Classical Modelling Techniques

▪ Translational Mechanical Systems

▪ Rotational Mechanical Systems
▪ Gears

Dr Faraz Kunwar,
Department of Mechatronics Engineering
NUST College of Electrical and Mechanical Engineering
Rawalpindi, Pakistan
kfaraz@gmail.com
Recommended Text:
• Modeling and Simulation of Dynamic Systems 1st Edition by Robert L Woods, Kent L. Lawrence
• Introduction to Physical System Dynamics by RC Rosenberg and D Karnopp
• Introduction to Physical System Modeling by PE Wellstead
• Introduction to MATLAB for Engineers, 3rd Edition By William J. Palm III, University of Rhode Island
 Translational Mechanical Systems
• Modelling Examples
▪ Translational Mechanical System
Mechanical Systems
x
𝑘𝑥
dx 𝑑𝑥 M F
spring K dt 𝐶
𝑑𝑡
M F 𝑑2 𝑥 𝑑𝑥
Applied 𝑀 2 = 𝐹 − 𝑘𝑥 − 𝐶
𝑑𝑡 𝑑𝑡
damper C mass Force
𝑑2 𝑥 𝑑𝑥
𝑀 2 +𝐶 + 𝑘𝑥 = 𝐹
𝑑𝑡 𝑑𝑡
Spring,
Input Mass, Output • This eq gives relationship between
F Damper x input force F and output displacement x
System • It is a 2nd order differential equation

2
 Translational Mechanical Systems
• Modelling Examples
▪ Translational Mechanical System
Mechanical Systems

• Analysis of translational mechanical systems

▪ Define positions with directional senses for each mass in the system
▪ Draw free body diagram for each mass (expressing forces in terms of
mass position and velocity)
▪ Write an equation for each mass equating the algebraic sum of forces in
𝑑2 𝑥
acting in the same direction to 𝑀 2
𝑑𝑡
x
dx
spring K dt
Kx

M f
M f
dx
B
Applied dt
B
damper mass Force
3
 Examples
• Modelling Examples
▪ Translational • Consider the following system
Mechanical Systems
o Examples

• Free Body Diagram

fk fB
M fM X (s) 1
F
=
F(s) Ms 2 + Bs + k
F = fk + fM + fB
4
 Examples
• Modelling Examples
▪ Translational • Consider the following system
Mechanical Systems
o Examples x2

x1 k B
F M

• Mechanical Network
x1 k x2

F ↑ M B

5
 Examples
Mechanical Network
• Modelling Examples
▪ Translational •
Mechanical Systems
o Examples x1 k x2

F ↑ M B

x
At node
1

F = k ( x1 − x 2 )
At node x2

0 = k ( x 2 − x1 ) + Mx2 + Bx 2
6
 Examples
• Modelling Examples
▪ Translational • Find the transfer function X2(s)/F(s) of the following system.
Mechanical Systems
o Examples
k

M1 M2
B

7
 Examples
• Modelling Examples
▪ Translational
x1 x2
Mechanical Systems
o Examples
k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

8
 Examples
• Modelling Examples
▪ Translational
• Find the transfer function of the mechanical
Mechanical Systems translational system given in Figure-1.
o Examples
Free Body Diagram
fk fB

Figure-1

f (t ) fM

X (s) 1
f (t ) = f k + f M + f B =
F(s) Ms 2 + Bs + k
9
 Examples
• Modelling Examples
▪ Translational • Find the transfer function X2(s)/F(s) of the following system.
Mechanical Systems
o Examples
Free Body Diagram
f k1 f k f B f k1 fB
2

M2 M1
k2
F (t ) f M 2 f M1

F (t ) = f k1 + f k 2 + f M 2 + f B

0 = f k1 + f M 1 + f B
10
 Examples
• Modelling Examples
▪ Translational
Mechanical Systems
o Examples
x2 x3
x1
k1 B3 B4

u(t ) B1 M1 k2 M2 k3

B2 B5

11
 Examples
• Modelling Examples
▪ Translational • Automobile Suspension
Mechanical Systems
o Examples
❑ Automobile
Suspension

12
 Examples
• Modelling Examples
▪ Translational • Automobile Suspension
Mechanical Systems
o Examples
❑ Automobile
Suspension

