Mathematical Models of Systems

► Differential Equations of Physical System

► Linear Approximations of Physical System
► The Laplace Transform
► The Transfer Function Of Linear System
► Block Diagram Models
► Signal-Flow Graph Model
► Design
Examples

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Differential Equations of Physical System

The approach to dynamic system problem can be listed as follow:

1. Define the system and its components

2. Formulate the mathematical model and list the necessary assumptions.

3. Write the differential equations describing the model.

4. Solve the equations for the desired output variables.

5. Examine the solutions and the assumptions.

6. If necessary, reanalyze or redesign the system

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Figure 2.1

a. Block diagram
representation of a system;

b. block diagram
representation of an
interconnection
of subsystems

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 REVIEW OF THE
LAPLACE
TRANSFORM

Table 2.1
Laplace transform table

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 Table 2.2
Laplace
transform theorems
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F(s) is called Laplace Transform of f(t)

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f(t) is called as Inverse Laplace Transform of F(s)

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Self-Test Question 1:

Self-Test Question 2:

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Example : Mass-Spring-Friction System

y(t)
k

m f (t)

d d 2

f1t) = ma(t)=m dt v(t)=m y(t)

dt 2

f t) = ky(t)
2

f (t) = B d y(t)
3
dt

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(a) Spring-mass damper system (b) Free body diagram

FIGURE 2.2
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Figure 2.1

a. Block diagram
representation of a system;

b. block diagram
representation of an
interconnection
of subsystems
 REVIEW OF THE LAPLACE TRANSFORM

Table 2.1
Laplace transform table
 Table 2.2
Laplace
transform theorems
 Figure 2.2
Block diagram of a transfer function
MECHANICAL SYSTEMS TRANSFER FUNTIONS

Table 2.4
Force-velocity, force-
displacement, and
impedance translational
relationships
for springs, viscous
dampers, and mass
Example: Find the transfer function X(s) / F(s) for the
system given below

Figure 2.15
a. Mass, spring, and damper system;
b. block diagram
Figure 2.16
a. Free-body diagram of mass, spring, and damper system;
b. transformed free-body diagram
We now write the differential equation of motion using Newton’s law

d 2 x(t) dx(t)
M + f +Kx(t )= f(t)
dt 2 v
dt
Taking the Laplace transform, assuming zero initial conditions

Ms 2 X(s)+ f vsX (s)+KX(s)=F(s)

(Ms 2 + f vs+ K )X(s)=F(s)

Solving for transfer function yields

X (s) 1
G(s) = =
F (s) Ms 2
+ fv + K

[Sum of impedance]X(s) = [Sum of applied forces]

Note that the number of equation of motion required is equal to

number of linearly independent motion. Linear independence
implies that a point of motion in a system can still move if all other
points of motion are held still. Another name of the number of
linearly independent motion is the number of degrees of freedom.
 Example : Find the transfer function X2(s)/F(s)

Figure 2.17
a. Two-degrees-of-
freedom translational
mechanical
system8;
b. block diagram
Figure 2.18
a. Forces on M1 due only to
motion of M1
b. forces on M1 due only to
motion of M2
c. all forces on M1
 [M1s2 + (fv1+fv3)s + (K1+K2)] X1(s) - (fv3s+K2)X2(s) = F(s)
-(fv3s +K2)X1(s) + [M2s2 + (fv2+fv3)s + (K2 + K3)]X2(s) = 0

Figure 2.19
a. Forces on M2 due only to
motion of M2;
b. forces on M2 due only to
motion of M1;
c. all forces on M2
 The transfer function X2(s)/F(s) is

[M1s2 + (fv1+fv3)s + (K1+K2)] - (fv3s+K2)

Δ=
- (fv3s+K2) [M2s2 + (fv2+fv3)s + (K2+K3)]
Note that
Sum of
impedance Sum of Sum of applied
connected X1(s) - impedance X2(s) = forces at
to the between
X1
motion at
X1 and X2
X1

Sum of
impedance Sum of Sum of applied
connected X2(s) - impedance X1(s) = forces at
to the between
X2
motion at
X1 and X2
X2
 Equations of Motion by Inspection
Problem : Write, but not solve, the equation of motion
for the mechanical system given below.

Figure 2.20
Three-degrees-of-freedom
translational
mechanical system
 Using same logic, for M1

Sum of Sum of
impedance Sum of Sum of
connected X1(s) - impedance X2(s) - impedance X3(s)= applied
to the between between forces at
motion at
X1 and X2 X1 and X3 X1
X1

and for M2

Sum of
Sum of Sum of Sum of
- impedance X1(s)+ impedance X2(s) - impedance X3(s) = applied
between connected to between forces at
X1 and X2 the motion at
X2 X2 and X3 X2
Similarly, for M3
Sum of
Sum of Sum of Sum of
- impedance X1(s)- impedance impedance applied
between X2(s) + X3(s) =
between connected to
X1 and X3 X2 and X3 the motion at forces at
X3
X3

Anymore we can write the equations for M1, M2 and M3

Note that M1 has two springs, two viscous damper and mass associated with
its motion. There is one spring between M1 and M2 and one viscous damper
between M1 and M3.
 Equation for M1

[M 1 s 2 +(f v1 +f v3 )s+(K 1 +K 2 )]X 1s)−K 2 X 2 s)−f v3 sX 3 (s)=0

for M2

−K 2 X1s+[M 2 s 2
+(f v2 +f v4 )s+K 2 ]X 2 s −f v4 sX 3 s =F(s)

and for M3

−f v3 sX 1 s−f v4 sX 2 s+[M 3 s 2
+(f v3 +f v4 )s]X 3 (s)=0

These equations are the equations of motion. We can

solve them for any displacement X1(s), X2(s) or X3(s),
or transfer function.
Write the force equations of the linear translational
systems shown in Fig below;
Solution

Rearrange the following equations

https://www.youtube.com/watch?v=rORU_0KXzs4
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