Automatic Control Systems

Lecture- 2
Introduction Mathematical Modeling
Mathematical Modeling of Mechanical Systems

1
 Lecture Outline
• Introduction to Modeling
– Ways to Study System
– Modeling Classification

• Mathematical Modeling of Mechanical Systems

– Translational Mechanical Systems
– Rotational Mechanical Systems
– Mechanical Linkages

2
 Model
• A model is a simplified representation or
abstraction of reality.

• Reality is generally too complex to copy exactly.

• Much of the complexity is actually irrelevant in

problem solving.

3
 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Ways to Study a System

System

Experiment with actual Experiment with a

System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

5
 Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or
unknown.

Input Output

• Easy to Model

6
Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

7
Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)
 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
i)

Circuit Symbols
Translational Spring
 Translational Spring
• If F is the applied force
x1
x2

• Then x1 is the deformation if x2  0 F

• Or ( x1  x2 ) is the deformation. F

• The equation of motion is given as

F  k ( x1  x2 )
• Where k is stiffness of spring expressed in N/m
 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without

mass does not exist.

• If a force F is applied to a mass x(t )

and it is displaced to x meters
then the relation b/w force and F (t )
M
displacements is given by
Newton’s law.

F  Mx
 Translational Damper
• Damper opposes the rate of
change of motion.

• All the materials exhibit the

property of damping to some
extent. Translational Damper
iii)

• 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

F  Cx F  C( x1  x 2 )

• Where C is damping coefficient (N/ms-1).

 Example-1
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

inertial force respectively.
15
 Example-1
fk
M fM
F

F  fk  fM
• Then the differential equation of the system is:

F  kx  Mx
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F ( s )  Ms 2 X ( s )  kX ( s )
16
 Example-1
F ( s )  Ms 2 X ( s )  kX ( s )
• The transfer function of the system is

X (s) 1

F(s) Ms 2  k

• if
M  1000kg
k  2000 Nm 1

X (s) 0.001
 2
F(s) s 2
17
 Example-2

X (s) 0.001
 2
F(s) s 2

• The pole-zero map of the system is

Pole-Zero Map

𝑗 2
Imaginary Axis

−𝑗 2

-1 -0.5 0 0.5 1
18
Real Axis
 Example-2
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F  f k  f M  fC
19
 Example-3
Differential equation of the system is:

F  Mx  Cx  kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F ( s )  Ms 2 X ( s )  CsX ( s )  kX ( s )

X (s) 1

F(s) Ms 2  Cs  k

20
 Example-3
X (s) 1

F(s) Ms 2  Cs  k

• if 2
Pole-Zero Map

1.5
M  1000kg 1

k  2000 Nm 1

Imaginary Axis
0.5

1
C  1000 N / ms
0

-0.5

-1

X (s) 0.001
-1.5

 2 -2
F(s) s  s  1000 -1 -0.5 0
Real Axis
0.5 1

21
 Example-4
• Consider the following system
x2

x1 k B
F M

• Mechanical Network
x1 k x2

F ↑ M B

22
 Example-4
• Mechanical Network
x1 k x2

F ↑ M B

At node x1

F  k ( x1  x2 )
At node x2

0  k ( x2  x1 )  Mx2  Bx
2
23
 Example-5
• Find the transfer function X2(s)/F(s) of the following system.

M1 M2
B
 Example-6
x1 x2

k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

25
 Example-7
• Find the transfer function of the mechanical translational
system given in Figure-1.
Free Body Diagram
fk fB

Figure-1

f (t ) fM

X (s) 1
f (t )  f k  f M  f B 
F(s) Ms 2  Bs  k
26
 Example-8
• Restaurant plate dispenser

27
 Example-9
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1
k2
F (t ) f M 2 f M1

F (t )  f k1  f k 2  f M 2  f B

0  f k1  f M1  f B
28
 Example-10

x2 x3
x1
k1 B3 B4

u(t ) B1 M1 k2 M2 k3

B2 B5

29
 Basic Elements of Rotational Mechanical Systems

Rotational Spring

1
2

T  k (1   2 )
 Basic Elements of Rotational Mechanical Systems

Rotational Damper

C
1
2 T

T  C (1  2 )
 Basic Elements of Rotational Mechanical Systems

Moment of Inertia


J T

T  J
 Example-11

B1
1 k1 2 3 k2
T J1 J2

1 k1 2 B1 3

T ↑ J1 J2 k2
 Example-12

1 k1 2 B2
3 B4
T J1 J2

B1 B3

1 k1 2 B2 3

T ↑ J1 B1 B3 J2 B4
 Example-13

1
k1 2
T k2
J1 J2
B2
Example-14
 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.