13
 Examples
• Modelling Examples
▪ Translational • Automobile Suspension
Mechanical Systems
o Examples mxo + b( x o − xi ) + k ( xo − xi ) = 0 (eq .1)
❑ Automobile
Suspension

mxo + bx o + kxo = bxi + kxi eq. 2

Taking Laplace Transform of the equation (2)

ms 2 X o ( s ) + bsX o ( s ) + kX o ( s ) = bsX i ( s ) + kX i ( s )

X o (s) bs + k
=
X i ( s ) ms 2 + bs + k
14
 Modeling Example – Mechanical System

› Mechanical System Analysis Where

Equating forces for the first mass gives W11 (s)= Inertial force and all forces attached to M1
d 2 x1 d
4 2 = −7 x1 − 2( x1 − x2 ) − 6 ( x1 − x2 ) W12(s)= W21(s)=sum of forces connected to M1 and M2
dt dt
and similarly for the second mass W22 (s)= Inertial force and all forces attached to M2
d 2 x2 d F1 (s)= independent driving force on M1
5 2 = f − 3x2 − 2( x2 − x1 ) − 6 ( x2 − x1 )
dt dt
Collecting the terms we can write F2 (s)= independent driving force on M2
4
𝑑2 𝑥1
+6
𝑑𝑥1
+ 9𝑥1 − 6
𝑑𝑥2
− 2𝑥2 = 0
Solving these equations for X1 using the Cramer's rule we get
𝑑𝑡 2 𝑑𝑡 𝑑𝑡
2
𝑑𝑥1 𝑑 𝑥2 𝑑𝑥2 F1 ( s ) W12  1 
 s 2 + 1 6 s + 2
−6 − 2𝑥1 + 5 2 + 6 + 5𝑥2 = sin 𝑡
𝑑𝑡 𝑑𝑡 𝑑𝑡
F2 ( s ) W22
X 1 ( s) = =
Laplace transforming and assuming
W11 W12  
(4 s 2 + 6 s + 9) (5s 2 + 6 s + 5) 6 s + 2
2

zero initial conditions W21 W22 x1

2(x1 − x2 )
(4s 2
)
+ 6 s + 9 X 1 ( s ) + (−6 s − 2) X 2 ( s ) = 0 7x1
4
( ) 1 x1 x2
(−6 s − 2) X 1 ( s ) + 5s + 6s + 5 X 2 ( s ) = 2
2
2 f = sin t
s +1 7
4 5 6
d
(x1 − x2 )
The above equations can be written x2
dt
6 3
in the standard form as 2(x2 − x1 ) f =sint
W11 X 1 ( s) + W12 X 2 ( s) = F2 ( s) 5
W21 X 1 ( s) + W22 X 2 ( s) = F2 ( s) 6 (x2 − x1 )
d
dt
3x2
 Examples
• Modelling Examples
▪ Translational • Train Suspension
Mechanical Systems
o Examples
❑ Automobile
Suspension
❑ Train
Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie

Frame
Primary
Wheelsets
Suspension

16
 Examples
• Modelling Examples
▪ Translational • Train Suspension
Mechanical Systems
o Examples
❑ Automobile
Suspension
❑ Train
Suspension

17
 Rotational Mechanical System
• Modelling Examples Rotational System
▪ Translational
Mechanical Systems
▪ Rotational
Mechanical Systems

18
 Rotational Mechanical System
• Modelling Examples Rotational System
▪ Translational θ
Mechanical Systems • Analysis of rotational mechanical systems
▪ Rotational ▪ torque replaces force
Mechanical Systems J
▪ angular displacement replaces
translational displacement the torque due to
▪ mass is replaced by inertia B viscous friction
is (t ) = B d (t )
• Steps dt
τ 2nd derivative of the
▪ Draw angular positions with directional angle of rotation
senses for each rotational mass times the moment
of inertia d 2 (t )
▪ Draw free body diagram for each K  (t ) = J
dt 2
very similar to
rotational mass (expressing each torque mechanical spring
in terms of angular positions of the  (t ) = K (t )
masses)
▪ Write an equation for each rotational τ B
mass equating the algebraic sum of
torques on it to Free Body Diagram
K
19
 Modeling Example – Rotational System
Torques on J1 due only Torques on J1 due only
to the motion of J1 to the motion of J2
Final free body
diagram for J1

