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    Analogous System

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    goyal.167009

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    4.4_MECHANICAL TRANSLATIONAL SYSTEMS ‘The model of mechanical translational systems can be obtained by using three basic elements mass, spring and dash-pot. These three elements represents three essential phenomena which occur in various ways in mechanical systems. ‘The weight of the mechanical system is represented by the.element mass and itis assumed to be concentrated at the center of the body. The elastic deformation of the body can be represented by @ “pring. The friction existing in rotating mechanical system can be represented by the dash-pot. The dash- pot isa piston moving inside a eylinder filled with viscous fluid. When a force is applied to a translational mechanical system, it is opposed by opposing forces due to mass, friction and elasticity of the system. The force acting on a mechanical body are governed by Newton's second law of motion. For translational systems it states that the sum of forees acting on a body is zero. (or Newton’s second law states that the sum of applied forces is equal to the sum of ‘opposing forces on a body) LIST OF SYMBOLS USED IN MECHANICAL TRANSLATIONAL SYSTEM x = Displacement, m a ., = Velocity, m/see at av_ ox . 2 a= Grog a Acceleration, misec* f= Applied force, N (Newtons) f= Opposing force offered by mass of the body, N §, = Opposing force offered by the elasticity of the body (spring), N f, = Opposing force offered by the friction of the body (dash - pot), N M= Mass, kg K = Stiffness of spring, Nim B = Viscous friction co-efficient, N-seo/m ‘Note : Lower case letters are flnctions of time 17 FORCE BALANCE EQUATIONS OF IDEALIZED ELEMENTS Consider an ideal mass element shown in fig 1.9 which has negligible friction and elasticity. Let a force be applied on it. The mass will offer an opposing force which is proportional to acceleration of the body. Let, f = Applied force hex f= Omori fe de mas 24 Heres tas Ge OF Fig 1.9: idea! mas element By Newton's second iaw,| Consider an ideal frictional element dashpot shown in fig 1.10 which has negligible mass and elasticity . Leta force be applied on it. The dash-pot will offer an opposing force which is proportional to velocity of the body. Let, f = Applied force £, = Opposing force. due to friction i—+ ——_| ¢ Here, or -B% B Reterence at A Fig 1.10 : Ideal dashpot with By Newton's second law f= a one end fixed to reference. ‘When the dashpot has displacement at both ends as shown in Lex, box fig 1.11, the opposing force is proportional to differential velocity. > 4 to = heteem) of f =B (aK, —x,) 1 & ot B Reference : ew) 014) Fig Ll: Idea! dashpot with Loa displacement at both ends. Consider an idea! elastic element spring shown in fig 1.12, bs Which has negligible mass and friction. Leta force be applied on it The spring will offer ani opposing force which is proportional to, E displacement of the body. row’ Let, f = Applied force Fig 1.12: Ideal spring with one end £, = Opposing force due to elasticity ‘Pixed to reference, Herefex or £=Kx By Newton's second law, Kx (us) When the spring has displacement at both ends as shown in b be #113 he opposing free is proportional to diferent dsplaccment. > —a—— K f<(%-%) or Fig 1.13 s ideal spring with 2 REKG 19) dlsplacoment al bth ends Es odes of Control Systems > 2) 1, Ln mechanical translational system, the differential equations governing the system are obrained by writing force balance equations at nodes in the system. The nodes are meeting point of elements. Generally the nodes are mass elements in the system. In some cases the ‘nodes may be without mass element, ‘The lineer displacement of the masses (nodes) are assumed as x, ,X,,X,, €.,and assign a displacement fo each mesc(node). The frst derivative of the displacement is velocity and the secord derivative ofthe displacement is acceleration. Sidelines to datarmina the Trancfer Function of Mechanical Translational System 3. Draw the five tody diagrams of the aystem . The froe body diagram is obtained by drawing ‘each mass separately and then marking al the foress scting on that mass (nede). Always the ‘opposing forse acis in a direction opposite to applied force. The mass has to move in the direction of the applied fores, Hence the displacement, velocity and acceleration ofthe mass ‘will be inthe direction of the applied force. I'thare is no applied force then the displacement, velocity and acceleration of the mass will be in a diresticn opposite to that of opposing: force. 4, For each free body diagram, write one differential equation by equating the sum of applied {orees to the sum of opposing forces. TTalce Laplace transform of differential equations to convert them to algebraic equations. Then rearrange the s-domain equations fo eliminate the unwanted variables and obtein the ratio between output variable and input variable. This ratio isthe transfer fmetion of the system. Note Laplace transform of xt) = L{x()}= Xe) ay _ fa lace transform o lS x Laplace transform of i oh ££, a@s=o nig) wth zero tntied conditions) fw. ) X(6) (with zero inital conditions) ex) Laplace wansform of © EXAMPLE 1.1 ‘Wt te eferertl equine gevering the machariceeyston shonin ard dtomin te transerRncton ie Pe x 8 t stip > | Mm, ee |e Qs = LathTr7 TITIENTITTTTI? 8 ‘9, SOLUTION Fer Inne dven system, cop force t!isthe houtandsplacementx is the out. Les Laplace vansfoon off) = Zim =F) fx) = Xie) Laplace wanstonm of = £13.) XI6) Laplcce transform of x oz] Xs) Hence the required wansierinconis 7) ‘Tresyetennastvo rods ante re mass M, aM The deren equations gvenng Ne steare gven by fora tela equations etaaenaces Lette dplaementofinass¥, De», The fee tod gran ofmassN,Sshown 2 The opposing Kroes acing onmass Mt mares 95 ff. Gand, oy eh. twee box oem SE eB go tg ke Bm = KO 9) ks, ‘By Newton's second ew, Mops Grbhabeted — fa, dn ae Lk ME 48, 4B Lam eka KO H)=0 Fig: Frosted dng x ‘ofmars M, (rode |) On atingLagce raefemotatove equetonwrizor inal enatens we get No) +B.9%(6)+Bs Dils)= MS) + KXI8) KDE -XiST=9 Xs) Ms? +(8,+8)8+(K+10]~Xis) B5+K1=0 (a) Ms +(B,+B)8-+(K +] =X(6) [85K] 2X6) op 0X8) FTE

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