Advanced Control Systems (ACS)

Mathematical Modeling
of
Mechanical Systems

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Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

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TRANSLATIONAL MECHANICAL SYSTEMS

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Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)

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 Translational Spring
• A translational spring is a mechanical element that
can be deformed by an external force such that the
deformation is directly proportional to the force
applied to it.

Translational Spring
i)

Circuit Symbols
Translational Spring

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 Translational Spring
• If F is the applied force
x1
x2

• Then x 1 is the deformation if x 2  0 F

• Or ( x1  x 2 ) is the deformation. F

• The equation of motion is given as

F  k ( x1  x 2 )
k
• Where is stiffness of spring expressed in N/m 6
 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without

mass does not exist.

• If a force F is applied to a mass x (t )

and it is displaced to x meters
then the relation b/w force and F (t )
M
displacements is given by
Newton’s law.

F  M x
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 Translational Damper
• When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.

• All the materials exhibit the Translational Damper

iii)
property of damping to some
extent.

• If damping in the system is not

enough then extra elements
(e.g. Dashpot) are added to
increase damping.
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 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension

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 Translational Damper

F  C x F  C ( x 1  x 2 )

• Where C is damping coefficient (N/ms-1).

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 Example
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

inertial force respectively.
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 Example
fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

F  M x  kx
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F ( s )  Ms 2 X ( s )  kX ( s )
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 Example-2
F ( s )  Ms 2 X ( s )  kX ( s )
• The transfer function of the system is

X (s) 1

F (s) Ms 2  k

• if
M  1000 kg
k  2000 Nm 1

X (s) 0 . 001
 2
F (s) s 2
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 Example-2

X (s) 0 . 001
 2
F(s) s 2

• The pole-zero map of the system is

Pole-Zero Map
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30

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Imaginary Axis

10

-10

-20

-30

-40
-1 -0.5 0 0.5 1
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Real Axis
Example: Automobile Suspension

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Automobile Suspension

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 Automobile Suspension
 F ( forces )  0
F ( applied )  fb ( damping )  fk ( spring )  0

mxo  b ( x i  x o )  k ( xi  xo )  0

exchange ( x o  x i ) with  b ~  b &  k ~  k

mxo  b ( x o  x i )  k ( xo  xi )  0 (eq .1)

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 Automobile Suspension
Multiply & Re arrange
mxo  bx o  kxo  bx i  kxi (eq. 2)
Taking Laplace Transform of the equation (2)

ms 2 X o ( s )  bsX o ( s )  kX o ( s )  bsX i ( s )  kX i ( s )

X o ( s) bs  k
 2
X i ( s) ms  bs  k
Stability ?
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END

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