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Module 1- Lecture 5
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
M 1 x1 K1 ( x1 x2 ) B1 x1 f a (t )
..
M 2 x2 K1 ( x2 x1 ) K 2 x2 B2 x2 0
Now,youmayconsiderthefollowingstatesforthesystem:
x1
.
x1
X
x.2
x
2
CovertthetwosecondorderODEsintofourfirstorderODEsandobtainthestatespace
C
h
d d O
i
f
fi
d O
d b i h
representation.
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
ThisLectureContains
Module 1- Lecture 5
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
MechanicalSystems
Mechanicalsystemsaregenerallymodeledasalumped
parameter system such that a distributed system like a beam
parametersystem,suchthatadistributedsystemlikeabeam
couldbeconsideredtobeasystemconsistingofanarrayof
rigidinertia elementslinkedbyacombinationofmassless
spring anddashpotelements.
Theinertiaelementsrepresentthekineticenergystoredin
p
gy
thesystem;springsthepotentialenergyanddashpotsthe
energythatgetsdissipatedfromamechanicalsysteminthe
form of heat/sound etc
formofheat/soundetc.
JointInitiativeofIITsandIISc FundedbyMHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
Fortranslatorymechanicalsystems,inertiaisrepresentedby
massm,whileforrotationalsystemsthisisrepresentedby
momentofinertiaJ.
Considerarotorofmassm,rotatingaboutitscentroidal
axis.Themomentofinertiawillbedefinedas:
J r 2 dm
m
Whererdenotesthedistanceofanelementalmassdm
fromthecentroidalaxis.Forarotationaboutanaxiswhichis
atadistancedfromthecentroidalaxis,followingparallel
axistheoremthemomentofinertiacouldbeexpressedas:
J new J m d 2
JointInitiativeofIITsandIISc FundedbyMHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Fortranslatorymechanicalsystems,stiffnessisrepresented
y
y
,
p
byspringelementk,whileforrotationalsystemsthisis
representedbytorsionalspringelementkt .Forexample:
diameter
diameter
JointInitiativeofIITsandIISc FundedbyMHRD
Module 1- Lecture 5
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
JointInitiativeofIITsandIISc FundedbyMHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
Torsional Spring
p g Constants
JointInitiativeofIITsandIISc FundedbyMHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
Damping
p g Element
There are two common damping elements used to model energy dissipation from a
mechanical system. These are Viscoelastic Damping and Friction Damping.
Viscous damping model is most common; here, the damping force is taken to be
proportional to the velocity across the damper, acting in the direction opposite to
that of the velocity
velocity.
Linear damping force is represented by a viscous dashpot, which shows a piston
moving relative to a cylinder containing a fluid. The ideal linear relationship
between the force and the relative velocity
y holds g
good so long
g as the relative
Velocity is low, ensuring a laminar fluid flow.
JointInitiativeofIITsandIISc FundedbyMHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
Friction Damping
p g Element
Another type of common damping force is the so-called dry friction force between
two solid interfaces. This is known as Coulomb damping. In this model, the
magnitude of damping force is assumed to be a constant, which is independent of
the relative velocity (or slip velocity) at the interface. The direction of the damping
force is opposite to that of the relative velocity. In a physical model, a Coulomb
damper is represented by the symbol shown below. The nature of change of the friction
force with respect to displacement of the system is shown next. The area under this
curve represents the amount of energy dissipated from the system.
system
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10
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
Concept
p of Degrees
g
of Freedom
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11
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
Examples
p
and Assignments
g
Consider the first two cases: there are two links of identical lengths but subjected
to different
ff
boundary constraints. Find out the DOF
O in each case.
(A)
Now, consider
N
id the
th following
f ll i
assignments
i
t and
d find
fi d outt the
th governing
i EOM off the
th
mechanical systems.
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
(B)
(C)
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Module 1- Lecture 5
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System
Module 1- Lecture 5
Special
p
References for this Lecture
14