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Lec.3 Modeling of Mechanical System-Final

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10 views15 pages

Lec.3 Modeling of Mechanical System-Final

Uploaded by

adelashrafeng
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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You are on page 1/ 15

Dr.

Waleed Farag Mohammed

sinaiuniversity.net
Lec. 3
Modeling of mechanical system
Example
Write the equation of motion of the following system in:
-Time domain
-S domain
-Draw the block diagram and find the transfer fuction

CC

•
Cx
Ksx

The equation in time domain


Can be written as
••
M x = ∑ F ext

S 2 X (S ) + CSX (S) + K X (S ) = F (S )
•• •
M x = f − C x− ks x
•• •
M x+ C x+ ks x = f
F(S)
X(S)
1
(MS 2 + CS + K )

X (s) 1
=
F (S ) (MS 2 + CS + K )
•• •
M x+ C x+ ks x = f

If M, C, Ks are constant Linear Time Invariant

If M, C, Ks are Functin in time Linear Time variant


State-Space form
x• = A.x + B.u and
y = C.x + D.u
Where
:x is the state variable vector ( n x1).
A is the coefficient matrix of state variable (n x n)
x• is the derivative of state variable (n x1),
u is the input vector (r x 1).
B is the input coefficient matrix (n x r),
y is the output vector (m x 1).
C is the state coefficient matrix for output (m x n).
D is the coefficient matrix (m x r)
D

x y
u
B ∫ C

A
Forms of State-Space equations

Linear time •
invariant (LTI)

Linear time •
variant

Non-linear (NL) •
State equations from differential equation or transfer
function
-Consider the system defined by the differential equation •

Let •

Then

Or

In matrix form
EXAMPLE
The equation in tSim
doemdaoim
n abiencboemceome

Example 3: for the shown mechanical


system
-Write the equations in time domain
-Write the equations in S domain
-Draw the block diagram if F is the input
signal and x2 as output signal
F M1 K(x1-x2) M2
for mass1
••
M1 x1 = F − K (x1 − x2 )
••
M 1 x1 + kx1 = F + kx 2 (1) ••
M 1 x1 M2 x2
••

for mass2
••
M 2 x 2 = K (x1 − x2 ) M S 2 X (S) + KX (S) = F + KX (S) (I )
1 1 1 2
•• M S X (S) + KX (S) = KX (S)
2
(II )
M 2 x 2 + Kx 2 = Kx1 (2)
2 2 2 1
C
R C
R± X
±
x
C

Take off point


Summing point

X1
F 11 11 X2
K 2 K
MMS S2 +
M SS2 2++KK
M 12 +K
12

K
THANK
YOU

Dr. Waleed Farag Mohammed

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