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Lecture No 3

Text Book: Chapter 2

(Translational Mechanical System

Transfer Functions)

Class: BEE 5D

1

Components of Mechanical System

Dampers Springs

Mass (M)

2

f ma ; Newton' s Law

dv(t )

f (t ) M

Mass (M)

dt

2

dx (t )

f (t ) M 2

dt

x(t) displacement

F (s) Ms X (s)

2

3

f(t)

K

f (t ) K x1 (t ) x2 (t ) two displacements

f(t)

Spring

4

Dampers (Friction) – Shock Absorbers

x(t)

f(t)

dx(t )

f (t ) B One displacement : one side is fixed

dt

F ( s) BsX ( s) 5

f(t) dx1 (t )

f (t ) B one displaceme nt

dt

x2(t) dx1 (t ) dx2 (t )

f (t ) B B two dis..

B dt dt

f (t ) B x1 (t ) x2 (t )

d

dt

x1(t)

Damping (Friction)

(Shock absorber)

7

Car - Suspension System Animation

Door Closer

Mass has only one Damper (B) & Spring (K) may have

displacement. Displacement in both directions.

12

Example 2.16 Mass, spring, and damper system

Find the transfer function, X(s)/F(s), for the system shown in the Figure

Ms 2 X ( s) f v sX ( s) KX ( s) F ( s)

Block diagram

F ( s)

X ( s)

Ms 2 f v s K

14

Alternate method

spring, and damper system

Ms 2 X ( s) f v sX ( s) KX ( s) F ( s)

F ( s)

X ( s)

Ms 2 f v s K

15

Two-degrees-of-freedom translational

mechanical system

Block diagram

16

Forces on M1 due

only to motion of M2

Forces on M1 due

only to motion of M1

All forces on M1 17

M1s 2 X1 (s) f v1 f v1 sX 1 (s) K1 K2 X1 (s) K2 X 2 (s) f v3sX 2 (s) F (s)

18

forces on M2 due

Forces on M2 due only to motion of M1

only to motion of M2

all forces on M2

19

M 2 s 2 X 2 (s) fv2 fv3 sX 2 (s) K2 K3 X 2 (s) K2 X1 (s) fv3sX1 (s) 0

20

M1s 2 X1 (s) f v1 f v1 sX 1 (s) K1 K2 X1 (s) K2 X 2 (s) f v3sX 2 (s) F (s)

M 2 s 2 X 2 (s) fv2 fv3 sX 2 (s) K2 K3 X 2 (s) K2 X1 (s) fv3sX1 (s) 0

M s f

1

2

v1

fv1 s K1 K2 X1 (s) K2 fv3sX 2 (s) F (s)

K2 fv3sX1 (s) M 2 s 2 fv2 fv3 s K2 K3 X 2 (s) 0

21

Home Assignment

Three-degrees-of-freedom Don’t submit

translational

mechanical system

22

Translational

mechanical system

23

24

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