Linear Control Systems (EE-3052)

Lecture-3
Mathematical Modeling of Translational Mechanical Systems
Dr. Imtiaz Hussain
Associate Professor (Control Systems),
Department of Electrical Engineering
DHA Suffa University, Karachi, Pakistan
email: imtiaz.hussain@dsu.edu.pk

5th Semester (BE-EE-5A)

Fall 2020

Note: I do not claim any originality in these lectures. The contents of this presentation are
mostly taken from the book of Ogata, Norman S Nise and various other internet sources. 1
Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

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 Basic Elements of Translational Mechanical Systems

Translational Spring
i) x1
x2

• Equation of Motion Fk  k ( x1  x2 )
• Where k is stiffness of spring expressed in N/m

Translational Mass
ii)

• Equation of Motion FM  Mx

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 Basic Elements of Translational Mechanical Systems

Translational Damper
iii)

• Equation of Motion

Fc  C ( x 1  x 2 )

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

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 Example-1
• Consider the following system (friction is negligible)

k
x
M
F

• Free Body Diagram

fk
M fM
F

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

inertial force respectively.
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 Example-1
fk
M fM
F

F  fM  fk
• 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-1
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  1000kg
k  2000Nm 1

X (s) 0. 001
 2
F(s) s 2
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 Example-1
X (s) 0. 001
 2
F(s) s 2
• The pole-zero map of the system is

Pole-Zero Map
1.5

1
Imaginary Axis (seconds -1)

0.5

-0.5

-1

-1.5
-1 -0.5 0 0.5 1
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-1
Real Axis (seconds )
 Example-2
• Consider the following system

k
x
F
M
C
C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
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 Example-2
Differential equation of the system is:

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

F ( s )  Ms X ( s )  CsX ( s )  kX ( s )
2

X (s) 1

F(s) Ms 2  Cs  k

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 Example-2
X (s) 1

F(s) Ms 2  Cs  k

• if 2
Pole-Zero Map

M  1000kg 1.5

1
1
k  2000Nm
0.5
Imaginary Axis
C  1000N / ms 1 0

-0.5

-1
X (s) 0. 001
 2 -1.5

F(s) s  s  1000 -2
-1 -0.5 0 0.5 1
Real Axis 11
 Example-3
• Find the transfer function X2(s)/F(s) of the following system.

  𝑋 2 (𝑠) 𝑠 +1
Answer = 2 2
𝐹 (𝑠 ) 𝑠 ( 𝑠 +2 𝑠 +2)
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 Example-4 (Home Work)
• Find transfer function of following system and
determine the stability of the system by drawing
pole-zero map.

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 Example-5
• Obtain the mathematical of following system in terms
of set of linear differential equations.

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 Exmaple-6
 •
Obtain the transfer function of the following system.
Where is input displacement and is resultant output
displacement.

 𝒖  𝒗

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 Example-7
• Consider the following system
x2

x1 k B
F M

• Mechanical Network
x1 k x2

F ↑ M B

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 Example-7
• Mechanical Network
x1 k x2

F ↑ M B

At node x1

F  k ( x1  x 2 )
At node x2

0  k ( x 2  x1 )  Mx2  Bx
2
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 Example-8
x1 x2

k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

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 Example-9 (Home Work)
• Restaurant plate dispenser

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 Example-10 (Home Work)

x2 x3
x1
k1 B3 B4

u(t ) B1 M1 k2 M2 k3

B2 B5

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Example-11: Automobile Suspension (Quarter Car)

𝒙𝒄
 

𝒙𝒘
 

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 Example-11: Automobile Suspension

𝒙𝒄
 

• Differential equation for Car Body

mc xc b s ( x c  x w )  k s ( xc  xw )  0
𝒙𝒘
 

• Differential equation for wheel and tire

mw xw  bs ( x w  x c )  k s ( xw  xc )  kt ( xw  xr )  0

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To download this lecture visit
http://imtiazhussainkalwar.weebly.com/

END OF LECTURE-3

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