Feedback Control Systems (FCS)

Dr. Imtiaz Hussain

email: imtiaz.hussain@faculty.muet.edu.pk
URL :http://imtiazhussainkalwar.weebly.com/
Lecture-6-7-8
Mathematical Modelling of Mechanical Systems
1
Outline of this Lecture
Part-I: Translational Mechanical System
Part-II: Rotational Mechanical System
Part-III: Mechanical Linkages
2
Basic Types of Mechanical Systems
Translational
Linear Motion



Rotational
Rotational Motion
3
TRANSLATIONAL MECHANICAL SYSTEMS
Part-I
4
Basic Elements of Translational Mechanical Systems
Translational Spring
i)
Translational Mass
ii)
Translational Damper
iii)
Translational Spring
i)
Circuit Symbols
Translational Spring
A translational spring is a mechanical element that
can be deformed by an external force such that the
deformation is directly proportional to the force
applied to it.
Translational Spring
Translational Spring
If F is the applied force


Then is the deformation if

Or is the deformation.

The equation of motion is given as


Where is stiffness of spring expressed in N/m
2
x
1
x
0
2
= x
1
x
) (
2 1
x x
) (
2 1
x x k F =
k
F
F
Translational Spring
Given two springs with spring constant k
1
and k
2
, obtain
the equivalent spring constant k
eq
for the two springs
connected in:
8
(1) Parallel
(2) Series
Translational Spring
9
(1) Parallel
F x k x k = +
2 1
F x k k = + ) (
2 1
F x k
eq
=
The two springs have same displacement therefore:
2 1
k k k
eq
+ =
If n springs are connected in parallel then:
n eq
k k k k + + + =
2 1
Translational Spring
10
(2) Series
F x k x k = =
2 2 1 1
The forces on two springs are same, F, however
displacements are different therefore:
1
1
k
F
x =
2
2
k
F
x =
Since the total displacement is , and we have
2 1
x x x + = x k F
eq
=
2 1
2 1
k
F
k
F
k
F
x x x
eq
+ = + =
Translational Spring
11
Then we can obtain
2 1
2 1
2 1
1 1
1
k k
k k
k k
k
eq
+
=
+
=
2 1
k
F
k
F
k
F
eq
+ =
If n springs are connected in series then:
n
n
eq
k k k
k k k
k
+ + +
=

2 1
2 1
Translational Spring
12
Exercise: Obtain the equivalent stiffness for the following
spring networks.
3 k
i)
ii)
3 k
Translational Mass
Translational Mass
ii)
Translational Mass is an inertia
element.

A mechanical system without
mass does not exist.

If a force F is applied to a mass
and it is displaced to x meters
then the relation b/w force and
displacements is given by
Newtons law.



M
) (t F
) (t x
x M F

=
Translational Damper
Translational Damper
iii)
When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.

All the materials exhibit the
property of damping to some
extent.

If damping in the system is not
enough then extra elements (e.g.
Dashpot) are added to increase
damping.



Common Uses of Dashpots



Door Stoppers
Vehicle Suspension
Bridge Suspension
Flyover Suspension
Translational Damper
x C F

=
Where C is damping coefficient (N/ms
-1
).
) (
2 1
x x C F

=
Translational Damper
Translational Dampers in series and parallel.
2 1
C C C
eq
+ =
2 1
2 1
C C
C C
C
eq
+
=
Modelling a simple Translational System
Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.







or
18
kx x m =

0 = + kx x m

Example-2
Consider the following system (friction is negligible)
19
Free Body Diagram
M
F
k
f
M
f
k
F
x
M
Where and are force applied by the spring and
inertial force respectively.
k
f
M
f
Example-2
20
Then the differential equation of the system is:
kx x M F + =

Taking the Laplace Transform of both sides and ignoring
initial conditions we get
M
F
k
f
M
f
M k
f f F + =
) ( ) ( ) ( s kX s X Ms s F + =
2
21
) ( ) ( ) ( s kX s X Ms s F + =
2
The transfer function of the system is
k Ms
s F
s X
+
=
2
1
) (
) (
if
1
2000
1000

=
=
Nm k
kg M
2
001 0
2
+
=
s
s F
s X .
) (
) (
Example-2
22
The pole-zero map of the system is
2
001 0
2
+
=
s
s F
s X .
) (
) (
Example-2
-1 -0.5 0 0.5 1
-40
-30
-20
-10
0
10
20
30
40
Pole-Zero Map
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Example-3
Consider the following system
23
Free Body Diagram
k
F
x
M
C
M
F
k
f
M
f
C
f
C M k
f f f F + + =
Example-3
24
Differential equation of the system is:
kx x C x M F + + =

