ME 147 Lecture 2

Mathematical Modeling of Dynamical Systems

Outline
• Mechanical Systems
• Translational
• Rotational
• Transmission Elements
• Electrical Systems
• Electromechanical Systems
• Thermal and Fluid Systems
Mechanical System Modeling
Mechanical System Modeling
Modeling of physical systems involving moving components.

Recall PVAF analysis from ME 146…

Mechanical System Modeling
Modeling of physical systems involving moving components.

Recall PVAF analysis from ME 146…

Input position Output position

System
Input velocity Output velocity
(link lengths, angles,
Input acceleration constraints, DOF, Output acceleration
etc.)
Input force/torque Output force/torque
Mechanical System Modeling
If the system can be represented by a block diagram with an input,
output, and system, why didn’t we use Laplace transforms for PVAF
analysis?

Input position Output position

System
Input velocity Output velocity
(link lengths, angles,
Input acceleration constraints, DOF, Output acceleration
etc.)
Input force/torque Output force/torque
Translational Systems
Translational Systems
Equation of motion (time-domain):
𝑀𝑥ሷ + 𝑓𝑣 𝑥ሶ + 𝐾𝑥 = 𝑓

Note: The equation of motion is

obtained using free-body diagrams
(demo).
Translational Systems
Equation of motion (time-domain):
𝑀𝑥ሷ + 𝑓𝑣 𝑥ሶ + 𝐾𝑥 = 𝑓

Equation of motion (s-domain):

𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾 𝑋 𝑠 = 𝐹(𝑠)
Translational Systems
Equation of motion (time-domain):
𝑀𝑥ሷ + 𝑓𝑣 𝑥ሶ + 𝐾𝑥 = 𝑓

Equation of motion (s-domain):

𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾 𝑋 𝑠 = 𝐹(𝑠)

Considering velocity instead of

position,
𝑑𝑥 𝑡
𝑣 𝑡 =
𝑑𝑡
𝑉 𝑠 = 𝑠𝑋(𝑠)
2
𝑉 𝑠
𝑀𝑠 + 𝑓𝑣 𝑠 + 𝐾 = 𝐹(𝑠)
𝑠
Translational Systems
Getting the transfer functions,

𝑋 𝑠 1
=
𝐹(𝑠) 𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾

𝑉 𝑠 𝑠
=
𝐹(𝑠) 𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾
1
=
𝐾
𝑀𝑠 + 𝑓𝑣 +
𝑠 Note: this can be extended
to translational acceleration
Translational Systems
Consider the MDOF systems.

EOMs may be obtained using

FBDs of each body.

For convenience, we can use the

following equations.
Translational Systems
For 2-DOF systems,

2 equations, 2 unknowns
Translational Systems
For 2-DOF systems,

2 equations, 2 unknowns
Translational Systems
For 3-DOF systems,

3 equations, 3 unknowns
Translational Systems
For 3-DOF systems,

3 equations, 3 unknowns
Translational Systems
Example
Determine the transfer function G s = 𝑋2 𝑠 /𝐹 𝑠
Translational Systems
Example
Determine the transfer function G s = 𝑋2 𝑠 /𝐹 𝑠

Answer

3𝑠+1
𝐺 𝑠 =
𝑠(𝑠3 +7𝑠 2 +5𝑠+1)
Rotational Systems
Rotational Systems
Equation of motion (time-domain):
𝐽𝜃ሷ + 𝑓𝑣 𝜃ሶ + 𝐾𝜃 = 𝑇

Note: The equation of motion is 𝐾

obtained using free-body diagrams
(demo). 𝐽

𝐷
Rotational Systems
Equation of motion (time-domain):
𝐽𝜃ሷ + 𝐷𝜃ሶ + 𝐾𝜃 = 𝑇

Equation of motion (s-domain):

𝐽𝑠 2 + 𝐷𝑠 + 𝐾 Θ 𝑠 = 𝑇(𝑠)

