effective force or
apparent force
F + ( ma ) = 0
Initially developed since it looks like a classical
force balance but often confuses many students.
DO NOT USE DALEMBERT!!!!!
USE NEWTONS SECOND LAW
12
Dr. Peter Avitabile

Example Pendulum Problem

Mass at end of massless string
J = ml
l
FBD
mg sin
Then
&& + g sin = 0
l
mg cos
mg
mg
J&& = mglsin
x+
OR
ml && + mglsin = 0
g
&
&
for small. + = 0
l
g
Natl freq.
n = l
2
13
Dr. Peter Avitabile

Example Differential Equation about Equilibrium
Source: Dynamic Systems Vu & Esfandiari
Fy = ma y
ky + mg = m&y&
k (x st + x ) + mg = m&x&
but mg = kx st
m&x& + kx = 0
14
Therefore, the equations

can be written about the
equilibrium point and the
effect of gravity makes
no difference.
Dr. Peter Avitabile

Systems with Displacement Input

+
Fx = ma x
m
c
FBD
y
k(y x)
k (y x ) + c(y& x& ) = m&x&
In terms of natural
frequency and damping
ratio
The force exerted can
be found to be
c( y& x& )
OR
m&x& + cx& + kx = cy& + ky

2
&x& + 2n x& + n x = 2 n y& + n y

f ( t ) = k (y x ) + c(y& x& )
15
Dr. Peter Avitabile

Transfer Function and State Space

k
m
c
m&x& + cx& + kx = f ( t )
f(t)
L(m&x&) = s 2 mX(s) msX 0 mX& 0 L (kx) = kX ( s )

L ( f (t )) = f ( s )
L (cx& ) = scX ( s ) cX 0
& + scX(s) cX + kX(s) = f (s)
s 2 mX(s) msX 0 mX
0
0
16
Dr. Peter Avitabile

Transfer Function and State Space

Grouping and rearranging:
(ms
&
+ cs + k X(s) = f (s) + (ms + c )X 0 + mX
0
Assume initial conditions are zero and rearranging

terms to obtain OUT/IN form
Then:
X(s)
1
H(s) =
=
F(s) ms 2 + cs + k
Sometimes written with
b(s) = ms 2 + cs + k
17
Dr. Peter Avitabile

Frequency Response Function - SDOF

The frequency response function is the system
transfer function evaluated along s = j
Recall:
h (s) =
1
ms 2 + cs + k
The complex valued

function defines the
surface shown
Source: Vibrant Technology
18
Dr. Peter Avitabile

SDOF Transfer Function

Polynomial Form
1
h (s) =
ms 2 + cs + k
Pole-Zero Form
1/ m
h (s) =
(s p1 )(s p1* )
Partial Fraction Form
a1
a1*
h (s) =
+
(s p1 ) (s p1* )
Exponential Form
1 t
h(t) =
e sin d t
md
19
Dr. Peter Avitabile

SDOF Frequency Response Function

Polynomial Form
h(j) =
1
m 2 + cj + k
1/ m
Pole-Zero Form
h ( j) =
Partial Fraction Form
a1
a1*
+
h ( j) =
( j p1 ) ( j p1* )
20
( j p1 )( j p1* )
Dr. Peter Avitabile

SDOF Transfer Function

Transfer Function approach is used extensively in
design but is limited to linear, time-invariant systems.
1. T.F. method to express output relative to input
2. T.F. system property independent of the nature
of excitation
3. T.F. contains necessary units but does not provide
physical structure of system
4. If T.F. is known, then response can be evaluated
due to various inputs
5. If T.F. is unknown, it can be established
experimentally by measuring output response due to
known measured inputs
21
Dr. Peter Avitabile

S-plane Plots
FRF
TIME
FRF
FRF
TIME
TIME
= 0.1
=0
= 0.3
FRF
TIME
= 0.7
= 1.0
TIME
> 1.0
TIME
STABLE
22
UNSTABLE
Dr. Peter Avitabile

Experimental Determination of Damping Ratio

Determine decay of amplitude
x1 at t1 and again at n cycles
later xn at t1 + (n-1)T
Then x
1
x1
t1
x2
t2
T - period
e t
1
= (t +T ) = T = e T
x2 e
e
n
OR
x1
1
= (n 1)T = e (n 1) T
xn e
n
23
Dr. Peter Avitabile

xn
tn
Log Decrement
x1
x1
1
ln = n T
ln =
x 2 n 1 x n
2
2
=
= n
d
1 2
x1
1
2
ln =
n 1 x n
1 2
For damping < 10%
Note: This damping

ratio formulation is
applicable to any 2nd
order system of this
form
x1
ln
2
x2
24
Dr. Peter Avitabile

