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Mechatronic Systems
Ch2: Dynamics
• Hamilton's principle
• Lagrange Equation
• Kane’s Equation (Virtual Power):
MEMS Mag-Lev
Where
Where
𝒆𝒚
𝒆′𝒙
𝒆′𝒚 𝒅𝒆𝒙
𝒅ψ
𝒆𝒙
𝒆ሶ = 𝝮 × 𝒆 𝒆𝒙ሶ = 𝝎 × 𝒆𝒙 𝒆𝒚ሶ = 𝝎 × 𝒆𝒚
= ψሶ 𝒆𝒛 × 𝒆𝒙 = ψሶ 𝒆𝒛 × 𝒆𝒚
𝝎 = ∅ሶ 𝒆𝒙 + ψሶ 𝒆𝒛 𝝮 = ψሶ 𝒆𝒛 = ψሶ 𝒆𝒚 = −ψሶ 𝒆𝒙
𝝮: the rotation vector
that 𝒆𝒙 and 𝒆𝒚 subjected to.
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Basic Models in Dynamics
• Gyroscopic Motion.
• Velocity
• Acceleration
• Velocity
• Acceleration
Vector approach: In the Newtonian view of dynamics, changes of velocity or acceleration are produced by a
vector quantity that we call force.
Scalar approach: work-energy approach can be quite useful in solving many practical problems of both an
equilibrium nature (the method of virtual work) and a dynamic nature (Lagrange's equation and the method
of virtual power).
applied forces
virtual displacement
constraint force
virtual displacement
constraint force
𝑭𝑪 ∙ 𝛿𝒓 = 0
֜ … ֜
Linear Momentum
If we assume that the internal forces are central (they are directed
along the line between the masses) the total moment of the internal
forces is zero
Don’t confuse between total Mass (M) and force Moment (M)
4/13/2020 Dr. Hassan Diab – MTE 500– Spring 2019/2020 28
Systems Of Particles
The weak form of the third law
When the internal forces are not central ( like in some classic force
laws in electromagnetics)
≠0
Taking
and
(K<3N)
Where
For a system of particles, power is written as
• If the system is a rigid body, then we can show that the right-
hand side is zero.
• If the system is non-dissipative and the internal forces can also
be derived from a potential energy 𝑉𝑒 , representing elastic
deformations.
• Conservation of Energy
ഥ
In a matrix form we can define 𝝎
Where
Is a sympatric matrix
The moment of inertia about the x-axis (also called the second moment of mass).