Dynamics and control of mechanical systems

Date Content
Day 1 • Review of the basics of mechanics.
(01/08) • Kinematics of rigid bodies - coordinate transformation, angular velocity
vector, description of velocity and acceleration in relatively moving frames.
Day 2 § Euler angles, Review of methods of momentum and angular momentum of
system of particles, inertia tensor of rigid body.
(03/08)
• Dynamics of rigid bodies - Euler's equation, application to motion of
symmetric tops and gyroscopes and problems of system of bodies.
Day 3 • Kinetic energy of a rigid body, virtual displacement and classification
of constraints.
(05/08)
• D’ Alembert’s principle.
Day 4 • Introduction to generalized coordinates, derivation of Lagrange's equation
from D’ Alembert’s principle.
(07/08)
• Small oscillations, matrix formulation, Eigen value problem and numerical
solutions.
Day 5 • Modelling mechanical systems, Introduction to MATLAB®, computer
generation and solution of equations of motion.
(09/08)
Introduction to complex analytic functions, Laplace and Fourier transform.
JU – 2017/HL

Day 6 • PID controllers, Phase lag and Phase lead compensation.

(11/08) • Analysis of Control systems in state space, pole placement, computer
simulation through MATLAB.
DMS6021 - Dynamics and Control of Mechanical Systems 1

Fundamental principles
Purpose: Kinetic energy

Focus on
4 Kinetic energy of rigid bodies
4 Concept of virtual work and virtual dispalcement
4 Classification of constraints
4 D'Alembert's Principle
4 Examples
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DMS6021 - Dynamics and Control of Mechanical Systems 2

 Kinetic enrgy of a rigid body
Let’s consider a rigid body of mass m in plane motion.
T = 12 mv 2 + 12 å Δmi vi¢ 2 ; v' = ω x r '
æ ö
= mv + ç å ri¢ Δmi ÷÷w 2
1
2
ç 2 2 1
2
ç #$"$ !÷
è I ø
= 12 mv + 12 I w
2 2
#"! # " !
TTrans Rot

• Kinetic energy of a rigid body can be separated into:

- the kinetic energy of motion of the mass center C
and
- the kinetic energy of rotation of the body about C.

å Δm (r w ) å ωxr
2 2
TRot = 1
2 i i = 1
2 i Δmi
= [I w 2
+ I yw y2 + I zw z2 - 2 I xyw xw y - 2 I yzw yw z - 2 I zxw zw x ]
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1
2 x x

T = 12 mv 2 + 1
2
[I wx
2
x + I yw y2 + I zw z2 - 2 I xyw xw y - 2 I yzw yw z - 2 I zxw zw x ]
DMS6021 - Dynamics and Control of Mechanical Systems 3

Kinetic enrgy of a rigid body

If axes of coordinates coincide with the principal
axes x’ y’ z’ of the body

T = 12 mv 2 + 1
2
[I w
x'
2
x' + I y 'w y2' + I z 'w z2' ]
• For a rigid body is rotating about a fixed axis
through O.
æ ö
ç ÷
å Δm v å Δm (r w ) = ç å ri Δmi ÷w 2
2
T= 1
2
2
i i = 1
2 i i
1
2
2

ç$ !#! "÷
è Io ø
= 12 I Ow 2
T = 1
[I w 2
+ I yw y2 + I zw z2 - 2 I xyw xw y - 2 I yzw yw z - 2 I zxw zw x ]
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2 x x

• In principal coordinates x’ y’ z’ T = 1
2
[I wx'
2
x' + I y 'w y2' + I z 'w z2' ]
DMS6021 - Dynamics and Control of Mechanical Systems 4
 Conservation of Energy
• Example: Let´s expresse the work of
conservative forces as a change in potential
energy, the principle of work and energy
becomes
T1 + V1 = T2 + V2
• Consider the slender rod of mass m.
T1 = 0, V1 = 0 Moment of
inertia of rod
T2 = 12 mv22 + 12 I w 22 of length l

( )2 + 12 (121 ml 2 )w 2 = 12 ml3
2
= 12 m 12 lw w2

V2 = - 12 Wl sin q = - 12 mgl sin q

T1 + V1 = T2 + V2
1 ml 2 2 1
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0= ω - mgl sin θ
• mass m 2 3 2
• released with zero velocity 1
æ 3g ö 2
• determine w at q ω=ç sin θ ÷
è l ø

KE
4 Example
A wheel is freely rotating about a horizontal axis O
and an ideal string is wrapped on it has a small mass O
m attached at its end as shown. The wheel has a
moment of inertia I and radius R. Find the expression 𝝎 = v/R

for the speed of the mass after it has fallen through a

distance h. m

Sol.: Using energy theorem

T1 + V1 = T2 + V2 m

𝟏 𝟏 𝟐𝒎𝒈𝒉𝑹𝟐 𝑹
0 + mgh = m𝒗𝟐 + I𝝎𝟐 + 0è 𝒗 =
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𝟐 𝟐 (𝑰,𝒎𝑹𝟐 )

DMS6021 - Dynamics and Control of Mechanical Systems 6

 D’Alembert’s Principle
4 Equilibrium equation in statics: åF = 0
è can be used to solve for three unknowns in 3D space