Estimate of Response Time

The response of a mechanical system due to an
initial displacement is given as:
x(t) =
X0
e t cos(d t )
n
1 2
The exponential response envelope is
X0
1 2
e t
n
whose time constant T of the exponential is
1
1
=
n
25
Dr. Peter Avitabile

Estimate of Response Time

The response of the second-order system in terms
of the settling time is
4
4
t s = 4T =
=
n
which will cause 2%
of the initial value

26
Dr. Peter Avitabile

State Space Representation

The state of the system can be described in
terms of the displacement and velocity as
x1 x
=
x 2 x&
x1 x (displ)
X= =
&
x 2 x ( velocity)
u = f (force) and y = x (measured by sensor)
c
1
k
Then &x& = x x& + f ( t )
m
m
m
OR
c
1
k
x& 2 = x1 x 2 + u
m
m
m
27
Dr. Peter Avitabile

State Space Representation

So that the state space representation is
State
Equation
Output
Equation
x& 1 0
= k
x& 2 m
1 x1 0
+ 1 u
c
m x 2
m
x1
y = [1 0] + 0 u
x2
28
Dr. Peter Avitabile

Lagranges Equations
d T T V

= Q nci
+
dt q i q i q i
T Kinetic energy
V Potential energy
Qnci non-conservative generalized forces
qi independent generalized coordinates
n
total # independent generalized coordinates
Kinetic Energy is a function of T ( qi , t ) dq / dt
Potential energy is the sum of elastic potential Ve
and gravitational potential Vg
Potential Energy is a function of V ( qi , t )
29
Dr. Peter Avitabile

Lagranges Equations
One standard form of Lagranges Equation
d L L

= Qnci
dt q&i qi
where L = T-V
We can then write
d (T V ) (T V )

= Qnci
dt q&i
qi
(Note V is not a function of q&i )
30
Dr. Peter Avitabile

Lagranges Equations
Kinetic energy for a particle
1
1D T = mv 2
2
1
2 1
2D T = mv + I c 2
2
2
If the mass is not located at a

point (such as a particle), then
a more complicated form of
these equations is necessary
Potential Energy of an
elastic element is
1 2
Ve = k
2
Potential Energy of
a mass is
Vg = mgh
31
Dr. Peter Avitabile

Lagranges Equations
Non-conservative Forces are those that cannot be
derived from a potential function (i.e., external forces,
frictional forces)
Generalized Forces are given by Virtual Work.
W = Qi q i = Q1q1 + Q 2q 2 + L
To determine Qj, obtain W, then let all
q i = 0 except q j
Thus
W
Qj =
q j
q j = 0
ji
32
Dr. Peter Avitabile

Lagranges Equations
Non-conservative Forces are then:
Wnc = Q nci q i = Q nc1q1 + Q nc 2q 2 + L

Then
Q nci
Wnc
=
q i
q i = 0
ji
33
Dr. Peter Avitabile

Example using Lagrange Equation

Use Lagrange EQ to obtain
differential equation for
SDOF system
k
m
c
f(t)
Only one independent generalized coordinate exists: q=x

Kinetic Energy
1
1
2
T = mvc = mx& 2
2
2
Potential Energy
V = Ve =
f ( t ) applied
Non-conservative
Forces
1 2
kx Vg = 0
2
cx& dissipative
34
Dr. Peter Avitabile


Non-Conservative Forces
Wnc = [f ( t ) cx& ]x
Wnc = Q nc x
Q nc
Wnc
=
= f ( t ) cx&
x
Lagrange Equation
d T T V
+
= Q nc

dt x& x x
35
Dr. Peter Avitabile


Lagrange Equation
Where
d T T V
+
= Q nc

dt x& x x
1
( mx& 2 )
T
= 2
= mx&
x&
x&
T
d( )
x& = m&x&
dt
1
( mx& 2 )
T
= 2
=0
x
x
Then substituting
m&x& + kx = f ( t ) cx&
OR
m&x& + cx& + kx = f ( t )
1 2
( kx )
V
= 2
= kx
x
x
36
Dr. Peter Avitabile


Now lets repeat this with the Lagrange function
1
2 1
&
L = T V = mx kx 2
2
2
L
( )
x& L = Q
nc
t
x
1
( mx& 2 kx 2 )
L
= mx&
= 2
x&
x&
L
( ) = mx&
x&
L
)
x& = m&x&
t
m&x& + cx& + kx = f ( t )
37
Dr. Peter Avitabile

Example Translational Mechanical System

g
k
Undeformed position
xst
x
Static equilibrium
Dynamic position
Solution

38
Dr. Peter Avitabile


39
Dr. Peter Avitabile


40
Dr. Peter Avitabile


41
Dr. Peter Avitabile

Example - Two DOF Systems

Consider
f2(t)
f1(t)
k
m1
m2
x2
x1
STATE
ASSUMPTIONS!!!
FBD (assume x1 > x2)

f1
k ( x1 x 2 )
m1
c( x& 1 x& 2 )
m2
f2
F = ma (1) f1 ( t ) c( x& 1 x& 2 ) k ( x1 x 2 ) = m1&x&1

