Unit 3

Mathematical Modeling of Physical Systems

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 Lect07: Objectives

At the end of the lecture, I should be able to:

Find the transfer function for linear, time-
invariant translational mechanical systems
Find the transfer function for linear, time-
invariant rotational mechanical systems

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 Translational Mechanical System
Transfer Function
Force-velocity, force displacement and impedance translational
relationships for spring, viscous dampers and mass

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 Translational Mechanical
System Transfer Function
Comparing between Electrical network and Mechanical System:

Mechanical force Electrical voltage

Velocity Current
Displacement Charge
Spring Capacitor
Damper Resistor
Mass Inductor

MCB3013/rmz/jan-14
 Translational Mechanical System
Transfer Function
Example 11: Find the transfer function,
X(s)/F(s) for the system in figure 10.

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 Translational Mechanical System
Transfer Function

Begin the solution by drawing Free

Body Diagram (FBD). Place all forces Kx(t )
felt by the mass. We assume the mass
is travelling to the right. Thus, only dx
the applied force points to the right, fv
dt
all other force impede the motion and
act to oppose it. d 2x
M 2
dt
Now write the differential eq. of
d 2 x(t ) dx(t )
motion using Newtons law to sum to M 2
fv Kx(t ) f (t )
zero all of the forces shown on the dt dt
mass.
MCB3013/rmz/jan-14
 Translational Mechanical System
Transfer Function
Now write the differential eq. of
d 2 x(t ) dx(t )
motion using Newtons law to sum to M 2
fv Kx(t ) f (t )
zero all of the forces shown on the dt dt
mass.

Taking the Laplace transform, Ms 2 X (s) f v sX (s) KX (s) F (s)

assuming zero initial conditions,

Or (Ms 2 f v s K ) X (s) F (s)

X ( s) 1
Solving for the transfer function yields G( s)
F ( s) Ms 2 f v s K

MCB3013/rmz/jan-14
 Rotational Mechanical System
Transfer Function
Torque-angular velocity, torque-angular displacement and impedance
rotational relationships for spring, viscous dampers and inertia

MCB3013/rmz/jan-14
 Translational Mechanical System
Transfer Function
Example 12: Find the transfer function,
2(s)/T(s), for the rotational system in figure 11.

MCB3013/rmz/jan-14
 Translational Mechanical System
Transfer Function
In this system, there are two degrees of freedom. Since each inertia can be
rotated while the other held still. Hence it will take two simultaneous eq. to
solve the system.

Draw FBD of J1 using superposition

1(s) Direction 1(s) Direction 1(s) Direction

J1s21(s) J1s21(s)

T(s) J1 J1 T(s) J1
D1s1(s) D1s1(s)

K1(s) K2(s) K1(s)

K2(s)
a) Torques on J1 due only to b) Torques on J1 due only to c) Final FBD for J1
the motion of J1 (J2 still) the motion of J2 (J1 still)

MCB3013/rmz/jan-14
 Translational Mechanical System
Transfer Function

The same process is repeated for J2

2(s) Direction 2(s) Direction 2(s) Direction

J2s22(s) J2s22(s)

J2 J2 J2
D2s2(s) D2s2(s)

K2(s) K1(s) K2(s)

K1(s)
a) Torques on J2 due only to b) Torques on J2 due only to c) Final FBD for J2
the motion of J2 (J1 still) the motion of J1 (J2 still)

MCB3013/rmz/jan-14
 Translational Mechanical System
Transfer Function
1(s) Direction 2(s) Direction

J1s21(s) J2s22(s)

T(s) J1 J2
D2s2(s)
D1s1(s)

K1(s) K2(s)

K2(s) K1(s)
c) Final FBD for J1 c) Final FBD for J2

Summing torques respectively from the figures (c)

above we obtain the eq. of motions:

( J1s D1s K )1 ( s)
2
K 2 ( s) T ( s)
K1 ( s) ( J 2 s 2 D2 s K ) 2 ( s) 0
MCB3013/rmz/jan-14
 Translational Mechanical System
Transfer Function
( J1s D1s K )1 ( s)
2
K 2 ( s) T ( s)
K1 ( s) ( J 2 s 2 D2 s K ) 2 ( s) 0
2 ( s)K
For which the required transfer function is found to be
T ( s)
where

( J1s D1s K )
2
K

K ( J 2 s 2 D2 s K )

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