Enrollment codes

A= 946528173
B= 316490857
C= 704382651

ME 339- Control System

Engineering
Dr. Salman Ahmad
------Mechanical Engineering
Department----

FALL SEMESTER 2024

1
Mechanical Systems
 Modeling Mechanical Systems

• Mechanical systems are perhaps the most intuitive systems to model, since
models are derived from applying Newton’s 2nd law (F = ma) to each mass (or
inertia) element in a mechanical system

• A mechanical system possesses the following fundamental characteristics:

– Inertia (a force or torque is required to accelerate the body)
– Stiffness (any deformation is met with a resisting force or torque)
– Energy dissipation (motion in a resistive medium will cause energy loss) (Damper)

• Therefore, a mechanical system can be modeled by using three basic elements:

– Inertia elements
– Stiffness elements
– Friction elements
 Mechanical Element Laws
Inertia Elements
• Inertia elements include masses m (translational systems) and moments of inertia
J (rotational systems)

J  r 2 dm Moment of inertia (general)

1
I x  mR 2
2
1
J  mR 2 Moment of inertia 1
I y I z  mR 2
2 (uniform disk with radius R)
4

• Inertia elements can store potential energy (PE) due to position in a gravity field
and kinetic energy (KE) due to motion
1 2
mx translational system KE
2
PE = mgh KE = 1 2
J rotational system KE
2
 Mechanical Element Laws
Stiffness Elements
• When a mechanical element stores energy due to a deformation, it can be modeled by
a stiffness element, such a linear spring constant for translational systems, or a
torsional spring constant for rotational systems

• For a linear or ideal spring (below) the force-displacement relationship is

Displacemen
t (m)
Positive convention for
displacement x is to the right
F kx

spring Spring
constant
(N/m)
 Mechanical Element Laws
Stiffness Elements
• When both ends of a spring are free to move, then the force required to stretch
or compress a spring depends on the relative displacement

F k ( x2  x1 )
Force Deflecting the free ends of the spring
Unstarched equilibrium

If x2=0.25 and x1=0.15 If x2=0.15 and x1=0.25

Tensile force proportional to displacement Compressive force proportional to displacement

of 0.1m exist (Positive) of 0.1m exist (Negative)
 Torsional Stiffness Elements
• For an ideal torsional spring, the torque-displacement relationship is T = k, where T =
torque (N-m),  = angular displacement from the untwisted position (rad),

Torsional
spring
Clockwise direction
+ve angular displacement T k (N-m/rad)

• When both ends of a spring are free to rotate

• Practical mechanical spring exhibit non-linear relationship when subjected to extreme

displacement.
• It should be noted that spring elements can be used to model stiffness in a mechanical system;
they do not necessarily have to represent physical springs.
 Spring Constants:
• Rod or shaft in tension/compression:

EA
k
L Moment of inertia is a measurement of an
object’s resistance to angular acceleration.
E = Young’s modulus of elasticity, A = cross- Polar moment of inertia is a
sectional area, L = length measurement of an object’s resistance to
torsion (twisting).
• Rod or shaft in torsion:
• Shaft angular deflection due to the applied torque
Polar moment of
d 4 G inertia of shaft
k
32 L

G = shear modulus of elasticity, L = length of the shaft d = diameter of rod

 Friction Elements

• When a mechanical element dissipates energy due to friction, it can be modeled by a damper (or
dashpot) element
– Friction or damper elements (below) provide energy-dissipative forces when relative motion exists
between two bodies
– For a linear or ideal damper (below) the force-velocity relationship is
F b( x 2  x 1 )

where F = friction force (N), x 2  x 1 is the velocity of the piston relative to the cylinder (m/s) and b =
“viscous friction coefficient” (N-s/m)

x 2
F bx 2  x 1 
Translational
Damper
viscous friction
x 1 coefficient(N-s/m)
 Friction Elements
• For an ideal torsional (rotational) damper, the resistive torque is proportional to the relative
angular velocity
T b b(2  1 ) b(2  1 )
Torsional viscous
friction coefficient(N-m-
s/rad)
• As with the spring element, a damper element is a generic method for modeling friction in a
mechanical system; it does not have to represent a physical piston-cylinder dashpot

Generic symbols for damper elements: (a) translational, (b) rotational

 Mechanical Transformers
• Mechanical transformers: mechanical devices that transform motion or force (lever and gears)

• Ideal lever (no inertia and friction): cannot store or dissipate energy

Zero moment about the pivot:

f1 L1 cos   f 2 L2 cos 

For small  f1 L1  f 2 L2

f1 L1
If f1 is the input force then f2 
L2
 Mechanical Transformers
• Ideal gear train: Increase/decrease the angular velocity/torque (no friction/inertia)

r2 n2
  N = “gear ratio”
r1 n1
(equally spaced teeth)

Vmesh r11 r22 1 r2

 N Gear ratio
 2 r1
input power = output power:

T1  2
T11 T2 2 
T2 1
 Translational Mechanical Systems:
Two-Step Process

• Mathematical models of translational mechanical systems can be derived by a

simple two-step process:
– Draw a free-body diagram (FBD) with all forces on each inertia element (remember to
apply Newton’s 3rd law of equal and opposite forces)
– Apply Newton’s 2nd law to each inertia element

 F mx Translational system

• Each inertia element ( m ) will result in a 2nd-order ODE because acceleration is the 2nd
derivative of position
 Modeling Mechanical Systems
Example
• A high-speed solenoid actuator-valve system is shown below; derive the mathematical model of
the mechanical system.
– Displacement is positive to the right, measured from seated position
– The electromagnetic force (Fem) pulls the armature toward the center of the coil and closes the air gap
 Solenoid Actuator-Valve Example
• A mechanical model of the solenoid system is below

Position of
armature-valve
mass

External
force app. to
m

– The armature + spool valve mass is lumped into m

– The return spring is modeled by ideal spring k

– The friction due to hydraulic fluid is modeled by ideal damper with viscous friction b
 Solenoid Actuator-Valve Example
• Free-body diagram of the mechanical model:

Free-body diagram

– It may help to imagine a positive displacement (x > 0) which in turn compresses the spring and hence
spring force
Summing acts(positive
forces to the leftto the right) on the FBD results in

+  F  kx  bx  F em mx
Re-arranging, we get the mathematical model of the solenoid system:
1 inertia element  2nd-order model
(i.e., linear 2nd-order ODE)
mx  bx  kx Fem
In general: One 2nd-order ODE) for each
inertia element.
 Vertical Translational Systems
Example
• Derive the mathematical model of the mechanical system.
– Displacement is positive downward, measured from the undeflected position of the spring

Free-body diagram

• Using the free-body diagram (above and right) and summing forces we obtain
the mathematical model
   F  kx  bx  mg mx mx  bx  kx mg Model
nd
(2 -order ODE)
 Vertical Translational Systems
Example (without mg term)
• First, assume that the mechanical system is in static equilibrium where
x x 0
0 0
mx  bx  kx mg  kx = mg

• Define the “static deflection” d = mg/k

• Define new position variable z relative to the static (equilibrium) position: x = d +
z (when z = 0, x = d )
0 0
Note that x d  z and x d  z

Model
mz  bz  k d  z  mg  mz  bz  kz 0 (2nd-order ODE)
 Example

Mechanical
model

If (z1-zo) is +ve, spring If (z1-z2) is +ve, spring in

Force direction in tension and applying compression and
force downward applying force downward
 Example

M 1:    F  k ( z  z )  b ( z  z )  k ( z
2 1 2 2 1 2 1 1  zo )  b1 ( z1  zo ) m1z1
M 2 :    F k ( z  z )  b ( z  z ) m z
2 1 2 2 1 2 2 2 k2 ( z1  z2 ) b2 ( z1  z2 )

Finally, with separated dynamic parameters and input parameter, we have

m1
z1  b1 z1  k1 z1  k 2 ( z1  z2 )  b2 ( z1  z 2 ) k1 zo  b1 z o
m2 
z2  b2 ( z1  z2 )  k 2 ( z1  z2 ) 0
k1 ( z1  zo ) b1 ( z1  zo )

Two inertia elements, accordingly, two 2nd order ODEs

Both equation are coupled and linear.
Because: linear stiffness and damper element. Free body diagram
+ve, so spring in
tension and applying
force downward
 Mechanical Systems with Nonlinearities
Example
• Solenoid-valve model with Coulomb (dry) friction:

• Coulomb or dry friction has magnitude Fdry = kN, where k is the coefficient of
kinetic friction; N = normal force
 Mechanical Systems with Nonlinearities
Example
• Free-body diagram with dry friction force included

• Summing all forces (positive is to the right)

  F Fem  kx  bx  Fdry sgn( x ) mx

Re-arranging, we
obtain the model: mx  bx  Fdry sgn( x )  kx Fem
 Mechanical Systems with Nonlinearities
Example

 F F em  FC  kx  FPL  bx
 Fdry sgn( x) mx

Re-arranging, we obtain the model:

mx bx  Fdry sgn( x)  kx Fem  FC  FPL

Static equilibrium at static position.


x  x  x 0

Fem  FC  FPL 0
FC FPL  Fem
 Rotational Mechanical Systems:
Two-Step Process

• Mathematical models of rotational mechanical systems can be derived by a

simple two-step process:
– Draw a free-body diagram (FBD) with all torques on each moment of inertia (remember to
apply Newton’s 3rd law of equal and opposite torques)
– Apply Newton’s 2nd law to each inertia element

 T  J Rotational system

• Each inertia element ( J ) will result in a 2nd-order ODE because acceleration is

the 2nd derivative of position
 Dual-Disk Mechanical System

Free-body
diagram
Positive rotation
is clockwise

The bearing friction and the fluid friction lumped into a single rotational friction coefficient b.
That frictional torque will oppose the motion
Summing torques on disk (positive is clockwise):