4 Equilibrium equation of motion in dynamics: åF = m.a

where åF is the sum of the external forces acting on the particle, m is the particle
mass (constant), and a is the acc. of the particle relative to an inertial ref. frame.
Rewriting the equation of motion: åF - m.a = 0 External forces –
inertia forces = 0

Conversion of the system into a dynamics equillibrium

è D’Alembert’s principle
For a body in rotational motion: åT = I.a and åT - I.a = 0
where åT is the sum of external torques acting on the body, I is the mass
moment of inertia of the body wrt the rotating axis, and a is the angular acceleration of
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the body.
The principle is applied to solve problems for a body simultaneously undergoing
translation and rotation. It greatly simplifies complicated dynamic problems in mechanics.
DMS6021 - Dynamics and Control of Mechanical Systems 7

Virtual work and virtual displacement

4 For a system of N particles
Let the position of each particle be given by x1, x2, … x3N
Let’s consider that there are 3N forces F1, F2, … F3N acting in the
direction of each coordinate
Let the system at a given instant is subjected to small
displacements dx1, dx2, … dx3N in the direction of each coordinate
Work done by the forces: dW = åFi dxi
Virtual work
Virtual displacement

OR, in vector notation

dW = åFi dri
Note: • There is no passage of time for the displacement dx
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• The forces remain constant.

DMS6021 - Dynamics and Control of Mechanical Systems 8

 Constraints and degrees of freedom
Classification of constraints
4 If a constraint can be written as an equality function of the
form
f(r1, ….rn, t) = 0 or
f(q1, q2, … qN, t) = 0 (where qi are generalized coordinates), then it
is called holonomic constraint.
A rigid body has such types of constraints and existence of
holonomic constraints allow elimination of some variables
4 Constriants that can not be expressed in the above form are
called non-holonomic constraints. For example, motion of a
gas in a container
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DMS6021 - Dynamics and Control of Mechanical Systems 9

Virtual work and virtual displacement

Classification of constraints …
4 Equality constraints involve only generalized coordinates and time
(holonomic), while non-holomonic constraints
depend on generalized coordinates and higher derivatives (velocities),
as well as time.
4 Inequalities do not constrain the position in the same way as equality
constraints do, thus they are non-holonomic.
Other classifications
4 A geometric constraint restricts the configurations that can be
achieved during motion.
4 A kinematic constraint only restricts the velocities that can be acquired
at a given position. The system can, however, occupy any position
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desired

DMS6021 - Dynamics and Control of Mechanical Systems 10

 Virtual work and virtual displacement
4 Constraints and degrees of freedom (DOF)
A DOF is an important element in describing the dynamics of
a system consisting of multiple lumped parameters
4 Number of degrees of freedom of a system
= the minimum number of variables to completely
specify the position of every particle in the system
= Number of kinemtatically independent configuration constraints
or variables required to describe completely the motion of a system
NB: A rigid body in (unconstrained) space has 6 DOF (r,Ω)

The number of degrees of freedom of a particle/lumped mass gets

reduced if it is subjected to constraints. For instance, a rigid body in a 3D
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space has 3 DOF constrained, hence its motion is defined by 3 DOF.

DMS6021 - Dynamics and Control of Mechanical Systems 11

Virtual work and virtual displacement

4 Constraints and degrees of freedom (DOF)
4 Examples Fixed joint
Rolling contact Pinned joint

(Generally not applied

(Generally only to a rigid body motion)
applied to a rigid body)
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DMS6021 - Dynamics and Control of Mechanical Systems 12

 Virtual work and virtual displacement
4 Example Use the virtual work method and determine the relationship
between the torque M applied to the crank R and the force F
applied to the slider in the shown mechanism.

-1
æ æRö
2
ö 2
x = R cos q + Lç1 - ç ÷ sin 2 q ÷
ç èLø ÷
è ø
For system in static equilibrium R2 sin q cos q
Þ dx = - R sin qdq -
dW = å Fdx = M dq + Fdx = 0
-1
L æ 2
ö 2
ç1 - æç R ö÷ sin 2 q ÷
ç èLø ÷
è ø
where x = R cos q + L cos f Substituting and simplifying
R ì ü
h = R sin q = L sin f Þ sin f = sin q
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L ï ï
( )
- 12 ï Rosq ï
Trigonomietric relation : cos f = 1 - sin 2 f Þ M = FR sin q í1 + ý
2
æ 2
ö
- 12
ï æRö ï
æRö
Þ cos f = ç1 - ç ÷ sin 2 q ÷ ï L 1 - ç ÷ sin 2 q ï
ç ÷ èLø
è èLø ø î þ
DMS6021 - Dynamics and Control of Mechanical Systems 13

Summary and Questions

In this lecture we focused on KE of a rigid body, a.o.
4 Kinetic energy of rigid bodies: Transilation and rotation KE
4 KE of rigid body when coordinates of motion coincide with
the principal axes of the body
4 Concept of virtual work and virtual dispalcement
4 DOF and classification of constraints
4 D'Alembert's Principle

?
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Next: Intro. generalized coordinates, derivation of Lagrange's

equation from D’ Alembert’s principle.
DMS6021 - Dynamics and Control of Mechanical Systems 14