Torques on J2 due only Torques on J2 due only

to the motion of J2 to the motion of J1
Final free body
diagram for J2

 sum of impedences  sum of 

connected to the  ( s ) −  sum of impedences ( s ) = applied 
     
between1 and  2 
1 2

motion at 1  torques at 1 
 sum of impedences  sum of 
 sum of impedences
− 1 ( s ) + connected to the  2 ( s ) = applied 

between1 and  2  motion at  2  torques at  2 
 Gears
• Modelling Examples
▪ Translational • Gear is a toothed machine part,
Mechanical Systems
▪ Rotational such as a wheel or cylinder, that
Mechanical Systems
▪ Gears
meshes with another toothed part
to transmit motion or to change
speed or direction.

21
 Gears
• Modelling Examples
▪ Translational
› The two gears turn in opposite directions: one clockwise
Mechanical Systems and the other counterclockwise.
▪ Rotational
Mechanical Systems
▪ Gears
o Fundamental
Properties › Two gears revolve at different speeds when number of
teeth on each gear are different.

22
 Gears
• Modelling Examples
▪ Translational
Gearing Up and Down
Mechanical Systems
▪ Rotational • Gearing up is able to convert torque to velocity.
Mechanical Systems
▪ Gears
o Fundamental
• The more velocity gained, the more torque
Properties sacrifice.
❑ Gearing Up and
Down • The ratio is exactly the same: if you get three
times your original angular velocity, you reduce
the resulting torque to one third.
• This conversion is symmetric: we can also
convert velocity to torque at the same ratio.
• The price of the conversion is power loss due to
friction.

23
 Gears
• Modelling Examples
▪ Translational
Mechanical Systems
Why Gearing is Necessary?
▪ Rotational
Mechanical Systems
▪ Gears
• A typical DC motor operates at speeds that are
o Fundamental
Properties
❑ Gearing Up and
far too high to be useful, and at torques that are
Down
❑ Why Gearing is
Necessary?
far too low.

• Gear reduction is the standard method by which

a motor is made useful.

24
 Gears
• Modelling Examples
▪ Translational
Mechanical Systems
Gear Trains
▪ Rotational
Mechanical Systems
▪ Gears
o Fundamental
Properties
❑ Gearing Up and
Down
❑ Why Gearing is
Necessary?
❑ Gear Trains

25 25
 Gears
Gear Ratio
• Modelling Examples
▪ Translational
Mechanical Systems
▪ Rotational • You can calculate the gear ratio by using
Mechanical Systems the number of teeth of the driver divided
▪ Gears by the number of teeth of the follower.
o Fundamental
Properties • We gear up when we increase velocity Driver
❑ Gearing Up and
Down
and decrease torque.
Follower
❑ Why Gearing is
Necessary?
Ratio: 3:1
❑ Gear Trains
❑ Gear Ratio • We gear down when we increase torque
and reduce velocity.
Ratio: 1:3

Gear Ratio = # teeth input gear / # teeth output gear

= torque in / torque out = speed out / speed in
26
 Gears
Example of a Gear Trains
• Modelling Examples
▪ Translational
Mechanical Systems
▪ Rotational • A most commonly used example of gear trains is the
Mechanical Systems
▪ Gears
gears of an automobile.
o Fundamental
Properties
❑ Gearing Up and
Down
❑ Why Gearing is
Necessary?
❑ Gear Trains
❑ Gear Ratio
❑ Example of a
Gear Trains

27
 Gears
Mathematical Modelling of Gear Trains
• Modelling Examples
▪ Translational
Mechanical Systems
▪ Rotational • Gears increase or reduce angular velocity (while
simultaneously decreasing or increasing torque,
Mechanical Systems
▪ Gears
o Fundamental
Properties such that energy is conserved).
❑ Gearing Up and
Down Energy of Driving Gear = Energy of Following Gear
❑ Why Gearing is
Necessary?
❑ Gear Trains
N11 = N 2 2
❑ Gear Ratio
❑ Example of a
Gear Trains
❑ Modelling of
N1 Number of Teeth of Driving Gear
Gear Trains
1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

