FORMULA SHEET

Chapter 3 (modeling of mechanical systems)

Spring constants for common elements

Torsional spring constants of common elements

Work, energy and power

Gravitational potential energy Elastic potential energy

Translational kinetic energy

rotational kinetic energy

Energy conservation system

Rayleigh’s method

assuming the potential energy at equilibrium state is zero

Equivalent masses of common elements

Equivalent inertias of common elements

Chapter 4 (transfer-function approach to modelling dynamics systems)

𝑠𝑡𝑒𝑎𝑑𝑦 𝑠𝑡𝑎𝑡𝑒 𝑣𝑎𝑙𝑢𝑒
DC gain = 𝐹𝑠𝑠

𝐶𝑜 = 2√𝑚𝑘 (𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡)

𝐶 = 𝜉𝐶𝑜 (𝑎𝑐𝑡𝑢𝑎𝑙 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 )
Two real repeated roots (critically damped), 𝐶𝑜 = 𝐶
Two real distinct roots (overdamped ) , 𝐶 > 𝐶𝑜
Complex conjugate roots (underdamped ), 𝐶 < 𝐶𝑜
Chapter 5 (state space approach to modeling dynamic systems)
State space equations
𝑥̇ = 𝐴𝑥 + 𝐵𝑢 − − − − − − − 𝑠𝑡𝑎𝑡𝑒 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛
𝑦 = 𝐶𝑥 + 𝐷𝑢 − − − − − −𝑜𝑢𝑡𝑝𝑢𝑡 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛
A -system dynamics/ state matrix , B = input(control) matrix, C = output(sensor) matrix, D=feedthrough matrix
(model with numerator dynamics)

Transformation of mathematical models

𝑥̇ = 𝐴𝑥 + 𝐵𝑢
𝑦 = 𝐶𝑥 + 𝐷𝑢
𝑌(𝑠) = 𝐺(𝑠) 𝑈(𝑠), 𝑤ℎ𝑒𝑟𝑒 𝐺(𝑠) 𝑖𝑠 𝑡ℎ𝑒 𝑡𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑚𝑎𝑡𝑟𝑖𝑥
𝑌(𝑠) = [𝐶(𝑠𝐼 − 𝐴)−1 𝐵 + D]U(s)
𝐺(𝑠) = 𝐶(𝑠𝐼 − 𝐴)−1 𝐵 + D, xtic eqn: |sI − A| = 0 (determinant)

Transient-Response Analysis of Systems in State-Space Form: Analytical

Chapter 6 (time domain analysis of dynamic systems)
Second order systems (underdamped)

Consider the underdamped step response;

 , time required for the response to reach the first peak of the overshoot

, time required for the signal to change from a specified low value to a specified high value

, the time required for the response to reach half the final value the very first time

Experimental determination of damping ratio 𝜉