System Modeling

Chapter 2a
2
Mechanical Systems
In a translational or linear motion system, the
variables involved include displacement, velocity,
acceleration and force.
Displacement refers to the positional displacement of
a system component with reference to a reference
point.
It is commonly denoted x(t). It is a function of time, t,
because the displacement could change from time to
time.
3
Mechanical Systems
Velocity is the rate of change of displacement,
commonly denoted v(t).
Since it is the rate of change of displacement, we can
express it as

Acceleration is the rate of change of velocity,
commonly denoted a(t). Mathematically, we could
express it as

( )
( )
dt
t dx
t v =
( )
( ) ( )
2
= =
dt
t x d
dt
t dv
t a
2
4
Mass
Components of a linear motion system can be
modeled into three categories of elements: mass,
linear spring, and friction.
All physical things have mass. It is the property that
stores the kinetic energy of translational motion. It is
often denoted as M, and its unit is kg.
M
5
Reaction Forces - Mass
The reaction force in a mass is always in the opposite
direction of the displacement of the mass.
The magnitude of the reaction force in a mass moved
a displacement of x(t) is calculated with the well-
known force equation.
M
Displacement, x(t)
Force,
( )
2
2
dt
t x d
M Ma f
M
= =
6
Dashpot
Linear motion, is of course subject to friction, which
hinders its motion.
Friction is the retarding force directly proportional to
the linear velocity. It is often represented by the
symbol of a dashpot.
The coefficient of viscosity, or viscous frictional
coefficient, is denoted B, and its unit is Nm
-1
s
-1
.

B
7
Reaction Forces - Dashpot
A dashpot can be extended, or compressed.

x(t)
Compress
A pair of
outward
forces,
extend
A pair of
inward
forces,
x(t)
( )
dt
t dx
B f
D
=
( )
dt
t dx
B f
D
=
8
Spring
Linear spring is used to model any component in the
system that has elasticity.
The coefficient of stiffness is denoted as k, and it has
a unit of Nm
-1
.
k
9
Reaction Forces - Spring
A spring can be extended, or compressed.

x(t)
compress
A pair of
outward
forces,
x(t)
extend
A pair of
inward
forces,
( ) t kx f
S
=
( ) t kx f
S
=
10
Mechanical Systems
Let us assume that we have a mechanical system such
as the one below:





How do we determine the transfer function that
relates the output displacement, x(t), to the input
force, f(t)?
M
Input force, f(t)
Displacement, x(t)
k
B
Fixed
point
11
Mechanical Systems
Since one end of the spring-and-dashpot section is
connected to a fixed point, the compression of the
section is equal to the movement of the other end,
which is x(t).

M
Input force, f(t)
Displacement, x(t)
k
B
Compressed by x(t)
12
Mechanical Systems

M
Input force,
f(t)
k
B
Fixed point
kx(t)
Reaction
force, r
1
(t)
Reaction
force, r
2
(t)
Displacement, x(t)
( )
2
2
dt
t x d
M ( )
dt
t dx
B
13
Mechanical Systems
Cut across parallel sections of dashpots and springs
to divide the system into several stand-alone
equilibrium of forces.
Reaction
force, r
1
(t)
Reaction
force, r
2
(t)
kx(t)
k
B
Section B
( )
dt
t dx
B
B
M
Input force,
f(t)
k
kx(t)
Section A
( )
2
2
dt
t x d
M
( )
dt
t dx
B
14
Mechanical Systems
B
M
Input force,
f(t)
k
kx(t)
Section A
( )
2
2
dt
t x d
M
( )
dt
t dx
B
15
( )
( ) ( )
( ) t kx
dt
t dx
B
dt
t x d
M t f + + =
2
2
Mechanical Systems
Reaction
force, r
1
(t)
Reaction
force, r
2
(t)
kx(t)
k
B
Section B
( )
dt
t dx
B
16
( ) ( )
( )
( ) t kx
dt
t dx
B t r t r + = +
2 1
Mechanical Systems
The last step involves Laplace transforming the
equations of forces obtained from Step 5 into the
s-domain to form the required transfer function.

[ f(t)] = F(s) and [x(t)] = X(s)
( ) | | ( ) s kX t kx =
( )
( ) ( ) { } 0 x s sX B
dt
t dx
B =
(

( )
( ) ( )
( )
)
`

=
(

=0
2
2
2
0
t
dt
t dx
sx s X s M
dt
t x d
M
17
Mechanical Systems
Assuming initial conditions to be zero
and
This would reduce the last two equations to

( ) 0 0 = x
( )
0
0
=
= t
dt
t dx
( )
( ) s X Ms
dt
t x d
M
2
2
2
=
(

( )
( ) s BsX
dt
t dx
B =
(

18
Mechanical Systems
So





The transfer function is


( )
( ) ( )
( )
(

+ + = t kx
dt
t dx
B
dt
t x d
M t f
2
2
( ) ( ) ( ) ( ) s kX s BsX s X Ms s F + + =
2
( ) | | ( ) s X k Bs Ms s F + + =
2
( )
( ) k Bs Ms s F
s X
+ +
=
2
1
19
Exercise 1
20
Determine the transfer functions,
and
21
f(t)

x
2
(t)
k
1

k
2

B
x
1
(t)
M
1

M
2

( )
( ) s F
s X
1
( )
( ) s F
s X
2
22
f(t)

x
2
(t)
k
1

B
x
1
(t)
M
1

M
2

( )
2
2
1
1
dt
t x d
M
( )
dt
t dx
B
1
( )
2
2
2
2
dt
t x d
M
k
1
x
1
(t)
k
2
x
2
(t)
k
1
x
2
(t)
( )
dt
t dx
B
2
k
1
x
2
(t)
( )
dt
t dx
B
2
23
f(t)

x
1
(t)
( )
2
2
1
1
dt
t x d
M
( )
dt
t dx
B
1
k
1
x
1

k
1
x
2

( )
( )
( ) ( ) | | ( ) ( ) | | t x t x k t x t x
dt
d
B
dt
t x d
M t f
2 1 1 2 1
2
1
2
1
+ + =
( )
dt
t dx
B
2
24
x
2
(t)
M
2