F = ma (2) f 2 ( t ) + c( x& 1 x& 2 ) + k ( x1 x 2 ) = m 2 &x& 2
42
Dr. Peter Avitabile


Rearranging Terms
m1&x&1 + cx& 1 cx& 2 + kx1 kx 2 = f1 ( t )

m 2 &x& 2 cx& 1 + cx& 2 kx1 + kx 2 = f 2 ( t )
m1 0 &x&1 c c x& 1 k k x1 f1
0 m &x& + c c x& + k k x = f
2
2 2
2 2
43
Dr. Peter Avitabile


Consider
f2(t)
f1(t)
k2
k1
m1
c
x1
m2
x2
FBD (assume x2 > x1)

F = ma (1) f1 ( t ) k1x1 + c( x& 2 x& 1 ) + k 2 ( x 2 x1 ) = m1&x&1
F = ma (2) f 2 ( t ) c( x& 2 x& 1 ) k 2 ( x 2 x1 ) = m 2 &x& 2
f1 ( t )
k1 x 1
c( x& 2 x& 1 )
m1
m2 f 2 ( t )
k 2 ( x 2 x1 )
44
Dr. Peter Avitabile


Rearranging terms
m1&x&1 + cx& 1 cx& 2 + (k1 + k 2 ) x1 k 2 x 2 = f1 ( t )

m 2 &x& 2 cx& 1 + cx& 2 k 2 x1 + k 2 x 2 = f 2 ( t )
m1 0 &x&1 c c x& 1 (k1 + k 2 ) k 2 x1 f1

=
0 m &x& + c c x& + k
k 2 x 2 f 2
2
2 2
2
45
Dr. Peter Avitabile

Rotational Systems
A rotational system follows the same equations
developed for translation
Newtons Second Law
M 0 = I0
M 0 moments applied
I 0 mass moment of int
& angular accel.
w
Mass moment of inertia of rigid body about axis

J or I 0 = r 2dm
46
Dr. Peter Avitabile

Rotational Systems
Torsion spring stiffness similar to translation
Tk = K T ( 2 1 )
Tk = K T ( REL )
FT LB / RAD
Dashpot similar to translation
TD = C D (& 2 & 1 )
C D or B often used
TD = C D ( REL )
Right hand rule convention determines +/-
47
Dr. Peter Avitabile

Rotational Systems
IN
OUT
FBD
TS
TD
48
Dr. Peter Avitabile

Rotational Systems - Equations

M = J TS + TD = J
d 2 0
dt
= I
TS = K T ( IN OUT )
TD = B& OUT
K T ( IN OUT ) B& OUT = J&&OUT
J&&OUT + B& OUT + K T OUT = K T IN
Most systems we will treat will be 2D or planar
systems. Modeling of general 3D bodies is more
complex and beyond the scope of this course.
49
Dr. Peter Avitabile

Example - SDOF Torsional System
T( t )
T( t )
J
B&
( b)
(a )
A torsional system: (a) physical system, (b) FBD
50
Dr. Peter Avitabile

Example - SDOF Torsional System

Consider a single-degree-of-freedom (SDOF) torsional
system. The system consists of a shaft of torsional
stiffness K, a disk of mass-moment of inertia J, and a
torsional damper B. Derive the differential equation.
Solution. Applying the moment equation about the mass center
along the longitudinal axis.
+ M c = Ic +
This sign convention is simpler and useful for the given angle .
Thus,
T ( t ) K B& = J&&
The differential equation in the input-output form is
J&& + B& + K = T( t )
51
Dr. Peter Avitabile

Example - Two DOF Torsional System

52
Dr. Peter Avitabile

Example - Two DOF Torsional System
53
Dr. Peter Avitabile

Example - Rigid Body in Planar Motion

Point mass on string Moment method
M 0 = I 0
L sin mg = (0 + ml2 )&&
mL2&& + mgL sin = 0

mg
L sin
g
As before && + sin = 0
L
54
Dr. Peter Avitabile


Thin uniform rod of mass m and length l is a pendulum
FBD
M 0 = I 0
Then
mg
L
sin mg = I 0&&
2
I 0&& + mg
l
sin = 0
2
55
Dr. Peter Avitabile


Linearization: For small sin
mgL
&
&
=0
I 0 +
2
mgL
&
&
or +
=0
2I 0
where
I 0 = I c + md
L 2
= I c + m( )
2
1 2
Ic =
1
mL2
12
I 0 = mL
3
56
Dr. Peter Avitabile

