1

MECHANICAL
SYSTEM MODELING
 Chapter 2 Modeling in the Frequency Domain
/2010 11:29:33 Page 62

1 MECHANICAL SYSTEM MODELING

TABLE 2.4 Force-velocity, force-displacement, and impedance transla
MECHANICALforELEMENTS
springs, viscous dampers, and mass
Chapter 2 Modeling in the Frequency Domain

TABLE 2.4 Force-velocity, force-displacement, and impedance translational relationships

1. Spring Elements Component
for springs, viscous dampers, and mass Force-velocity Force-displacement
Impedence
Component SpringForce-velocity Force-displacement ZM ðsÞ ¼ FðsÞ=XðsÞ

Spring x(t)
x(t) Rt
-38591 book December 17, 2008 12:4
f ðtÞ ¼ K
Rt
vðtÞdt f ðtÞ
f ðtÞ ¼ KxðtÞ 0 vðtÞdt
¼ K K f ðtÞ ¼ KxðtÞ
f (t) f0(t)
K
K
Viscous damper
x(t) 4. 2dxðtÞModeling Mass-Spring Systems
f ðtÞ ¼ f v vðtÞ f ðtÞ ¼ f v f vs
Viscous damper
f (t) dt
$อควร)เ+ยว,บ
Figure Effect
4.2.2 Effect v
ofof
f
gravity
inclination x(t)
on a mass-spring model.
dxðtÞ
Mass
f ðtÞ ¼ f v vðtÞ f ðtÞ ¼ f v
x(t) f (t)
dvðtÞ 2
d xðtÞ
E dt
f ðtÞ ¼ M f ðtÞ ¼ M Ms2 k(x ! "st)
dt dtL2
LL M f(t) "st
fv L a x
a
"st m
k
Note: The following set of symbols and units a E is used throughout this book: f ðtÞ ¼ N ðnewtonsÞ,
Mass k f v ¼ N-s/mðnewton-seconds/
xðtÞ ¼ m ðmetersÞ, vðtÞ ¼ m/s ðmeters/secondÞ, K ¼ N/m ðnewtons/meterÞ,
mmeterÞ,
G M ¼ kg ðkilograms ¼ newton-seconds
k 2
/meterÞ. mg sin !
gg x(t) m G dvðtÞ m G d2 xðtÞ
k"st " mg sin !
ϕ f ðtÞ ¼ M extent that there aref ðtÞ ¼ M
Mechanical systems parallel electrical networks to such andt
Apago
! PDF Enhancer dt2
(a) M f(t)
analogies between electrical and mechanical components and variables. Mechanical
systems, like electrical networks,
(a) (b) have three passive, linear (c) components. Two of (d)
them, the spring and the mass, are energy-storage elements; one of them, the viscous
damper, dissipates energy. The two energy-storage elements are analogous to the
Note: energy-storage
two electrical The following elements, settheofinductor
symbols and units
and capacitor. is used throughout this
The energy
dissipator
be zero. Thus, forxðtÞ is analogous
the forces to electrical
parallel to vðtÞresistance.
the inclined Let us take
surface, a look at these mechanical
¼ m ðmetersÞ, ¼ m/s ðmeters/secondÞ,
elements, which are shown in Table 2.4. In the table, K, f v , and M are
K ¼ N/m ðnewtons/meterÞ, f v ¼
2 called spring
constant,meterÞ,
coefficient kg ðkilograms
Mof¼viscous friction, and ¼ newton-seconds
mass, respectively. /meterÞ.
We now create analogies mg sin between = 0 and mechanical systems by
φ − kδstelectrical
comparing Tables 2.3 and 2.4. Comparing the force-velocity column of Table 2.4
8 12:4
Figure to4.2.2c shows the object
the voltage-current column displaced a distance
of Table 2.3, we see that x mechanical
from the equilibrium position.
force is analogous
Mechanical systems parallel electrical networks to such an
to electrical
Apago
voltage
PDF Enhancer
and mechanical velocity is analogous
In this position the spring has been stretched a distance x + δst from its free length, and
thus its forceComparing the force-displacement column of Table 2.4 with the voltage-charge
column of Tableanalogies between electrical and mechanical components and v
is k(x + δst ). The free-body diagram displaying only the forces parallel
to electrical

2.3 leads to the analogy between the mechanical displacement and

current.