2 Angular Movement of Following Gear

28
 Gears
Mathematical Modelling of Gear Trains
• Modelling Examples
▪ Translational
Mechanical Systems
▪ Rotational › In the system opposite, a torque, τa, is
Mechanical Systems applied to gear 1 (with number of teeth
▪ Gears
o Fundamental
N1, moment of inertia J1 and a rotational
Properties friction B1).
❑ Gearing Up and
Down › It, in turn, is connected to gear 2 (with
❑ Why Gearing is number of teeth N2, moment of inertia J2 N2
Necessary?
and a rotational friction B2). N1
❑ Gear Trains
B1
❑ Gear Ratio
❑ Example of a
› The angle θ1 is defined positive
Gear Trains clockwise, θ2 is defined positive
❑ Modelling of clockwise. The torque acts in the B2
Gear Trains direction of θ1.
› Assume that TL is the load torque
applied by the load connected to Gear-2.

29
 Gears
Mathematical Modelling of Gear Trains
• Modelling Examples
▪ Translational
Mechanical Systems
▪ Rotational • For Gear-1
Mechanical Systems
▪ Gears
o Fundamental
 a = J11 + B11 + T1 Eq (1)
Properties
❑ Gearing Up and
Down
❑ Why Gearing is • For Gear-2
T2 = J 22 + B22 + TL
Necessary?
❑ Gear Trains Eq (2)
❑ Gear Ratio
❑ Example of a
N2
Gear Trains N1
❑ Modelling of • Since B1
Gear Trains
N11 = N 2 2
B2

• therefore N1
2 = 1 Eq (3)
N2 30
 Gears
Mathematical Modelling of Gear Trains
• Modelling Examples
▪ Translational
Mechanical Systems
▪ Rotational
Mechanical Systems T2 N2 N1
▪ Gears • Gear Ratio is calculated as =  T1 = T2
o Fundamental T1 N1 N2
Properties
❑ Gearing Up and
  N1
Down
❑ Why Gearing is • Put this value in eq (1)  a = J11 + B11 + T2
Necessary?
N2
❑ Gear Trains
❑ Gear Ratio
❑ Example of a
Gear Trains
• Put T2 from eq (2)
❑ Modelling of
  N1 N2
Gear Trains  a = J11 + B11 + ( J 22 + B22 + TL ) N1
N2
B1

• Substitute θ2 from eq (3)

𝑁1 𝑁1 𝑁1 B2
𝜏𝑎 = 𝐽1 𝜃1 + 𝐵1 𝜃1 + (𝐽2 𝜃1 + 𝐵2 𝜃ሶ1 + 𝑇𝐿 )
ሷ ሶ ሷ
𝑁2 𝑁2 𝑁2 31
 Gears
Mathematical Modelling of Gear Trains
• Modelling Examples
▪ Translational
Mechanical Systems
▪ Rotational
𝑁1 𝑁1 𝑁1
Mechanical Systems
𝜏𝑎 = 𝐽1 𝜃ሷ1 + 𝐵1 𝜃ሶ1 + (𝐽2 𝜃1 + 𝐵2 𝜃ሶ1 + 𝑇𝐿 )
ሷ
▪ Gears
𝑁2 𝑁2 𝑁2
o Fundamental
Properties
› After simplification
2 2
❑ Gearing Up and
  N1     N1  N1
Down  a = J11 +   J 21 + B11 +   B21 + TL
❑ Why Gearing is
Necessary?  N2   N2  N2
❑ Gear Trains
❑ Gear Ratio   N1 
2    N 
2  N1
❑ Example of a  a =  J1 +   J 2 1 +  B1 +  1  B2 1 + TL
Gear Trains   N2     N2   N2
❑ Modelling of    
Gear Trains
2 2
 N1   N1 
J eq = J 1 +   J 2 Beq = B1 +   B2
 N2   N2 
N1
 a = J eq1 + Beq1 + TL
N2 32
 Gears
Mathematical Modelling of Gear Trains - Practice
• Modelling Examples
▪ Translational
Mechanical Systems

› Drive Jeq and Beq and relation between applied

▪ Rotational
Mechanical Systems
▪ Gears
o Fundamental torque τa and load torque TL for three gears
Properties
❑ Gearing Up and
connected together.
Down
❑ Why Gearing is
Necessary?
2
❑ Gear Trains
1
❑ Gear Ratio
N1 3
❑ Example of a N2
Gear Trains

J1
N3
❑ Modelling of
Gear Trains J2 J3 TL

B2
B3
τa B1

33