Taking the Laplace Transform of both sides and ignoring
Initial conditions we get
) ( ) ( ) ( ) ( s kX s CsX s X Ms s F + + =
2
k Cs Ms
s F
s X
+ +
=
2
1
) (
) (
Example-3
25
k Cs Ms
s F
s X
+ +
=
2
1
) (
) (
if
1
1
1000
2000
1000

=
=
=
ms N C
Nm k
kg M
/
1000
001 0
2
+ +
=
s s
s F
s X .
) (
) (
-1 -0.5 0 0.5 1
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
Pole-Zero Map
Real Axis
I
m
a
g
i
n
a
r
y

A
x
i
s
Example-4
Consider the following system
26
Free Body Diagram (same as example-3)
M
F
k
f
M
f
B
f
B M k
f f f F + + =
k Bs Ms
s F
s X
+ +
=
2
1
) (
) (
Example-5
Consider the following system
27
Mechanical Network
k
F
2
x
M
1
x
B

M
k
B
F
1
x
2
x
Example-5
28
Mechanical Network

M
k
B
F
1
x
2
x
) (
2 1
x x k F =
At node
1
x
At node
2
x
2 2 1 2
0 x B x M x x k

+ + = ) (
Example-6
Find the transfer function X
2
(s)/F(s) of the following system.
1
M
2
M
k
B
Example-7
30
k
) (t f
2
x
1
M
4
B
3
B
2
M
1
x
1
B
2
B

M
1 k 1
B
) (t f
1
x
2
x
3
B
2
B
M
2
4
B
Example-8
Find the transfer function of the mechanical translational
system given in Figure-1.
31
Free Body Diagram
Figure-1
M
) (t f
k
f
M
f
B
f
B M k
f f f t f + + = ) (
k Bs Ms
s F
s X
+ +
=
2
1
) (
) (
Example-9
32
Restaurant plate dispenser
Example-10
33
Find the transfer function X
2
(s)/F(s) of the following system.
Free Body Diagram
M
1
1
k
f
1
M
f
B
f
M
2
) (t F
1
k
f
2
M
f
B
f
2
k
f
2
k
B M k k
f f f f t F + + + =
2 2 1
) (
B M k
f f f + + =
1 1
0
Example-11
34
1
k
) (t u
3
x
1
M
4
B
3
B
2
M
2
x
2
B
5
B
2
k
3
k
1
x
1
B
Example-12: Automobile Suspension
35
Automobile Suspension
36
Automobile Suspension
37
) . ( ) ( ) ( 1 0 eq = + +
i o i o o
x x k x x b x m

2 eq.
i i o o o
kx x b kx x b x m + = + +

Taking Laplace Transform of the equation (2)
) ( ) ( ) ( ) ( ) ( s kX s bsX s kX s bsX s X ms
i i o o o
+ = + +
2
k bs ms
k bs
s X
s X
i
o
+ +
+
=
2
) (
) (
Example-13: Train Suspension
38
Car Body
Bogie-2
Bogie
Frame
Bogie-1
Wheelsets
Primary
Suspension
Secondary
Suspension
Example: Train Suspension
39
ROTATIONAL MECHANICAL SYSTEMS
Part-I
40
Basic Elements of Rotational Mechanical Systems
Rotational Spring
) (
2 1
u u = k T
2
u
1
u
Basic Elements of Rotational Mechanical Systems
Rotational Damper
2
u
1
u
) (
2 1
u u

= C T
T
C
Basic Elements of Rotational Mechanical Systems
Moment of Inertia
u

J T =
u
T
J
Example-1
1
u
T
1
J
1
k
1
B
2
k
2
J
2
u
3
u

J
1
1
k
T
1
u
3
u
1
B
J
2
2
u
2
k
Example-2

J
1
1
k
1
B
T
1
u
3
u
2
B
3
B
J
2
4
B
2
u
1
u
T
1
J
1
k
3
B
2
B
4
B
1
B
2
J
2
u
3
u
Example-3
1
u
T
1
J
1
k
2
B
2
J
2
u
2
k
Example-4
MECHANICAL LINKAGES
Part-III
48
Gear
Gear is a toothed machine part, such
as a wheel or cylinder, that meshes
with another toothed part to
transmit motion or to change speed
or direction.
49
Fundamental Properties
The two gears turn in opposite directions: one clockwise and
the other counterclockwise.

Two gears revolve at different speeds when number of teeth
on each gear are different.

Gearing Up and Down
Gearing up is able to convert torque to
velocity.

The more velocity gained, the more torque
sacrifice.

The ratio is exactly the same: if you get three
times your original angular velocity, you
reduce the resulting torque to one third.