to the planeelectrical
is shown inin Mechanical
part
We (d) of
seethe
thatfigure. From this diagram to thewe can obtain
the the
CHAPTER 4 Spring and Damper
following equation systems, like electrical networks, have three passive, linear
charge.
Elements
viscous damperof motion:
alsoSystems the spring is analogous
is analogous to the resistor, and the mass is analogous to the
capacitor,

them, the spring and the mass, are energy-storage elements; one
inductor. Thus, summing forces written in terms of velocity is analogous to summing
Table 4.3.1 Equivalent masses and inertias of common elements.
∴ โดย.วไปจะ3งใ67แห:ง
voltages written x=0 เ;น7แห:งสม?ล and ไABองเCยน
of current,static ใน FBD differential
mgmechanical
m ẍ = −k(x in δterms the resulting
st ) + mg sin φ = −kx + (mg sin φ − kδst )
+systems
damper, dissipates energy. The two energy-storage elements a
equations are analogous
Translational to mesh equations. If the forces are written in terms of
Nomenclature:
Because mg sin
to, theφtwo electrical energy-storage elements, the inductor and ca
displacement, the resulting mechanical
=
mesh kδ the
equations.
st termWe, within
however,
equations
Equivalent
parentheses
will
system resemble, but are not analogous
use thisis zerofor
model andmechanical
the equation of motion
systems so
m c = concentrated mass
that wedissipator is analogous to electrical resistance. Let us take a look
can write equations
reduces to m ẍ = −kx, the same as for the
m d = distributed mass directly in terms of displacement.
system shown in Figure 4.2.1.
Massless
m e = equivalent lumped mass Another analogy can be drawn by comparing
k the force-velocity column of
System model: Table 2.4 to the current-voltage column of Table
spring
x
Rest
elements, which are shown in Table 2.4. In the table, K, f , and
2.3 in reverse order. Here the
position v
m e ẍ + kx = 0
CHOOSING analogy THE EQUILIBRIUM
is between force and currentPOSITION
and mbetween velocity and voltage. Also, the
constant, coefficient of viscous friction, and mass, respectively.
e

AS COORDINATE REFERENCE
Helical spring, or rod in tension/compression
We now create analogies between electrical and mec
Cantilever beam
The example in Figure 4.2.2 shows that for a mass connected to a linear spring element,
comparing Tables 2.3 mand
the force due to gravity is canceled out of the equation d
2.4. Comparing
mc motion
of
the force-velocity
by the force in the
md spring to the
md due to its static voltage-current
deflection, columnof of
as long the displacement the Table 2.3, wefrom
mass is measured see that mechanic
the equilibrium position.to electrical
We will refervoltage
tomthe
=m + and
spring forcemechanical
0.23m velocity
caused by its static
e c deflectionis analogous t
d
mc 10mthe
as static spring force and the spring force caused by the variable displacement x as
Comparing the force-displacement column of Table 2.4 with
c

m = m + mthe
e c d /3 dynamic spring force.
We need not column choose theof Table 2.3
equilibrium leads
location to the
as the analogy
coordinate between
reference. If we the mechanic
 1 MECHANICAL SYSTEM MODELING
Example1/3 Derive the equations of motion of the mass system shown in Figures

(a)

11
1 MECHANICAL SYSTEM M172
ODELING CHAPTER 4 Spring and Damper Elements in Mechanical Systems
(b)
Figure 4.2.7 A system with
two masses. k2 x2 k2 x2
k2

x2
m2 m2 m2

k1 k1(x1 ! x2) k1(x2 ! x1)

x1
m1 m1 m1

f f f
(a) (b) (c)

DEF 1 กรáสมvMใ9 x1 > x 2 DEF 2 กรáสมvMใ9

2 MOTION
SOLVING THE EQUATION OF 1 x >x
We have seen that the equation of motion for many mass-spring systems ha
m ẍ + kx = f , where f is an applied force other than gravity and the sp
Suppose that the force f is zero and that we set the mass in motion at time t = 0
it to a position x(0) and releasing it with an initial velocity ẋ(0). The soluti
the equation can be obtained from Table 3.1.3 and is x(t) = C1 sin ωn t + C
where we have defined
!
k
ωn =
m
Using the initial conditions we find that the constants are C1 = ẋ(0)/ωn and C
Thus the solution is
ẋ(0)
x(t) = sin ωn t + x(0) cos ωn t
ωn
This solution shows
√ that the mass oscillates about the rest position x =
frequency of ωn = k/m radians per unit time. The period of the oscillation
The frequency of oscillation ωn is called the natural frequency. The natural
is greater for stiffer springs (larger k values). The amplitude of the oscillatio
on the initial conditions x(0) and ẋ(0).
As shown in Example 3.7.3, the solution (4.2.3) can be put into the follow

x(t) = A sin(ωn t + φ)

where
x(0) ẋ(0)
sin φ = cos φ =
A Aωn

!
" #2
ẋ(0)
A= [x(0)]2 +
ωn

12
 ■ Solution
The free body diagram is shown in
1 MECHANICAL SYSTEM
displacement fromMequilibrium,
ODELING to be
2. Damping Elements positive downward. The damper forc

m ẍ = −c ẋ − k

()
f tbecause
dx
= cv = c kδst
dt
= c=
x! mg. The equation ca

ห"อ c

From this we can recognize the char

Note: Damping element อาจอãใน•ปของ friction, แรงQานอากาศ และ¶นๆ`ไi

Example1/4 Figure represents a generic mass-spring-damper system

Figureof4.4.10
with an external force f . Derive its equation A mass-
motion and determine its
characteristic equation. spring-damper system.
k c
kx c
x
m m

f f
(a) (b)

