ASSIGNMENT- 3

NAME : M.Mariselvam

ROLL NO : 19ME054

DEPARTMENT: Mechanical

SEM/YEAR : 7/4

COURSE NAME:Mechatronics

COURSE CODE :191ME74

System Models

 Mathematical Models
 Mechanical System Building Blocks
 Electrical System Building Blocks Fluid
System Building Blocks
 Thermal Systems Building Blocks

Mathematical Models

• Think how systems behave with time when subject to some disturbances.

• In order to understand the behaviour of systems, mathematical models are

required.

• Mathematical models are equations which describe the relationship

between the input and output of a system.

• The basis for any mathematical model is provided by the fundamental

physical laws that govern the behaviour of the system.

Building Blocks

• Systems can be made up from a range of building blocks.

• Each building block is considered to have a single property or function.

• Example: an electric circuit system which is made up from blocks which

represent the behaviour of resistance, capacitance, and inductor,
respectively.
• By combining these building blocks a variety of electrical circuit systems
can be built up and the overall inputoutput relationship can be obtained.

• A system built in this way is called a lumped parameter system.

Mechanical System Building Blocks

• Basic building block: spring, dashpots, and masses.

• Springs represent the stiffness of a system

• Dashpots represent the forces opposing motion, for example frictional or

damping effects.

• Masses represent the inertia or resistance to acceleration.

• Mechanical systems does not have to be really made up of springs,

dashpots, and masses but have the properties of stiffness, damping, and
inertia.

• All these building blocks may be considered to have a force as an input and
displacement as an output.

Rotational Systems

• The mass, spring, and dashpot are the basic building blocks for mechanical
systems where forces and straight line displacements are involved without
any rotation.
• If rotation is involved, then the equivalent three building blocks are a
torsional spring, a rotary damper and the moment of inertia (i.e. the inertia of
a rotating mass).
• With a torsional spring the angle θ rotated is proportional to the torque: T =
kθ.
• With a rotary damper a disc is rotated in a fluid and the resistive torque T is
proportional to the angular velocity ω.
 • The moment of inertia block exhibit the property that the greater the moment
of inertia J the greater the torque needed to produce an angular acceleration

T = cω= c dθ; T = Ja dt

Stiffness of a Spring

• Stiffness of a spring is described as the relationship between the force F

used to extend or compress a spring and the resulting extension or
compression x.

• In the case of spring where the extension or compression is proportional to

the force (linear spring): F = kx, where k is a constant, the bigger the value
of k the greater the forces have to be to stretch or compress the spring and
so the greater the stiffness.

Spring
F x
Translational Spring, k (N) Appied force Fa(t) in Newton
Linear velocity v(t) (m/sec)

Linear position x(t) (m) Fa (t) = ksx(t) x(t) = k1s Fa (t)

x
v(t) = dx(t) = 1 dFa (t) dt ks dt t
Fa (t) = ks ∫v(t)dt
t0
Rotational Spring, ks (N-m-sec/rad) Fa(t)
 Appied torque Ta(t) (N-m)

Angular velocity ω(t) (rad/sec)

Angular displacement θ(t) (rad) Ta (t) = Bmθ(t) θ(t) = k1s Ta (t)

ω(t) = dθ(t) = 1 dTa (t) dt ks dt t θ

Ta (t) = ks ∫ω(t)dt
t0
Dashpot Fa(t) ks
• The dashpot block represents the types of forces
experienced when pushing an object through a fluid or
move an object against frictional forces. The faster the
object is pushed the greater becomes the opposing
forces.

• The dashpot which represents these damping forces that slow down
moving objects consists of a piston moving in a closed cylinder.

• Movement of the piston requires the fluid on one side of the piston to flow
through or past the piston. This flow produces a resistive force. The
damping or resistive force is proportional to the velocity v of the piston: F
= cv or F = c dv/dt.

Translational Damper, Bv (N-sec)

Appied force Fa(t) in Newton Linear velocity v(t) (m/sec)

 x

Linear position x(t) (m) Fa (t) = Bmv(t) v(t) = B1m Fa (t) Fa (t) = Bmv(t) = Bm

dxdt(t) x(t) = B1v t∫t0Fa (t)dt Fa(t) Bm

Rotational Damper, Bm (N-m-sec/rad)

Appied torque Ta(t) (N-m) Angular velocity ω(t) (rad/sec)

Angular displacement θ(t) (rad) Ta (t) = Bmω(t) ω(t) = B1m Ta
(t)

Ta (t) = Bmω(t) = Bm dθdt(t) θ(t) = B1m t∫t0Ta (t)dt θ

Mass Fa(t) Bm
• The mass exhibits the property that the bigger the mass
the greater the force required to give it a specific
acceleration.
• The relationship between the force F and acceleration
a is Newton’s second law as shown below.
• Energy is needed to stretch the spring, accelerate the
mass and move the piston in the dashpot. In the case of spring and mass we
can get the energy back but with the dashpot we cannot.

Force Acceleration
Mass
F = ma = m dvdt = m ddt22x

Building Mechanical Blocks

Output, displacement

Mass

Ground
Input, force

• Mathematical model of a
machine mounted on
the ground

m d22x +c dxdt +kx = F dt

 Building Mechanical Blocks

Moment of inertia

• Mathematical model
of a rotating a
Torque mass

Torsionalresistance

J d2θ2 +c ddtθ+kθ=T dt

Block model

Shaft
Physical situation

Electromechanical Analogies

• From Newton’s law or using Lagrange equations of motions, the

secondorder differential equations of translational-dynamics and
torsionaldynamics are found as m ddt22x + Bv dxdt +ksx = Fa(t) (Translational
dynamics) j ddt2θ2 + Bm ddtθ+ksθ=Ta(t) (Torsional dynamics)