Mixed Translation and Rotation

r
Pulley system
Ic
Ic of pulley, mass m of radius r,

Tension in string
Newtons second law for mass m
m&x& = T
(everything measured from equilibrium so no mg term)

Rotation of pulley J&& = Tr kxr
For small angle
x = r
and (J + mr 2 )&& + kr 2 = 0
2
kr
&& +
or
=0
2
J + mr
The natural frequency is

then
n =
57
J&& = m&x&r kxr
kr 2
J + mr 2
Dr. Peter Avitabile
Example Cart-Pendulum Problem
k
c
M
L
Consider the pendulum system

shown attached to a horizontal
cart
Cart moves horizontally on
frictionless surface. Mass on
inextensible string
This is a mixed problem. First solve the pendulum and

then the cart translation.
The general moment about point P (where the string is
attached to the cart mass) is needed to sum the forces
for Newtons Second Law.
58
Dr. Peter Avitabile

Mp = Ip + mrc / p x a p
Py
a p = &x&
Px
rc / p = L
1
C1
L sin
mg
59
Dr. Peter Avitabile


The cross product term is
rc/p ap = rc/p ap sin

= L&x& sin(90 ) = L&x& cos
Using the parallel axis theorem, the mass of the

pendulum at a distance L gives
Ip = mL2 Ip = mL2&&
The moment about P due to the mass on the pendulum is
M = mgL sin
The general moment equation becomes
mgL sin = m L2&& + m L&x& cos

60
Dr. Peter Avitabile


Now the translational equation is evaluated. Only horizontal
is considered.
kx
cx&
a px = &x&
f (t )
L sin
centripetal
L& 2 sin
61
L& 2
tangential
L&&
&
L&cos
Dr. Peter Avitabile


For the cart, Newtons Second Law
The acceleration of the pendulum mass
&x& + L&&cos L& 2sin
(cart) (tangential) (centripetal)
F = ma f (t) kx cx&
= m(&x& + L&& cos L& 2 sin ) + M&x&
mL2&& + mL&x& cos + mgLsin = 0
x (M + m)&x& + m L&& cos L& 2 sin + cx& + kx = f (t)
62
Dr. Peter Avitabile

(cos 1; sin ; & 0)
For small motion, the

equations can be linearized
mL2&& + mL&x& + mgL = 0
(M + m)&x& + mL&& + cx& + kx = f (t)

or in matrix forms as
mL2
mL && 0 0& mgL 0 0
+
+
=
mL (M + m)&x& 0 cx& 0 kx f (t)
63
Dr. Peter Avitabile

Chapter 4 - Review Slide

x1
x2
t1
xn
t2
tn
x1
ln
2
x2
f
k1
x
k1
k2
k2
k eq
k eq = k1 + k 2
64
x1
x2
k1k 2
=
k1 + k 2
Dr. Peter Avitabile


Dynamic Systems Mechanical Systems 031906 DYNSYS PDF

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Dynamic Systems Mechanical Systems 031906 DYNSYS PDF

Uploaded by

Copyright:

Available Formats

Mechanical Systems

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Mechanical Systems-Translational Mass Element

Considering the mass to be constant:

Dr. Peter Avitabile

Mechanical Systems Translational Mass Element

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Mechanical Systems Rotational Mass Element

Dr. Peter Avitabile

Mechanical Systems - Translational Spring Element

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Translational Spring Element

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Dr. Peter Avitabile

Equivalence - Springs in Parallel

Both springs see the same displacement

Dr. Peter Avitabile

Equivalence - Springs in Series

Both springs see the same force but different displacements

Dr. Peter Avitabile

Note that this applies to the center of mass which is not

Free-Body Diagram & Sign Convention

Dr. Peter Avitabile

Translational Systems Newtons 2nd Law

or in standard input-output differential form

cc = 2mn critical damping

Dr. Peter Avitabile

DAlemberts Principle The Fictitious Force

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Example Pendulum Problem

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Example Differential Equation about Equilibrium

Source: Dynamic Systems Vu & Esfandiari

22.451 Dynamic Systems Chapter 4

Therefore, the equations

Dr. Peter Avitabile

Systems with Displacement Input

k (y x ) + c(y& x& ) = m&x&

m&x& + cx& + kx = cy& + ky

&x& + 2n x& + n x = 2 n y& + n y

Dr. Peter Avitabile

Transfer Function and State Space

L(m&x&) = s 2 mX(s) msX 0 mX& 0 L (kx) = kX ( s )

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Transfer Function and State Space

Assume initial conditions are zero and rearranging

Sometimes written with

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

Frequency Response Function - SDOF

The complex valued

22.451 Dynamic Systems Chapter 4

Dr. Peter Avitabile

SDOF Transfer Function

Partial Fraction Form

22.451 Dynamic Systems Chapter 4