Lecture 4: Modeling

Modeling Mechanical Systems

determine the differential equations that
model the behavior of a mechanical system

EPCE-3204, Lecture 4
1. Elements making up a mechanical system
2. Modeling examples
• Translational examples
• Rotational examples
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Modeling Mechanical Systems

Mechanical systems
consist of three basic
types of elements

EPCE-3204, Lecture 4
1. Inertia elements
2. Spring elements
3. Damper elements

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Inertia Elements
• Examples: mass, moment of inertia
• Each inertia element with independent
motion needs its own differential equation
(Newton’s 2nd Law, Euler’s 2nd law)

EPCE-3204, Lecture 4
 F  ma  M  J
• Inertia elements store kinetic energy

1 2
E   Fvdt   mvvdt
  mv 3
2
Spring Elements
• Force (torque) is generated to resist
deflection
• Examples: translational and rotational

EPCE-3204, Lecture 4
springs, even a steel rod has stiffness
• Spring elements store potential energy
1 2
E   Fvdt   kxxdt
  kx
2
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Spring Elements
• For a linear translational spring: F  k ( x1  x2 )

EPCE-3204, Lecture 4
• For a linear torsional spring: T  k (θ1  θ 2 )
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Damper Elements
• Force is generated to resist motion
• Examples: dashpots, friction, wind drag

F  b( x1  x2 ) T  b(θ1  θ 2 )

EPCE-3204, Lecture 4
• Damper elements dissipate energy
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 Damper Elements

linear damping Coulomb friction drag

EPCE-3204, Lecture 4
x x

f  bx f  b sgn( x ) f  bx
 2

(viscous friction)
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Friction Torque Example
• Real friction in general combines aspects of
multiple model types

EPCE-3204, Lecture 4
viscous
stiction friction

stiction

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Modeling Mechanical Systems
Approach
1. Choose coordinates and orientation
2. Draw free-body diagrams for each inertia

EPCE-3204, Lecture 4
• Note assumptions

3. Generate equations of motion using Newton’s

2nd Law and Euler’s 2nd Law

 F  ma  M  J
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4. Double check
Example
A B
Modeling Electrical Systems
Approach
1. Electrical Component model:
Component Voltage-Current Current-Voltage

EPCE-3204, Lecture 4
capacitor
Resistor
Inductor

2. Apply Kirchhoff's current and voltage law to derive the

differential equation describing the giving circuit.
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3. Double check
 A
Example

ENGR 4220/5220, Lecture 4

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Case study:
Modeling of Hydraulic Actuator
• The hydraulic actuator is capable of providing a large
power amplification.
• hydraulic fluid is available from a constant pressure
source and that the compressibility of the fluid is

EPCE-3204, Lecture 4
negligible.
• A small, low-power displacement of x(t) causes a larger,
high-power displacement y(t).
• Working Principle

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Case study:
Modeling of Hydraulic Actuator
• The volumetric fluid flow rate Q is related to the input
displacement x(t) and the differential pressure P across
the piston as Q = g(x, P).

EPCE-3204, Lecture 4
• The force developed by the actuator piston is equal to
the area of the piston, A, multiplied by the pressure, P.

• After substitution,

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Case study:
Modeling of Hydraulic Actuator
• Furthermore, the volumetric fluid flow is related to the
piston movement as

• After substituting the above

EPCE-3204, Lecture 4
• After substituting and rearranging, we have ,

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Transfer Function Models
• Often it is desired to remain in the Laplace
domain for analysis and manipulation
• The transfer function G(s) of a system is an
alternative model to the differential equation

EPCE-3204, Lecture 4
and is defined as the ratio of the Laplace
transform of the output Y(s) to the Laplace
transform of the input U(s) assuming zero
initial conditions

L [output ] Y (s)
G (s)   16
L [input ] init cond 0 U ( s )
Transfer Function Models
• Characterize the input-output relationship of
a dynamic system (ignores initial conditions)
• Are a property of the system itself, not

EPCE-3204, Lecture 4
specific to the particular forcing input
(represent natural response)
• Have units, but do not provide information
concerning the physical structure
• Apply only to linear time-invariant (LTI)
systems 17

• Make combining systems much easier

Finding a Transfer Function Model
Begin with
y  a1 y  a2 y  a3 y  b0u  b1u  b2u
a0
1. Choose what is the input and what is the
output

EPCE-3204, Lecture 4
2. Take Laplace transform assuming zero ICs
a0 s 3Y ( s )  a1s 2Y ( s )  a2 sY ( s )  a3Y ( s ) 
b0 s U ( s )  b1sU ( s )  b2U ( s )
2

3. Rearrange

Y ( s) b0 s 2  b1s  b2 18

U ( s) a0 s  a1s  a2 s  a3
3 2
Example
• Find the equation of motion for the following system