Mathematical model of disk

system:
one 2nd-order ODEs
 Dual-Disk Mechanical System
Example

• Toroidal-segment piston (disk J1 ) is matched with a toroidal-segment cylinder (disk J2 ); both rotate
about a common axis

• Positive angular displacements are measured clockwise from their untwisted (equilibrium)
positions

• A diesel engine provides external torques Tin(t) that appear as equal-and-opposite pairs on both
disks
 Dual-Disk Mechanical System
Example

Free-body diagram
Positive rotation is clockwise
• Summing torques on each disk (positive is clockwise): Note equal-and-opposite torques

J 11  b1  k 1   2   Tin (t ) Mathematical model of dual-

disk system:
J 22  b2  k  2  1  Tin (t ) Two 2nd-order ODEs
 Mechanical Systems
Based on type of motion mechanical systems are classified into two types:

Translational Mechanical Systems Rotational Mechanical Systems

Translational Mechanical Systems/ Different Notation
Electrical and Electromechanical Systems
 Resistor

• Resistors (R) hinder the flow of current and dissipate electrical energy by
converting it into heat (analogous to friction elements)

• Voltage “drop” across resistor:

Ohm’s law
eR RI Ideal linear resistor

eR = voltage across resistor (volts, V), I = current (amps, A),

R = resistance (ohms, ) Analogous to friction coff. b
 f  bx 2
• Power dissipated by a resistor (power = eRI in watts)

 R  eR I  RI 2 Where I q
 Capacitor
• Capacitors (C) are two conductors separated by a
dielectric (insulator)

• Charge-voltage relation for capacitor: q CeC (Ideal capacitor)

• Because time-rate of charge is current: q I Ce C Fundamental capacitor ODE

• Voltage “drop” across a capacitor: t

1
eC (t ) eC (0)  I ( )d
C0

• Energy stored in a capacitor: (Power is time rate of energy)

1 2
 C  CeC  Power is c Ce c ec = current x voltage
2
 Inductor
• Inductors (L) store energy in the magnetic field that is
created by current flowing through the inductor

• Ideal inductor:  LI L Magnetic flux linkage, webers, Wb

• Faraday’s law of magnetic induction states that a coil of wire

will have a voltage difference induced across it if the
magnetic flux is changing with time

• Voltage across inductor:

 eL
ideal inductor
eL  LI L (fixed L, inductance)

• Energy stored by inductor: Fundamental inductor ODE

1 2
 L  LI L  Power is c LIL I L = voltage x current
2
 Electrical Systems: Sources

• Ideal voltage source provides the specified input

voltage ein(t) to the circuit regardless of the amount
of current being drawn from it.

Voltage source

• Ideal current source that provides the specified

input current Iin(t) to the circuit regardless of the
amount of voltage that may be required.
– The arrow symbol in the current source denotes the
positive convention for current flow
Current source
 Kirchhoff’s Voltage Law (KVL)
• Kirchhoff’s voltage law (KVL) states that the algebraic sum of all voltage
across the elements for any close loop is equal to zero.

Summing clockwise:

 e1  e2  e3  ein (t ) 0
 Kirchhoff’s Current Law (KCL)
• Kirchhoff’s current law (KCL) states that the algebraic sum of all currents entering and
leaving node is equal to zero
– A node is defined as a junction of three or more wires
– We choose to assign a positive sign convention for current entering a node and a negative
convention for current leaving a node

Applying KCL at the node:

I 1  I 2  I 3  I 4 0
 Modeling Electrical Systems
• Mathematical models of electrical systems can be derived using a systematic two-
step process:
– Write the corresponding first-order ODE for each energy storage element (capacitor or inductor)

Start with Ce C I C (capacitor) or eL LI L (inductor)

– Use Kirchhoff’s laws to express the unknown voltages (such as eL) and currents (such as IC) in
terms of either the dynamic variables associated with the energy-storage elements ( eC or IL)
and/or the sources (inputs)

 All ODEs should be solely in terms of eC , IL , ein(t) , or Iin(t)

 Modeling Electrical Systems:
Example
• Derive the mathematical model of the simple RL circuit

Start with 1st-order ODE for the sole

energy-storage element:

LI L eL

• Now use KVL to find expression for inductor voltage eL

 eL  eR  ein (t ) 0 Clockwise KVL

Sub KVL into 1st-order ODE LIL  RI L ein (t ) 1 energy storage element
 1st-order model
(use Ohm’s law for eR )
Model
 Modeling Electrical Systems:
Example
• Derive the mathematical model of the simple RLC circuit

System dynamic parameters: ec , I L , ein (t )

Start with 1st-order ODEs for the

energy-storage elements:

Capacitor Ce C I L Inductor LI L eL

• Now use KVL to find expression for inductor voltage eL

 eR  eL  eC  ein (t ) 0 Clockwise KVL
2 energy storage elements
Ce C  I L 0 Two first order linear
Sub KVL into inductor ODE
(use Ohm’s law for eR ) LI L  RI L  eC ein (t ) coupled ODES
 2nd-order model
Model