In Section 4.2 we solved th

damping (c = 0). Now let us inv

E X A M P L E 4.4.4 Effects of Damping

■ Problem
Suppose that for the system shown i
is k = 16. Investigate the free respon
8, and 10. Use the initial conditions:
■ Solution
The characteristic equation is s 2 + c

The free response can be obtained w

Examples 3.2.1, 3.2.2, and 3.2.3) or

13
 m ẍ = k(y − x) − c

1 MECHANICAL SYSTEM MODELING

Example1/5 Derive the equation of motion for the system shown in x y
Figure. The input is the displacement y of the right-end of the spring.
The output is the displacement x of the mass. The spring is at its free c k m
length when x = y. m cx·

(a) (b

■ Problem
Derive the equation of motion for the s
displacement φ of the left-end of the ro
the angular displacement θ of the inerti
the rod when φ = θ.

14
 The free body diagram in Figure 4.5.2b has been drawn assuming that φ >
we can obtain the equation of motion.

I θ̈ = k T (φ − θ) − cT θ̇ or I θ̈ + cT θ̇ + k T θ = k

Figure 4.5.2 A rotational

1 MECHANICAL SYSTEM MODELING
Example1/6 Derive the equation of motion forsystem
the with displacement
system shown
in cT cT !˙
input.
Figure. The input is the angular displacement φ of the left-end of
the rod, which is modeled as a torsional spring. The output is the I
angular displacement θ of the inertia I . Neglect the inertia of the
rod. There is no torque in the rod when φ = θ. kT I

!
k(" # !)
"
(a) (b)

Sometimes we need to determine the motion of a point in the

is no mass. In such problems, it is helpful to place a “fictitious” m
question, draw the free body diagram of the fictitious mass, and se
zero in the resulting equation of motion. Although the same result
applying the principles of statics to the point in question, this metho
the process.

E X A M P L E 4.5.3 Displacement Input and Negligible System Mass

■ Problem
Obtain the equation of motion of point A for the system shown in Figure
the displacement y(t). The spring is at its free length when x = y.
■ Solution
We place a fictitious mass m A at point A, and draw its free body diagra
of the figure. The diagram has been drawn with the assumption that y > x
equation of motion is

m A ẍ = k(y − x) − c ẋ

Let m A = 0 to obtain the answer: 0 = k(y − x) − c ẋ or c ẋ + kx = ky. T

x(t) if we know y(t).

Figure 4.5.3 A system with y x

negligible mass.
mA
k A c k(y ! x) cx·
(a) (b)

15
 1 1 1 2

m 2 ẍ 2 = −k1 (x2
1 MECHANICAL SYSTEM MODELING
Example1/7 Figure shows a two-mass system where the x1 x2 y
displacement y(t) of the right-hand end of the spring is a
given function. The masses slide on a frictionless surface.
k1 k2 m1
When x1 = x2 = y = 0, the springs are at their free lengths.
Derive the equations of motion.
m1 m2

(a)

A Two-Inertia S

■ Problem
Figure 4.5.5a shows a system with two inertia e
end of the shaft is twisted by the angular disp
The shaft has a torsional spring constant k T
corresponds to φ = θ1 = θ2 = 0. Derive the e
■ Solution
From the free body diagrams in part (b) of
θ̇1 > θ̇2 , we obtain
I1 θ̈ 1 = k T (φ −
I2 θ̈ 2 = cT1 (θ̇ 1 −

I2 cT2 c

I1 cT1 !2
kT

!1 kT
"
(a)

16
 (b)
+
FIGURE P2.8

23. Find the transfer function, GðsÞ ¼ X 1 ðsÞ=FðsÞ, 1 MECHANICAL

for SYSTEM MODELING
the translational
Example1/8 Write the equations mechanical
of motion for the mechanicalsystem
network shown
of Figurein Figure
P2.9. [Section: 2.5]
100 kΩ x1(t)
4 N-s/m 5 N/m
5 kg f(t)

kΩ 2µ
µF
FIGURE P2.9
– vo(t)
24. Find the transfer function, GðsÞ ¼ X 2 ðsÞ=FðsÞ, for
+ the translational mechanical network shown in
Figure P2.10. [Section: 2.5]
x1(t) x2(t)
1 N/m
f(t)
.7 1 kg 1 N-s/m 1 kg

, GðsÞ ¼ V o ðsÞ=V i ðsÞ, for

r circuit shown in Figure Frictionless
FIGURE P2.10

17
 Example 2.18
1 MECHANICAL SYSTEM MODELING Equations of Motion by Inspection
PROBLEM: Write,Write
Example1/9 but the
do equations
not solve,ofthe equations
motion for the of motion for
mechanical the mechanical
network of Figure
network of Figure 2.20.

x3(t)

fv3 M3 fv4
x1(t) x2(t)
K1 K2
M1 M2 f(t)
FIGURE 2.20 Three-
degrees-of-freedom
translational mechanical
fv1 fv2 system

18