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Lecture 3

This document discusses modeling mechanical systems. It describes the basic elements of mechanical systems as inertia, spring, and damper elements. It provides examples of modeling mechanical systems by choosing coordinates, drawing free-body diagrams, and applying Newton's second law or Euler's second law to generate differential equations of motion.

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8 views13 pages

Lecture 3

This document discusses modeling mechanical systems. It describes the basic elements of mechanical systems as inertia, spring, and damper elements. It provides examples of modeling mechanical systems by choosing coordinates, drawing free-body diagrams, and applying Newton's second law or Euler's second law to generate differential equations of motion.

Uploaded by

abdullahaamir2019
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lecture 3:

Modeling Mechanical Systems


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

1. Elements making up a mechanical system


2. Modeling examples
– Translational examples
– Rotational examples

1
Modeling Mechanical Systems

Mechanical systems
consist of three basic
types of elements
1. Inertia elements
2. Spring elements
3. Damper elements

2
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)

 F = ma  M = J
• Inertia elements store kinetic energy

1 2
E =  Fvdt =  mvvdt = mv
2 3
Spring Elements
• Force (torque) is generated to resist
deflection
• Examples: translational and rotational
springs, even a steel rod has stiffness
• Spring elements store potential energy

1 2
E =  Fvdt =  kxxdt = kx
2
4
Spring Elements

• For a linear translational spring: F = k ( x1 − x2 )

• For a linear torsional spring: T = k (θ1 − θ2 )

5
Damper Elements
• Force is generated to resist motion
• Examples: dashpots, friction, wind drag

𝐹 = 𝑏(𝑥ሶ 1 − 𝑥ሶ 2 ) 𝑇 = 𝑏(𝜃ሶ1 − 𝜃ሶ2 )

• Damper elements dissipate energy

6
Damper Elements

linear damping Coulomb friction drag

x x

f = bx f = b sgn( x) f = bx 2

(viscous friction)

7
Modeling Mechanical Systems

Approach
1. Choose coordinates and orientation

2. Draw free-body diagrams for each inertia


• Note assumptions

3. Generate equations of motion using Newton’s


2nd Law and Euler’s 2nd Law

 F = ma  M = J
9
Example • Coordinates (x,y), orientation defined
1 • Let 𝑥 = 0, 𝑦 = 0 when system is in static
equilibrium (allows weight to be neglected)
• Quarter Car Suspension • Assume linear springs and damper,
negligible damping in the tire

2
Quarter mass of the car

𝑘2 𝑦 − 𝑥 = 𝐹𝑠2 𝐹𝑑 = 𝑏 𝑦ሶ − 𝑥ሶ The suspension

Unsprung mass

Tyre stiffness

𝐹𝑠1 = 𝑘1 𝑥 − 𝑢
Ground motion
Example (continued)
3 ෍ 𝐹 = 𝑚𝑎
Mass 2:
2
෍ 𝐹 = − 𝐹𝑠2 − 𝐹𝑑 = 𝑚2 𝑦ሷ
= −𝑘2 𝑦 − 𝑥 − 𝑏 𝑦ሶ − 𝑥ሶ = 𝑚2 𝑦ሷ
𝑘2 𝑦 − 𝑥 = 𝐹𝑠2 𝐹𝑑 = 𝑏 𝑦ሶ − 𝑥ሶ Mass 1:
෍ 𝐹 = 𝐹𝑠2 + 𝐹𝑑 − 𝐹𝑠1 = 𝑚1 𝑥ሷ

= 𝑘2 𝑦 − 𝑥 + 𝑏 𝑦ሶ − 𝑥ሶ − 𝑘1 𝑥 − 𝑢 = 𝑚1 𝑥ሷ

𝑚1 𝑥ሷ + 𝑏𝑥ሶ + 𝑘1 + 𝑘2 𝑥 = 𝑏𝑦ሶ + 𝑘2 𝑦 + 𝑘1 𝑢
𝑚2 𝑦ሷ + 𝑏𝑦ሶ + 𝑘2 𝑦 = 𝑏𝑥ሶ + 𝑘2 𝑥
𝐹𝑠1 = 𝑘1 𝑥 − 𝑢
Example • Coordinate 𝜃 and orientation defined
1 • Assume linear spring and damper,
• Driveline with wheel locked parameters lumped together

𝑏𝜃ሶ = = 𝑘𝜃

3 ෍ 𝑀 = 𝐽𝛼

෍ 𝑀 = 𝑇 − 𝑇𝑑 − 𝑇𝑠 = 𝐽𝜃ሷ
= 𝑇 − 𝑏𝜃ሶ − 𝑘𝜃 = 𝐽𝜃ሷ ⇒ 𝐽𝜃ሷ + 𝑏𝜃ሶ + 𝑘𝜃 = 𝑇
Example • Coordinate 𝜃 and orientation defined
1 • Assume linear spring, light rod
• Brake Pedal • Assume in static equilibrium at 𝜃 = 0
• Assume small deflection
𝑟𝑠 = 𝑙1 𝑐𝑜𝑠𝜃 𝐹
2 𝑅𝑥 𝑥 = 𝑙1 𝑠𝑖𝑛𝜃

Recall that moments can be 𝑅𝑦


induced by forces, 𝑀 = 𝐹𝑟 ⊥
𝐹𝑠

3 ෍ 𝑀 = 𝐽𝛼
𝑥

෍ 𝑀0 = 𝐹𝑟 − 𝐹𝑠 𝑟𝑠 = 𝐽𝜃ሷ
= 𝐹𝑟 − 𝑘𝑥𝑟𝑠 = 𝑚𝑙22 𝜃ሷ
= 𝐹 𝑙2 𝑐𝑜𝑠𝜃 − 𝑘 𝑙1 𝑠𝑖𝑛𝜃 𝑙1 𝑐𝑜𝑠𝜃 = 𝑚𝑙22 𝜃ሷ
⟹ 𝑚𝑙22 𝜃ሷ + 𝑘𝑙12 𝑠𝑖𝑛𝜃𝑐𝑜𝑠𝜃 = 𝐹 𝑙2 𝑐𝑜𝑠𝜃
Summary
• Elements of Mechanical Systems
– Inertias, springs, dampers
• Modeling of Mechanical Systems by first principles
– Choose coordinate system
– Draw free-body diagram
– Apply Newton’s second law

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