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Chapter 2

Chapter 2 discusses the mathematical modeling of mechanical systems, focusing on inertia, stiffness, and damping elements, as well as mechanical transformers. It outlines the fundamental laws governing these elements and provides a systematic process for deriving mathematical models, including transfer functions and state-space representations. Examples illustrate the application of Newton's laws to derive equations of motion for various mechanical systems.

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5 views13 pages

Chapter 2

Chapter 2 discusses the mathematical modeling of mechanical systems, focusing on inertia, stiffness, and damping elements, as well as mechanical transformers. It outlines the fundamental laws governing these elements and provides a systematic process for deriving mathematical models, including transfer functions and state-space representations. Examples illustrate the application of Newton's laws to derive equations of motion for various mechanical systems.

Uploaded by

hanahelbatal
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Chapter 2

Modeling of Mechanical Systems


This chapter presents the mathematical modeling of the mechanical systems, the
governing fundamental equations, and how to develop the different standard models.
3.1 Mechanical Element Laws
A mechanical system is composed of inertia, stiffness, and energy-dissipation
elements. In addition, it may possess mechanical transformers, such as gears or levers.
This section presents brief descriptions of the fundamental laws that govern these
mechanical elements.
3.1.1 Inertia Elements
Inertia elements are either lumped masses (translational mechanical systems) or
moments of inertia (rotational mechanical systems). They are easily identified in
Newton's second law

Force = mass x acceleration (translational system)


=m.a

Torque = moment of inertia x angular acceleration (rotational system)


=I.α

α
F a
m T
3.1.2 Stiffness Elements
When a mechanical element stores energy due to a deformation or change in shape, it
can be modeled as a stiffness element. The simplest force-deformation relationship is
Hooke’s law, which states that the force required to stretch or compress a spring is
proportional to the displacement.

where k is called the spring constant or


3.1.3 Damping Elements
When a mechanical element dissipates energy due to its motion, it can be modeled as
a friction element. We can use a “damper“ (or "dashpot") element to model friction.

where b is called the damping coefficient


3.1.4 Elements in parallel and series
The force is distributed among the parallel elements, while it is the same for all
elements in series.
3.1.5 Mechanical Transformers
Mechanical devices that transform an input motion or a force are called mechanical
transformers. Common examples include levers and gear trains.
N is called the gear ratio,

The angular velocity ratio,

The torque ratio,

3.2 Mathematical Models of Mechanical Systems


Mathematical models of mechanical systems can be derived using a systematic
process:
1- Determine all external forces (or torques) acting on each mass (or moment of
inertia).
2- Make use of Newton's third law to show equal-and-opposite reaction forces (or
torques) on interconnected inertia elements.
3- Apply Newton's second law to each inertia element to obtain the mathematical
model of the entire mechanical system.
4- To get the transfer function, make Laplace transformation for each equation.
5- To get the state-space representation, take the displacement and the velocity for
each inertia as the state variables (optional).

Example 3.1
Obtain the transfer functions X1(s)/U(s) and X2(s)/U(s) of the mechanical system
shown in figure.

Solution

Applying Newton’s second law to the present system,


The equations of motion for the system

Simplifying, we obtain

Taking the Laplace transforms of these two equations, assuming zero initial conditions,
we obtain

(1)

(2)

Solving Equation (2) for X2(s) and substituting it into Equation (1) and simplifying, we
get
from which we obtain

(3)

From Equations (2) and (3) we have

Example 3.2
Obtain a state-space representation in matrix form of the system shown in the figure.
Consider the output variables are y1 and y2 .
Solution
Applying the Newton’s second law for every mass we get,

Define state variables as

By differentiating the state variables we obtain


Example 3.3
The figure shows a wind turbine generator used for transforming mechanical energy
into electrical energy. The turbine inertia j1 and generator inertia j2 are both rigidly
connected to their respective gears in the gear train. Both the turbine and generator
inertias experience viscous friction acting as dampers of coefficient b1 and b2,
respectively. The turbine blades extract energy from the wind and produce the
aerodynamic torque, Taero, which is the input to the system. The generator produces
another torque, Tgen , which opposes the motion. Derive the mathematical model of
the system which relates the turbine angle θ1 with Taero and Tgen .
Solution
The system consists of two inertias. The mathematical model is achieved by applying
Newton’s second law for each.

where, fc is the contact force between the two gears.

(1)

(2)
From (2) we get

Substitute in (1)

(3)

We have

Substitute in (3) we get

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