EE-371

LINEAR CONTROL SYSTEMS

Lecture No 3

“CONTROL SYSTEMS ENGINEERING”

Text Book: Chapter 2
(Translational Mechanical System
Transfer Functions)

Instructor: Dr. Farid Gul

Class: BEE-2k19AB

Electrical Engineering Department

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Components of Mechanical System

Dampers Springs

Mass (M)

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 f  ma ; Newton' s Law
dv(t )
f (t )  M
Mass (M)
dt
2
d x(t )
f (t )  M 2
dt
x(t) displacement

f(t) applied force 2

F ( s )  Ms X ( s )

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 f(t)

x2(t) f (t )  K x1 (t ) one dislpaceme nt

K
f (t )  K  x1 (t )  x2 (t )  two displacements

x1(t) F ( s )  K ( X 1 ( s )  X 2 ( s))
f(t)
Spring
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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
d
f (t )  B x1 (t )  x2 (t ) 
dt
x1(t)

f(t) F ( s )  B S ( X 1 ( s )  X 2 ( s ))
Damping (Friction)
(Shock absorber) 6
7
Car - Suspension System Animation

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Door Closer

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10
Mass has only one Damper (B) & Spring (K) may have
displacement. different displacement at both ends

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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

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Alternate method

Free-body diagram of mass, Transformed free-body diagram

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
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Two-degrees-of-freedom translational
mechanical system

Block diagram

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 Forces on M1 due
only to motion of M2

Forces on M1 due
only to motion of M1

All forces on M1 17
  
M 1s 2 X 1 (s )  f v1  f v3 sX 1 (s )   K1  K 2  X 1 ( s )  K 2 X 2 (s )  f v 3sX 2 (s )  F (s )

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 forces on M2 due
Forces on M2 due only to motion of M1
only to motion of M2

all forces on M2
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  
M 2 s 2 X 2 ( s )  f v 2  f v3 sX 2 ( s )  K 2  K 3 X 2 ( s )  K 2 X 1 ( s)  f v 3 sX 1 ( s )  0

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  
M 1s 2 X 1 ( s )  f v1  f v1 sX 1 ( s )  K1  K 2 X 1 ( s )  K 2 X 2 ( s)  f v 3 sX 2 ( s )  F ( s )

 
M 2 s 2 X 2 ( s )  f v 2  f v3 sX 2 ( s )  K 2  K 3 X 2 ( s )  K 2 X 1 ( s )  f v 3 sX 1 ( s )  0

   
M 1s 2  f v1  f v1 s   K1  K 2  X 1 ( s)  K 2  f v 3 s X 2 ( s )  F ( s)

  
 K 2  f v 3 s X 1 ( s)  M 2 s 2  f v2  f v3 s   K 2  K 3  X 2 ( s)  0 

 1

v1 v1 
 M s2  f  f s   K  K 
1 2   K 2  fv 3 s 
  X 1 ( s)    F ( s) 
  X 2 ( s )   0 

  K 2  f v 3 s    
M 2 s 2  f v2  f v3 s   K 2  K 3 


Using Cramer’s rule, transfer functions X1(s)/F(s) and

X2(s)/F(s) can be determined. 21
Three-degrees-of-freedom
Home Assignment
translational Don’t submit
mechanical system
Find the transfer function, X(s)/F(s), for the system shown in the
Figure

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

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???
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