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Mechanical System Modeling

Translation Rotation

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 Mechanical System Modeling - Translation
The differential equation that governs the system:
𝒎𝒚ሷ + 𝒃𝒚ሶ + 𝒌𝒚 = 𝒇 𝒕

𝒎𝒔𝟐 𝒀 𝒔 + 𝒃𝒔𝒀 𝒔 + 𝒌𝒀 𝒔 = 𝑭 𝒔

𝒎𝒔𝟐 + 𝒃𝒔 + 𝒌 𝒀 𝒔 = 𝑭 𝒔
Free body diagram:

The transfer function:

𝒀(𝒔) 𝟏
𝑮 𝒔 = =
𝑭(𝒔) 𝒎𝒔𝟐 + 𝒃𝒔 + 𝒌

Equation of motion, Newton’s law:

෍ 𝑭 = 𝒎𝒚ሷ ⟹

𝒇 𝒕 − 𝒌𝒚 − 𝒃𝒚ሶ = 𝒎𝒚ሷ
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 Mechanical System Modeling - Translation
State-Space Representation:

𝒙𝟏 = 𝒚 → 𝒙ሶ 𝟏 = 𝒚ሶ ⇒ 𝒙ሶ 𝟏 = 𝒙𝟐
𝒎𝒚ሷ + 𝒃𝒚ሶ + 𝒌𝒚 = 𝒇 𝒕 𝒌 𝒃 𝟏
𝒙𝟐 = 𝒚ሶ → 𝒙ሶ 𝟐 = 𝒚ሷ ⇒ 𝒙ሶ 𝟐 = − 𝒙𝟏 − 𝒙𝟐 + 𝒖
𝒎 𝒎 𝒎
𝒊𝒏𝒑𝒖𝒕: 𝒇 𝒕 ≡ 𝒖 𝒕 𝒚 = 𝒙𝟏
𝒃 𝒌 𝒖 𝒙ሶ 𝟏 𝟎 𝟏 𝒙𝟏 𝟎
𝒚ሷ + 𝒚ሶ + 𝒚 = = −𝒌 𝒃 ∙
𝒎 𝒎 𝒎 ሶ𝒙𝟐 𝒎 −𝒎 𝒙𝟐 + 𝒎
𝟏 ∙𝒖

𝒙𝟏
𝒚= 𝟏 𝟎 ∙ 𝒙 + 𝟎 ∙𝒖
𝟐

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 Drawing a Block Diagram

𝑬𝒐 𝟏
Closed-Loop Transfer Function: =
𝑬𝒊 𝑹𝑪𝒔 + 𝟏

Ei=IR+Eo= IR+I/Cs=I[(RCs+1)/Cs]
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Ei – Eo = (LS+R)I  I=(Ei - Eo)/(Ls+R)

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 Get it from block
𝑽𝒐𝒖𝒕 𝟏 diagram reduction
C. L. T. F.  = 𝑳
𝑽𝒊𝒏 𝑳𝑪𝒔𝟐 +𝑹𝒔+𝟏