Considering velocity instead of

position,
𝑑𝜃 𝑡
𝜔 𝑡 =
𝑑𝑡
Ω 𝑠 = 𝑠Θ(𝑠)
2
Ω 𝑠 𝐾
𝐽𝑠 + 𝐷𝑠 + 𝐾 = 𝑇(𝑠)
𝑠 𝐽

𝐷
Rotational Systems
Getting the transfer functions,

Θ 𝑠 1
= 2
𝑇(𝑠) 𝐽𝑠 + 𝐷𝑠 + 𝐾 𝐾

𝐽
Ω 𝑠 𝑠 𝐷
= 2
𝑇(𝑠) 𝐽𝑠 + 𝐷𝑠 + 𝐾
1
= Note: this can be extended
𝐾
𝐽𝑠 + 𝐷 + to rotational acceleration
𝑠
Rotational Systems
Rotational MDOF systems can use
the same matrix equations as with
the translational MDOF systems.
Rotational Systems
Rotational Systems
Rotational Systems
Rotational Systems
Example
Determine the transfer function G s = Θ2 𝑠 /𝑇 𝑠
Rotational Systems
Example
Determine the transfer function G s = Θ2 𝑠 /𝑇 𝑠

Answer

1
𝐺 𝑠 =
2𝑠2 +𝑠+1
Systems with Transmission
Elements
Transmission Elements
Rotational systems are usually
driven by motors, which are rarely
seen without associated gear
trains to drive the load.

We also consider other

transmission elements such as
pulleys, levers, and the rack and
pinion.
Transmission Elements
For gears, we know that

𝜃1 𝜔1 𝑟2 𝑁2 𝑇2
= = = =
𝜃2 𝜔2 𝑟1 𝑁1 𝑇1
Transmission Elements
Consider the rotational system with
a gear train. We can relate the
input torque 𝑇1 (𝑡) to either 𝜃1 (𝑡) or
𝜃2 𝑡 .
Transmission Elements
Consider the rotational system with
a gear train. We can relate the
input torque 𝑇1 (𝑡) to either 𝜃1 (𝑡) or
𝜃2 𝑡 .

Moving all loads and impedances

towards gear 2,
𝑇2 𝑡 𝑁2
=
𝑇1 𝑡 𝑁1
Transmission Elements
𝑇2 𝑡 𝑁2
=
𝑇1 𝑡 𝑁1

The equation of motion is then

2
𝑁2
𝐽𝑠 + 𝐷𝑠 + 𝐾 Θ2 𝑠 = 𝑇2 𝑠 = 𝑇1 𝑠
𝑁1
Transmission Elements
𝑇2 𝑡 𝑁2
=
𝑇1 𝑡 𝑁1

The equation of motion is then

2
𝑁2
𝐽𝑠 + 𝐷𝑠 + 𝐾 Θ2 𝑠 = 𝑇2 𝑠 = 𝑇1 𝑠
𝑁1
The transfer function becomes
Θ2 𝑠 𝑁2 1
=
𝑇1 𝑠 𝑁1 𝐽𝑠 2 + 𝐷𝑠 + 𝐾
Transmission Elements
𝑁2
𝐽𝑠 2 + 𝐷𝑠 + 𝐾 Θ2 𝑠 = 𝑇1 𝑠
𝑁1

We can also write Θ2 (𝑠) in terms of the

input motion Θ1 (𝑠) through the
transmission ratio

𝜃1 𝑁2
=
𝜃2 𝑁1
Transmission Elements
𝜃1 𝑁2
=
𝜃2 𝑁1

𝑁2
𝐽𝑠 2 + 𝐷𝑠 + 𝐾 Θ2 𝑠 = 𝑇1 𝑠
𝑁1

𝑁1 𝑁2
𝐽𝑠 2 + 𝐷𝑠 + 𝐾 Θ1 𝑠 = 𝑇1 𝑠
𝑁2 𝑁1

2
𝑁1
𝐽𝑠 2 + 𝐷𝑠 + 𝐾 Θ1 𝑠 = 𝑇1 𝑠
𝑁2
Transmission Elements
2
𝑁1
𝐽𝑠 2 + 𝐷𝑠 + 𝐾 Θ1 𝑠 = 𝑇1 𝑠
𝑁2