37
 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?

• 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.

40
Gear Trains

41
 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 Driver

and decrease torque.
Follower
Ratio: 3:1

• We gear down when we increase torque

and reduce velocity.
Ratio: 1:3

𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑓 𝑖𝑛𝑝𝑢𝑡 𝑔𝑒𝑎𝑟 𝐼𝑛𝑝𝑢𝑡 𝑇𝑜𝑟𝑞𝑢𝑒 𝑂𝑢𝑡𝑝𝑢𝑡 𝑆𝑝𝑒𝑒𝑑

𝐺𝑒𝑎𝑟 𝑟𝑎𝑡𝑖𝑜 = = =
𝑛𝑢𝑚𝑏𝑒𝑟 𝑜𝑓 𝑡𝑒𝑒𝑡ℎ 𝑜𝑓 𝑜𝑢𝑝𝑢𝑡 𝑔𝑒𝑎𝑟 𝑂𝑢𝑝𝑢𝑡 𝑇𝑜𝑟𝑞𝑢𝑒 𝐼𝑛𝑝𝑢𝑡 𝑆𝑝𝑒𝑒𝑑
 Example of Gear Trains
• A most commonly used example of gear trains is the gears of
an automobile.

43
 Mathematical Modeling of Gear Trains
• Gears increase or descrease angular velocity (while
simultaneously decreasing or increasing torque, such
that energy is conserved).
Energy of Driving Gear = Energy of Following Gear

N11  N 2 2

N1 Number of Teeth of Driving Gear

1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

2 Angular Movement of Following Gear

44
 Mathematical Modelling of Gear Trains
• In the system below, a torque, τa, is applied to gear 1 (with
number of teeth N1, moment of inertia J1 and a rotational friction
B1).
• It, in turn, is connected to gear 2 (with number of teeth N2,
moment of inertia J2 and a rotational friction B2).
• The angle θ1 is defined positive clockwise, θ2 is defined positive
clockwise. The torque acts in the direction of θ1.
• Assume that TL is the load torque applied by the load connected
to Gear-2.

N2
N1
B1

B2 45
 Mathematical Modelling of Gear Trains
• For Gear-1

 a  J11  B11  T1 Eq (1)

• For Gear-2

T2  J 22  B22  TL Eq (2) N1

N2

B1
• Since
B2
N11  N 2 2
• therefore
N1
2  1 Eq (3)
N2 46
 Mathematical Modelling of Gear Trains
• Gear Ratio is calculated as
T2 N2 N1
  T1  T2
T1 N1 N2
N2
• Put this value in eq (1) N1
B1
  N1
 a  J11  B11  T2
N2 B2
• Put T2 from eq (2)
  N1
 a  J11  B11  ( J 22  B22  TL )
N2
• Substitute θ2 from eq (3)
  N1 N1  N1  N1
 a  J11  B11  (J2 1  B2 2  TL )
N2 N2 N2 N 2 47
 Mathematical Modelling of Gear Trains
  N1 N1  N1  N1
 a  J11  B11  (J2 1  B2 2  TL )
N2 N2 N2 N2
• After simplification
2 2
  N1     N1  N
 a  J11    J 21  B11    B21  1 TL
 N2   N2  N2
  N1 
2    N1 
2  N1

 a  J1      
J 2 1  B1    
 B2 1  TL
  N2     N2   N2
   
2 2
N   N 
J eq  J 1   1  J 2 Beq  B1   1  B2
 N2   N2 

  N1
 a  J eq1  Beq1  TL
N2 48
 Mathematical Modelling of Gear Trains

• For three gears connected together

2 2 2
 N1   N1   N3 
J eq  J 1    J 2      J 3
 N2   N2   N4 

2 2 2
 N1   N1   N3 
Beq  B1    B2      B3
 N2   N2   N4 

49
 Example-15
• Drive Jeq and Beq and relation between applied
torque τa and load torque TL for three gears
connected together.

2
1
N1 3
N2
N3
J1 J2 J3 TL

B2
B3
τa B1

50