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Part 5 System Modelling Translational

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45 views14 pages

Part 5 System Modelling Translational

Uploaded by

andrew brown
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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FEEDBACK AND CONTROL

SYSTEMS
SYSTEM MODELLING:
TRANSLATIONAL MECHANICAL SYSTEMS
Translational Mechanical Systems
• a system of passive linear elements that interact on mechanical
principles. It consist of spring, mass (energy-storage elements) and
the viscous damper (dissipates energy).
• In translational motion, the mechanical system components are
considered to have the following variable functions with respect to
time :
• a force, f(t) in Newtons (N), as an input and
• a displacement, x(t) in metres (m), as an output
Voltage-current

Voltage-charge

• spring = analogous to capacitor


• damper = analogous to resistance
• mass = analogous to inductor
• forces (velocity) = analogous to voltages
• Mechanical differential equation = analogous
to mesh equations
Components
• Spring • Viscous Damper
• A spring is one of the energy-storage • A viscous damper dissipates energy and
elements. The force, f(t), is proportional to generates a damping force, f(t), that is
the displacement ,x(t). In the previous proportional to the velocity, dx/dt. In the
tables, K, is called spring constant. previous tables, fv or D is called the
coefficient of viscous friction.
Mass
• A mass is one of the energy-storage elements. The force, f(t), is proportional to
the acceleration, d2x/dt2. In the previous tables, m, is called mass.
• Mass is a measure of the resistance of a body to acceleration .
• Newton’s 2nd Law of Motion
• Newton’s 2nd law of motion states that acceleration is produced when a force acts on a
mass. The greater the mass (of the object being accelerated) the greater the amount of
force needed (to accelerate the object).

• Newton’s Law for Translational Mechanical System


• Newton’s 2nd law of motion can be applied in translational mechanical system, by taking
the algebraic sum of forces acting on a rigid body in a given direction is equal to the
product of the mass of the body and its acceleration in the same direction:
∑ Forces = ma

where: m = denotes the mass


a = d2x(t)/dt2,the acceleration in the direction of motion.
Free Body Diagram
• Free Body Diagrams (FBDs) allow us to reduce a complex
translational mechanical system into smaller and more manageable
pieces. The force applied to the FBD can then be summed up to
provide an equation for the piece. These equations can then be
used later to do an analysis of translational mechanical system
behavior.
Steps in Solving Translational Mechanical System

• Set a reference coordinate system with a suitable sign convention.


• Find for any input forces of the system.
• Find the displacement output of the system.
• Illustrate the free body diagram of each system mass showing all the forces and
moments acting on it.
• Apply the Newton’s 2nd law of motion to each free body diagram.
• Rearrange the equation(s) and find the transfer function.
Steps in Solving Complex Electrical Networks using
Nodal Analysis

• Place a node on each circuit junctions and replace all sources and
passive element time variables with their Laplace transform.
• Use ohms law principle to represent the equivalent of the node
currents and write the Kirchhoff’s current law.
• Solve the simultaneous equations for the output.
• Form the transfer function.
• Find the transfer function X(s)/F(s)

• Using Newton’s Law to sum all forces


d 2 x(t ) dx(t )
• Spring, damper, forces M 2
 f v  kxt   f t 
due to acceleration – dt dt
point to the left • Take Laplace Transform
• Mass – point to the Ms 2 X ( s )  fvsX ( s )  kX s   F s 
right X (s) 1
Ms 2
 f v s  k xX ( s)  F s  
F s  Ms 2  fvs  k
• Find the transfer function X(s)/F(s)

spring Ms 2 X ( s )  fvsX ( s )  kX s   F s 
F ( s )  kX ( s )

F ( s)  f v sX ( s) damper
Ms 2
 fvs  k X ( s )  F s 
X ( s) 1

F ( s)  Ms X ( s) mass
F s  Ms 2  fvs  k
2

F s 
Z M (s) 
X s  impedance [Sum of impedances]X(s) = Sum of applied forces
Find the Transfer function, X2(s)/F(s)
M s1
2

  fv1  fv3 s  K1  K 2  X 1 s    fv3 s  K 2 X 2 ( s )  F s 

 
  fv3 s  K 2 X 1 s   M 2 s 2   f v 2  f v 3 s  K 2  K 3  X 2 s   0

X 2 s   fv3 s  K 2 
 G s  
F s  

M 1s 2   fv1  fv3 s  K1  K 2    fv3 s  K 2 



  fv3 s  K 2  M 2 s   fv2  fv3 s  K 2  K 3 
2

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