2 2 2
𝑁1 𝑁1 𝑁1
𝐽 𝑠2 +𝐷 𝑠+𝐾 Θ1 𝑠 = 𝑇1 𝑠
𝑁2 𝑁2 𝑁2
Transmission Elements
In general, impedances can be
reflected through gear trains by
multiplying with the following ratio
2
𝑁𝑑𝑒𝑠𝑡𝑖𝑛𝑎𝑡𝑖𝑜𝑛
𝑁𝑠𝑜𝑢𝑟𝑐𝑒

Torques can be reflected using the

transmission ratios shown before.
𝜃1 𝜔1 𝑟2 𝑵𝟐 𝑻𝟐
= = = =
𝜃2 𝜔2 𝑟1 𝑵𝟏 𝑻𝟏
Transmission Elements
For systems with levers (assuming
very small angles), impedances
can be multiplied by
2
𝐿𝑠𝑜𝑢𝑟𝑐𝑒
𝐿𝑑𝑒𝑠𝑡𝑖𝑛𝑎𝑡𝑖𝑜𝑛

Also consider the transmission

ratios below
𝑥1 𝐿1 𝐹2 𝐿1
= =
𝑥2 𝐿2 𝐹1 𝐿2
Transmission Elements
For systems with pulleys and rack-and-
pinion, impedances can be multiplied by
1 2
or 𝑟2
𝑟

Depending on whether converting from

translational to rotational or vice versa
(use dimensional analysis).

Also consider the transmission ratios

below.

𝑥 𝑇
= 𝑟, = 𝑟
𝜃 𝐹
Transmission Elements
Example
Determine the transfer function G s = Θ2 𝑠 /𝑇 𝑠
Transmission Elements
Example
Determine the transfer function G s = Θ2 𝑠 /𝑇 𝑠

Answer

1/2
𝐺 𝑠 =
𝑠2 +𝑠+1
Electrical System Modeling
Electrical System Modeling
Modeling of electrical networks and circuits involving passive
components (resistors, capacitors, inductors).
Electrical System Modeling
Mechanical components have their individual electrical analogue.
Electrical System Modeling
Consider the RLC network.
Electrical System Modeling
Consider the RLC network.

Via mesh analysis,

𝑣𝐿 𝑡 + 𝑣𝑅 𝑡 + 𝑣𝐶 𝑡 = 𝑣(𝑡)

Where
𝑑𝑖 𝑡
𝑣𝐿 𝑡 = 𝐿
𝑑𝑡
𝑣𝑅 𝑡 = 𝑅𝑖 𝑡
𝑡
𝑣𝐶 𝑡 = 𝐶 න 𝑖 𝜏 𝑑𝜏
0
Electrical System Modeling
Thus
𝑡
𝑑𝑖 𝑡
𝐿 + 𝑅𝑖 𝑡 + 𝐶 න 𝑖 𝜏 𝑑𝜏 = 𝑣(𝑡)
𝑑𝑡 0

Laplace transform,
𝐶
𝐿𝑠𝐼 𝑠 + 𝑅𝐼 𝑠 + 𝐼 𝑠 = 𝑉(𝑠)
𝑠
𝐶
𝐿𝑠 + 𝑅 + 𝐼 𝑠 =𝑉 𝑠
𝑠

𝐼 𝑠 1
=
𝑉 𝑠 𝐶
𝐿𝑠 + 𝑅 +
𝑠
Electrical System Modeling

𝐼 𝑠 1
= 𝑉 𝑠 1
𝑉 𝑠 𝐶 =
𝐿𝑠 + 𝑅 +
𝑠 𝐹(𝑠) 𝑀𝑠 + 𝑓 + 𝐾
𝑣 𝑠
Electrical System Modeling

1 1
𝐼 𝑠 1 𝑉 𝑠
𝑠 𝑠 1
= 2 =
𝑉 𝑠 𝐿𝑠 + 𝑅𝑠 + 𝐶 𝐹(𝑠) 𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾
Electrical System Modeling

