Intnuctin to Contnotl Systems 8 ControlTngineering

Solution
Hence, the force-velocity equation is
The minimum number
of displacementsmust be cqual to the umber of massCs in the
system and also the
displacements either sides of a spring/damper must be dillerent.
on
ience, the present mechanical system has two Mi+Kvi(7)dr + B1 v +K2 lvi(7) -va(7)]dr +Ba(v -vz) =f(t) (1.23)
Fig. Ex. 1.6(a). displacements *1 and 2 ns showI1 in d 0

ii. At node r2:

2
dt2 Kz(72 -z1)+ Ba7z1) =0
The force-velocity equation is

Ma du2 +K va(T) v1(7)]dr + Ba(v2 -v1) 0 (1.24)

-
=

dt

C . Force-voltage equations
V2
T These are obtained by replacing f(t) by e(t), v(t)
tions (1.23) and (1.24). Accordingly, we get
by i(t), M by L, B by Rand K by in equa

Fig. Ex.1.6(a) t

a. The mechanical network for the present problem is shown in Fig. Ex. i(r)dr + R i+ i ( r ) - iz(7)ldr+ Ra ( i - i2) = e(t)(1.25)
as
1.6(b).

and
L di | balr)-iilr)}\dr +Ra(ia-i) 0 (1.26)
=

Using equations (1.25) and (1.26), we can draw an electrical network based on force

soCt) voltage analogy and the same is as shown in Fig. Ex. 1.6(c).

Fig. Ex.1.6(b

b. Equations of performance.
i. At node c1: R
w
M +K z1 +B1+Kalz1 - ra)+ Ba e) = f) Fig. Ex.1.6c)
dt2
dti
Let V1 = Velocity of mass M1 Exampe Z
a. Draw the mechanical network for the mechanical system shown below.

and v2 dt
Velocity of mass M2 b. Draw the analogous electric circuit in which force is analogous to eurrent.
 Introduction to
Contrl Systems 62 Controf Tnginering
Example 18 The torque-angular vclocity ecquation is
a. Refer Fig. Ex.1.8.
Draw the mechanical network.
. Draw the eleetrical
network basedon
torque-current analogy. Give all the relevant
performance equations. B u + d +K1 w(T)-wa(7)]dr = T(t)

K2 The torque-current equation is

1
Fig. Ex.1.8 fea(7)- eatT)Jdr = i(t)
(1.21
Solution
The mechanical network
for the present problem is as shown in ii. At node 62:
electrical analog of rotational and Fig. Ex. 1.8(a). The
translational systems are identical. Hence, in
current analogy, torque- +B2 +K202 +Ki(e2-61) =0
The torque-angular velocity equation is
Tt) it)
wt) elt)
J C dw2
Baua+K2 walr)dr +Ki | a() -u(r]dr =0
B
R The torque-current equation is
K T

de
CdRet ear)dr+letr) -elr)]dr0 0
=o 1.28)

Using equations (1.27) and (1.28), we can draw an electrical network based on torque-
Tot) currentanalogy. The same is shown in Fig. Ex. 1.8(b).

000
Fig. Ex.1.8(a)
i. At node 61:
R
B+J +K-0,) = T(t)
dt FC

Let t ) =0 Angular velocity of Jj

dt Fig. Ex.1.86)
w2t) = Wa()
and
dt
=
Angular velocity of Ja The quantities inside the parenthesis denote mechanical quantities.