( )
dt
t dx
B
1
( )
2
2
2
2
dt
t x d
M
k
1
x
1
(t)
k
2
x
2
(t)
( )
dt
t dx
B
2
( )
dt
t dx
B
2
k
1
x
2
(t)
( )
( ) ( ) ( ) | | ( ) ( ) | | t x t x k t x t x
dt
d
B t x k
dt
t x d
M
2 1 1 2 1 2 2
2
2
2
2
+ = +
25
( )
( )
( ) ( ) | | ( ) ( ) | | t x t x k t x t x
dt
d
B
dt
t x d
M t f
2 1 1 2 1
2
1
2
1
+ + =
( )
( ) ( ) ( ) | | ( ) ( ) | | t x t x k t x t x
dt
d
B t x k
dt
t x d
M
2 1 1 2 1 2 2
2
2
2
2
+ = +
Laplace Table

( )
( ) s X Ms
dt
t x d
M
2
2
2
=
(

( )
( ) s BsX
dt
t dx
B =
(

26
( ) | | ( ) s kX t kx =
27
( ) ( ) ( ) ( ) | | ( ) ( ) | | s X s X k s X s X Bs s X s M s F
2 1 1 2 1 1
2
1
+ + =
( ) ( )| | ( )| |
1 2 1
2
1 1
k Bs s X k Bs s M s X s F + + + =
( )
( )
( ) ( ) | | ( ) ( ) | |} {
2 1 1 2 1
2
1
2
1
t x t x k t x t x
dt
d
B
dt
t x d
M t f L + + =
( )
( )
( ) ( ) | | ( ) ( ) | | t x t x k t x t x
dt
d
B
dt
t x d
M t f
2 1 1 2 1
2
1
2
1
+ + =
( )
( ) s F
s X
1
28
( )| | ( )| |
1 1 1 2
2
2 2
k Bs s X k Bs k s M s X + = + + +
( ) ( )
| |
| |
1 2
2
2
1
1 2
k Bs k s M
k Bs
s X s X
+ + +
+
=
( ) ( ) ( ) ( ) | | ( ) ( ) | | s X s X k s X s X Bs s X k s X s M
2 1 1 2 1 2 2 2
2
2
+ = +
( )
( ) ( ) ( ) | | ( ) ( ) | | t x t x k t x t x
dt
d
B t x k
dt
t x d
M
2 1 1 2 1 2 2
2
2
2
2
+ = +
( )
( ) ( ) ( ) | | ( ) ( ) | |} {
2 1 1 2 1 2 2
2
2
2
2
t x t x k t x t x
dt
d
B t x k
dt
t x d
M L + = +
29
( ) ( )| | ( )
| |
| |
| |
1
1 2
2
2
1
1 1
2
1 1
k Bs
k Bs k s M
k Bs
s X k Bs s M s X s F +
+ + +
+
+ + =
( ) ( )
| || | | |
1 2
2
2
2
1 1 2
2
2 1
2
1
1

k Bs k s M
k Bs k Bs k s M k Bs s M
s X s F
+ + +
+ + + + + +
=
( ) ( )
( ) | | ( ) ( ) | | | |
1 2
2
2
2
1 1 2
2
2 1
2
1
1

k Bs k s M
k Bs k Bs k s M k Bs s M
s X s F
+ + +
+ + + + + +
=
( ) ( )
( ) ( ) ( )( )
1 2
2
2
2
2
2 1 1
2
1 2
2
2
2
1
1
k Bs k s M
k s M k Bs k Bs s M k s M s M
s X s F
+ + +
+ + + + + +
=
30
( ) ( )
( ) ( )( )
1 2
2
2
2
2
2
2
1 1 2
2
2
2
1
1
k Bs k s M
k s M s M k Bs k s M s M
s X s F
+ + +
+ + + + +
=
( )
( ) ( ) ( )( )
2
2
2
2
1 1 2
2
2
2
1
1 2
2
2 1
k s M s M k Bs k s M s M
k Bs k s M
s F
s X
+ + + + +
+ + +
=
31
( ) ( ) ( ) ( ) | | ( ) ( ) | | s X s X k s X s X Bs s X k s X s M
2 1 1 2 1 2 2 2
2
2
+ = +
( )| | ( )| |
1 1 1 2
2
2 2
k Bs s X k Bs k s M s X + = + + +
( ) ( )
| |
| |
1
1 2
2
2
2 1
k Bs
k Bs k s M
s X s X
+
+ + +
=
( )
( ) s F
s X
2
32
( )
( )
( )( ) ( )
2
1 1
2
1 1 2
2
1
1 2
k Bs k Bs s M k Bs k s M
k Bs
s F
s X
+ + + + + +
+
=
( ) ( )
| |
| |
| | ( )| |
1 2 1
2
1
1
1 2
2
1
2
k Bs s X k Bs s M
k Bs
k Bs k s M
s X s F + + +
+
+ + +
=
( ) ( )
( )( ) ( )
1
2
1 1
2
1 1 2
2
1
2

k Bs
k Bs k Bs s M k Bs k s M
s X s F
+
+ + + + + +
=