𝑄 𝑠 1 𝑋 𝑠 1
= 2 =
𝑉 𝑠 𝐿𝑠 + 𝑅𝑠 + 𝐶 𝐹(𝑠) 𝑀𝑠 2 + 𝑓𝑣 𝑠 + 𝐾
Electrical System Modeling
Consider the MDOF electrical system
Electrical System Modeling
Consider the MDOF electrical system

*Change motion to current. Change

forces to voltage.
Electrical System Modeling
Consider the MDOF electrical system

*Change motion to current. Change

forces to voltage.
Electrical System Modeling
Example
Find the transfer function 𝑉𝐶 (𝑠)/𝑉(𝑠)
Electrical System Modeling
Example
Find the transfer function 𝑉𝐶 (𝑠)/𝑉(𝑠)
Electrical System Modeling
Example
Systems with Operational Amplifiers
Operational Amplifiers
Characteristics of operational amplifiers:
1. Differential input
𝑣2 𝑡 − 𝑣1 (𝑡)
2. High input impedance
𝑍𝑖 = ∞ (𝑖𝑑𝑒𝑎𝑙)
3. Low output impedance
𝑍𝑜 = 0 (𝑖𝑑𝑒𝑎𝑙)
4. High constant gain amplification
𝐴 = ∞ (𝑖𝑑𝑒𝑎𝑙)

𝑣𝑜 𝑡 = 𝐴 𝑣2 𝑡 − 𝑣1 𝑡
Operational Amplifiers
Inverting Operational Amplifier

𝑣𝑜 𝑡 = −𝐴𝑣1 𝑡
Operational Amplifiers
Inverting Operational Amplifier

𝑣𝑜 𝑡 = −𝐴𝑣1 𝑡

With some circuit analysis, and some

idealizations,

𝑉𝑜 𝑠 𝑍2 𝑠
=−
𝑉𝑖 𝑠 𝑍1 𝑠
Operational Amplifiers
Non-inverting Operational Amplifier

𝑉𝑜 𝑠 = 𝐴 𝑉𝑖 𝑠 − 𝑉1 𝑠
Operational Amplifiers
Non-inverting Operational Amplifier

𝑉𝑜 𝑠 = 𝐴 𝑉𝑖 𝑠 − 𝑉1 𝑠

With some circuit analysis,

𝑉𝑜 𝑠 𝑍1 𝑠 + 𝑍2 (𝑠)
=
𝑉1 𝑠 𝑍1 (𝑠)
Electromechanical System Modeling
Electromechanical System Modeling
Modeling of a combination of electrical circuits and mechanical systems
(usually through a motor).
Electromechanical System Modeling
Warning: Long derivation ahead
• Fixed field is either a stationary PM or
electromagnet
• Armature is a physically rotating circuit through
which 𝑖𝑎 (𝑡) flows
• Armature experiences a force due to the
interaction of the current and magnetic field
𝐹 = 𝐵𝑙𝑖𝑎 𝑡
• This force acts at a distance from the armature
shaft, developing a torque and rotating the
armature
Electromechanical System Modeling
• A conductor moving at right angles to a magnetic
field generates a voltage at the terminals of the
conductor 𝑒 = 𝐵𝑙𝑣
𝑑𝜃𝑚 𝑡
𝑣𝑏 𝑡 = 𝐾𝑏
𝑑𝑡
Where
• 𝑣𝑏 (𝑡) is the back emf
• 𝐾𝑏 is the back emf constant
𝑑𝜃𝑚 𝑡
• = 𝜔𝑚 (𝑡) is the angular velocity of the motor
𝑑𝑡
Electromechanical System Modeling
𝑑𝜃𝑚 𝑡
𝑣𝑏 𝑡 = 𝐾𝑏
𝑑𝑡
• Taking the Laplace transform
𝑉𝑏 𝑠 = 𝐾𝑏 𝑠Θ𝑚 𝑠
• Consider the circuit loop and the current
𝑅𝑎 𝐼𝑎 𝑠 + 𝐿𝑎 𝑠𝐼𝑎 𝑠 + 𝑉𝑏 𝑠 = 𝐸𝑎 𝑠
• The torque developed by the motor is
proportional to the armature current
𝑇𝑚 𝑠 = 𝐾𝑡 𝐼𝑎 𝑠
Where 𝐾𝑡 is the motor torque constant
Electromechanical System Modeling
𝑇𝑚 𝑠 = 𝐾𝑡 𝐼𝑎 𝑠
• Rearranging
𝑇𝑚 𝑠
𝐼𝑎 𝑠 =
𝐾𝑡
• Substitute to loop equation
𝑅𝑎 + 𝐿𝑎 𝑠 𝑇𝑚 (𝑠)
+ 𝐾𝑏 𝑠Θ𝑚 𝑠 = 𝐸𝑎 𝑠
𝐾𝑡
Electromechanical System Modeling
𝑅𝑎 + 𝐿𝑎 𝑠 𝑇𝑚 (𝑠)
+ 𝐾𝑏 𝑠Θ𝑚 𝑠 = 𝐸𝑎 𝑠
𝐾𝑡
• A relationship between torque and angular
rotation can be obtained
𝑇𝑚 𝑠 = 𝐽𝑚 𝑠 2 + 𝐷𝑚 𝑠 Θ𝑚 𝑠
• Substitute to loop equation
𝑅𝑎 + 𝐿𝑎 𝑠 𝐽𝑚 𝑠 2 + 𝐷𝑚 𝑠 Θ𝑚 𝑠
+ 𝐾𝑏 𝑠Θ𝑚 𝑠 = 𝐸𝑎 𝑠
𝐾𝑡