This conversion is symmetric: we can also
convert velocity to torque at the same ratio.

The price of the conversion is power loss due
to friction.

Why Gearing is necessary?
52
A typical DC motor operates at speeds that are far too
high to be useful, and at torques that are far too low.

Gear reduction is the standard method by which a
motor is made useful.
Gear Trains
53
Gear Ratio
You can calculate the gear ratio by using
the number of teeth of the driver
divided by the number of teeth of the
follower.

We gear up when we increase velocity
and decrease torque.
Ratio: 3:1

We gear down when we increase torque
and reduce velocity.
Ratio: 1:3

Gear Ratio = # teeth input gear / # teeth output gear
= torque in / torque out = speed out / speed in
Follower
Driver
Example of Gear Trains
A most commonly used example of gear trains is the gears of
an automobile.
55
Mathematical Modelling of Gear Trains
Gears increase or reduce angular velocity (while
simultaneously decreasing or increasing torque, such
that energy is conserved).
56
2 2 1 1
u u N N =
1
N
Number of Teeth of Driving Gear
1
u
Angular Movement of Driving Gear
2
N
Number of Teeth of Following Gear
2
u
Angular Movement of Following Gear
Energy of Driving Gear = Energy of Following Gear
Mathematical Modelling of Gear Trains
In the system below, a torque,
a
, is applied to gear 1 (with
number of teeth N
1
, moment of inertia J
1
and a rotational friction
B
1
).
It, in turn, is connected to gear 2 (with number of teeth N
2
,
moment of inertia J
2
and a rotational friction B
2
).
The angle
1
is defined positive clockwise,
2
is defined positive
clockwise. The torque acts in the direction of
1
.
Assume that T
L
is the load torque applied by the load connected
to Gear-2.
57
B
1

B
2

N
1

N
2

Mathematical Modelling of Gear Trains
For Gear-1


For Gear-2


Since


therefore
58
B
1

B
2

N
1

N
2

2 2 1 1
u u N N =
1 1 1 1 1
T B J
a
+ + = u u t

Eq (1)
L
T B J T + + =
2 2 2 2 2
u u

Eq (2)
1
2
1
2
u u
N
N
=
Eq (3)
Mathematical Modelling of Gear Trains
Gear Ratio is calculated as


Put this value in eq (1)


Put T
2
from eq (2)


Substitute
2
from eq (3)
59
B
1

B
2

N
1

N
2

2
2
1
1
1
2
1
2
T
N
N
T
N
N
T
T
= =
2
2
1
1 1 1 1
T
N
N
B J
a
+ + = u u t

) (
L a
T B J
N
N
B J + + + + =
2 2 2 2
2
1
1 1 1 1
u u u u t

) (
L a
T
N
N
N
N
B
N
N
J
N
N
B J
2
1
2
2
1
2 1
2
1
2
2
1
1 1 1 1
+ + + + = u u u u t

Mathematical Modelling of Gear Trains


After simplification

60
) (
L a
T
N
N
N
N
B
N
N
J
N
N
B J
2
1
2
2
1
2 1
2
1
2
2
1
1 1 1 1
+ + + + = u u u u t

L a
T
N
N
B
N
N
B J
N
N
J
2
1
1 2
2
2
1
1 1 1 2
2
2
1
1 1
+
|
|
.
|

\
|
+ +
|
|
.
|

\
|
+ = u u u u t

L a
T
N
N
B
N
N
B J
N
N
J
2
1
1 2
2
2
1
1 1 2
2
2
1
1
+
(
(

|
|
.
|

\
|
+ +
(
(

|
|
.
|

\
|
+ = u u t

2
2
2
1
1
J
N
N
J J
eq
|
|
.
|

\
|
+ =
2
2
2
1
1
B
N
N
B B
eq
|
|
.
|

\
|
+ =
L eq eq a
T
N
N
B J
2
1
1 1
+ + = u u t

Mathematical Modelling of Gear Trains
For three gears connected together
61
3
2
4
3
2
2
1
2
2
2
1
1
J
N
N
N
N
J
N
N
J J
eq
|
|
.
|

\
|
|
|
.
|

\
|
+
|
|
.
|

\
|
+ =
3
2
4
3
2
2
1
2
2
2
1
1
B
N
N
N
N
B
N
N
B B
eq
|
|
.
|

\
|
|
|
.
|

\
|
+
|
|
.
|

\
|
+ =
Home Work
Drive J
eq
and B
eq
and relation between applied
torque
a
and load torque T
L
for three gears
connected together.
62
J
1
J
2
J
3
1
u
3
u
2
u

a

1
N
2
N
3
N
1
B
2
B
3
B
L
T
END OF LECTURES-6-7-8
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63