1

Rotational systems: Obtaining the system model

Solution


1. Assume

1 Lever Example




 

 














 


 




 

 





Draw free-body diagrams:

is the reaction force exerted by the wall on the pivot.

 



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2. Apply DAlemberts Law.

For the mass:

Problem

Input:

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#"


 



!

Given


(1)

Output: position of mass,

).

 





Draw Free-body diagrams, derive equations of motion and compute

As

acts through the center of rotation, it makes no contribution

to the sum of moments, so summing moments about the pivot:

is small (only horizontal motion considered).

%



 

%
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NB: We have not needed (or wanted) to use

 

Assumptions

 

 

state-space matrices.

(2)

in terms of system states and inputs.

" 

As is small:

 %
 
 
 

 %
 

3. Express


%

%

"

and

we obtain:




" 

6. Defining the states of the system to be

" 

5. Exercise: Work through the algebra of this derivation

%
 



%
 
 




 


" 

"

"



Eliminating gives


%


7. Exercise: Derive the state-space matrices of this system

%




 %
 
%




 

 %

% %
 %  


%


"
"

 %

 

 

Using this in (2):


 %

 % 
   

 % 
  %



"

which after simplification becomes:

where

 
" 

%
 


%



  

4. (4) can be used in equation (1) to obtain (after some algebra):

(3)

(4)

1. Free-body diagrams:

 





 


Solution


2 Gears example



 




 

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Problem
Given

: force on geer teeth at meshing.




 



2. Using DAlemberts Law, equations of motion:

Inputs:


" 



 

 

 


 

 

 

Output

(5)



" 


 

 





Derive equations of motion for system (and state-space matrices)

(6)








Cautionary note

State variables must be linearly independent (cannot express one in

terms of linear combinations of another)...

 

(7)



).

 
"



 



are related by the gear ratio (as are


"



and

and

gear ratio):

as state variables.


Cannot do this!

 

Initial thought: use

 

 

"

From geometry of gears (

(8)

we have



 

(12)

(13)


 



 



 "  " 

Multiplying through be






and defining:

(14)







 

 




 

 


 



 



" 














" 

 










 

 














Using this in equation (9):








 


 



 



 



(10)

5. Exercise: Work through algebra!

(11)

, so we get
 




" 

 



 




 

(9)

 
   
" 


 
 
   $
   
 
  





 $
   
$
 

 
 



 
 













 


 




 


"



 
"

Equation (5) becomes:

 $ 
 



"



" 

 



3. Choose

 

"



But

 



7
8

as state variables.
(15)

(16)

4. In state-space, the state equation becomes:

From equation (6),

(17)

(18)

Solution

1. Free-body diagrams:





  

 

Assume

tion, and vice versa.

 


Let contact force between rack and pinion be denoted by

Sometimes want to use rotational motion to induce translational mo-

 

3 Example: rotational/translational system

10


 

 

 


 




 


 

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X
X
XX
X

 

 


 

 

 







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2. Using DAlemberts Law for rotational and translational systems

(perhaps easier to look at translational element first)

"
$
$

(21)

Given


 

 


 
" 
 
" 


 


 

(20)

(19)


 

 

Problem

Input:





 

).



Assume pinion has no mass




Note the geometric condition:

"

Derive state-variable model of system

 







Outputs: displacement and velocity of rack (

(contact between rack and pinion)

(22)

11

four

as our outputs the state space matrices can be calculated

as

$ $   

$



:
$

(23)









" 

  


 



(a) First use (22) in equation (21) to eliminate

 $ 
 $   
 

$  
$
$
$

$

 $
$ $  
 $   $
"
$ 
 $ 
$
$








state variables (typically).

5. Taking

3. One element with moment of inertia, one mass element

12

"

 
"

 




6. Exercise: work through algebra!


 

 



assuming the state vector to be x

 

thus gives:

"

Using this in equation (19) to elimiate

 

(24)

 

" 





 

"

"

A
(b) Now use (22) in equation (20) to get

(25)
Concluding Remarks

4. In state-variable form gives:

Eliminate any extra variables.




  

(26)



 
"

Care must be taken in choosing state variables

(27)






 

 

"



(29)




"
"

(28)

All state-derivatives must be expressed in terms of states and inputs