Note that Θ𝑚 (𝑠) can now be isolated.

Electromechanical System Modeling
The transfer function is then given by
Electromechanical System Modeling
Through more derivations, it can be seen that
𝐾𝑏 𝐾𝑡 𝐾𝑡
𝑇𝑚 = − 𝜔𝑚 + 𝑒𝑎
𝑅𝑎 𝑅𝑎

When 𝜔𝑚 = 0,
𝐾𝑡
𝑇𝑠𝑡𝑎𝑙𝑙 = 𝑒𝑎
𝑅𝑎
When 𝑇𝑚 = 0,
𝑒𝑎
𝜔𝑛𝑜−𝑙𝑜𝑎𝑑 =
𝐾𝑏
Electromechanical System Modeling
The electrical constants of the motor’s transfer
function is then given by

𝐾𝑡 𝑇𝑠𝑡𝑎𝑙𝑙
=
𝑅𝑎 𝑒𝑎

𝑒𝑎
𝐾𝑏 =
𝜔𝑛𝑜−𝑙𝑜𝑎𝑑
Electromechanical System Modeling
Example
Thermal and Fluid System Modeling
Thermal and Fluid System Modeling
Modeling of systems involving
thermodynamics and fluid
mechanics.
Thermal and Fluid System Modeling
Modeling of systems involving
thermodynamics and fluid
mechanics.

Thermal capacitance, 𝐶, is usually

defined as the heat needed to raise
the temperature by 1°𝐶

Thermal resistance, 𝑅, is usually

defined as the capability of an
object to resist heat flow.
Thermal and Fluid System Modeling
Thermal capacitance, 𝐶, is usually
defined as the heat needed to raise
the temperature by 1°𝐶

𝑑𝑇
𝑞 𝑡 =𝐶
𝑑𝑡
Thermal and Fluid System Modeling
Thermal resistance, 𝑅, is usually
defined as the capability of an
object to resist heat flow.

1
𝑞12 = d𝑇
𝑅
Thermal and Fluid System Modeling
A real system would include both.
Thus,

𝑑𝑇 1
𝑞 𝑡 =𝐶 + 𝑑𝑇
𝑑𝑡 𝑅

Laplace transform,

1
𝑄 𝑠 = 𝐶𝑠 + 𝑇(𝑠)
𝑅
Thermal and Fluid System Modeling
1
𝑄 𝑠 = 𝐶𝑠 + 𝑇(𝑠)
𝑅

Rearranging,

𝑇 𝑠 1
=
𝑄 𝑠 1
𝐶𝑠 +
𝑅

𝑇 𝑠 𝑅
=
𝑄 𝑠 𝑅𝐶𝑠 + 1
Thermal and Fluid System Modeling
Example