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Mathematical Modeling of Mechanical Systems: MTS-362 Control Engineering Spring 2011

The document discusses mathematical modeling of mechanical systems. It begins by explaining the importance of using mathematical models over trial and error design. Key concepts covered include modeling translational systems using free body diagrams and common components like springs, dampers, and contacts. Rotational system modeling is also discussed, focusing on inertia, springs, damping, friction, and gears. Examples of mechanical systems are provided to demonstrate modeling techniques.

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94 views54 pages

Mathematical Modeling of Mechanical Systems: MTS-362 Control Engineering Spring 2011

The document discusses mathematical modeling of mechanical systems. It begins by explaining the importance of using mathematical models over trial and error design. Key concepts covered include modeling translational systems using free body diagrams and common components like springs, dampers, and contacts. Rotational system modeling is also discussed, focusing on inertia, springs, damping, friction, and gears. Examples of mechanical systems are provided to demonstrate modeling techniques.

Uploaded by

usman_mani_7
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 54

MTS-362 CONTROL ENGINEERING Spring 2011 Lecture No.

Mathematical Modeling of Mechanical Systems

Instructor: Engr. Sadaf Siddiq Class: BEMTS 6A & 6B

Department of Mechatronics Engineering

System Modeling

System Modeling

Mathematical Models
Design of engineering systems by trying and error versus design by using mathematical models. Physical laws such as Newtons second law of motion is a mathematical model. Mathematical model gives the mathematical relationships relating the output of a system to its input.

Mathematical Models
Control systems give desired output by controlling the input. Therefore control systems and mathematical modeling are inter-linked.

Mechanical Systems
If the velocity and acceleration of a body are both zero then the body will be Static. If the applied forces are balanced, and cancel each other out, the body will not accelerate. If the forces are unbalanced then the body will accelerate and the body will be Dynamic. If all of the forces act through the center of mass then the body will only translate- Translation Forces that do not act through the center of mass will also cause rotation to occur- Rotation

Modeling- Translational Systems


FBD: Free Body Diagrams allow us to reduce a complex
mechanical system into smaller, more manageable pieces. Common Components
gravity and other fields - apply non-contact forces inertia - opposes acceleration and deceleration springs - resist deflection dampers and drag - resist motion friction - opposes relative motion between bodies in contact cables and pulleys - redirect forces contact points/joints - transmit forces through up to 3 degrees of freedom
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Gravity and Other Fields


F mg
m

F qv B

mg

Mass and Inertia

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Springs

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Springs

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Springs

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Springs in Series & Parallel

Kequiv= KS1 + KS2

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Damping and Drag


A damper is a component that resists motion. The resistive force is relative to the rate of displacement (velocity). Springs store energy in a system but dampers dissipate energy. Dampers and springs are often used to compliment each other in designs.

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Dampers in Series & Parallel

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Cables and Pulleys

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Contact Points and Joints


A system is built by connecting components together. These connections can be rigid or moving. In solid connections all forces and moments are transmitted and the two pieces act as a single rigid body. In moving connections there is at least one degree of freedom. If we limit this to translation only, there are up to three degrees of freedom, x, y and z. In any direction there is a degree of freedom, a force or moment cannot be transmitted.

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Contact Points and Joints

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The Unforced Mass-Spring System


Consider a mass, M, suspended from a spring of natural length l and modulus of elasticity . If the elastic limit of the spring is not exceeded and the mass hangs in equilibrium, the spring will extend by an amount, e, such that by Hookes Law the tension in the spring, T, will be given by: T

Mg
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The Unforced Mass-Spring System


If the spring is pulled down a further distance, y, (with y positive downwards) the restoring force will now be the new tension in the spring, T

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The Unforced Mass-Spring-Damper System


Damping Force FD B dy , B damping Coefficien t dt

FD

This time, the net downward force will be Mg - T - FD


Net Force F Mg

(e y )
l

dy y dy B B dt l dt

using Newtons 2nd Law, this results in

d 2 y y dy d2y dy M 2 B M 2 ky B dt l dt dt dt
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The Forced Mass-Spring-Damper System

FD
The net downward force = Mg + f(t)- T- FD (e y ) dy Net Force F Mg f (t ) B l dt
dy dy Net Force F f (t ) B f (t ) ky B l dt dt

using Newtons 2nd Law, this results in

d2y dy M 2 ky B f (t ) dt dt
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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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Modeling- Rotational Systems

Basic properties of rotation

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Modeling- Rotational Systems


FBD: Free Body Diagrams (FBDs) are required when analyzing rotational systems, as they were for translating systems.
Common Components
inertia - opposes acceleration and deceleration springs - resist deflection dampers and drag - resist motion friction - opposes relative motion between bodies in contact levers - rotate small angles gears and belts - change rotational speeds and torques
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Inertia
When unbalanced torques are applied to a mass it will begin to accelerate, in rotation, the sum of applied torques is equal to the inertia forces

The mass moment of inertia will be used when dealing with acceleration of a mass. The area moment of inertia is used for torsional springs 37

Inertia
The center of rotation for free body rotation will be the centroid. Moment of inertia values are typically calculated about the centroid. If the object is constrained to rotate about some point, other than the centroid, the moment of inertia value must be recalculated. The parallel axis theorem provides the method to shift a moment of inertia from a centroid to an arbitrary center of rotation

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Springs
Twisting a rotational spring will produce an opposing torque. This torque increases as the deformation increases. The angle of rotation is determined by the applied torque, T, the shear modulus, G, the area moment of inertia, JA, and the length, L, of the rod. The constant parameters can be lumped into a single spring coefficient similar to that used for translational springs.

This calculation uses the area moment of inertia (JA)


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Springs
If the object is constrained to rotate about some point, other than the centroid, the moment of area value must be recalculated. The parallel axis theorem provides the method to shift a moment of area from a centroid to an arbitrary center of rotation

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Damping
Rotational damping is normally caused by viscous fluids, such as oils, used for lubrication. The equation used for a system with one rotating and one stationary part is given by:

The equation used for damping between two rotating parts is given by:

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Friction
Friction between rotating components is a major source of inefficiency in machines. It is the result of contact surface materials and geometries. Calculating friction values in rotating systems is more difficult than translating systems. Normally rotational friction will be given as static and kinetic friction torques.

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Levers
The levers can be used to amplify forces or motion. Although theoretically a lever arm could rotate fully, it typically has a limited range of motion. The amplification is determined by the ratio of arm lengths to the left and right of the center.

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Gears and Belts


While levers amplify forces and motions over limited ranges of motion, gears can rotate indefinitely. Some of the basic gear forms are:
Spur - Round gears with teeth parallel to the rotational axis. Rack - A straight gear (used with a small round gear called a pinion). Helical - The teeth follow a helix around the rotational axis. Bevel - The gear has a conical shape, allowing forces to be transmitted at angles.

Basic Gear Relationships

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Rack & Pinion


Rack and pinion gear sets are used for converting rotation to translation. A rack is a long straight gear that is driven by a small mating gear called a pinion.

Relationships for a rack and pinion gear set


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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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System Examples

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