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Dynamics and control of mechanical systems

Date Content
Day 1 • Review of the basics of mechanics.
(01/08) • Kinematics of rigid bodies – plane motion of rigid bodies, angular
velocity vector, description of velocity and acceleration in relatively
moving frames.
Day 2 § Euler angles, Review of methods of momentum and angular momentum of system
of particles, inertia tensor of rigid body.
(03/08)
• Dynamics of rigid bodies - Euler's equation, application to motion of symmetric
tops and gyroscopes and problems of system of bodies.
Day 3 • Kinetic energy of a rigid body, virtual displacement and classification of
constraints.
(05/08)
• D’ Alembert’s principle.
Day 4 • Introduction to generalized coordinates, derivation of Lagrange's equation from D’
Alembert’s principle.
(07/08)
• Small oscillations, matrix formulation, Eigen value problem and numerical
solutions.
Day 5 • Modelling mechanical systems, Introduction to MATLAB®, computer generation
and solution of equations of motion.
JU – 2017/HL

(09/08)
• Introduction to complex analytic functions, Laplace and Fourier transform.
Day 6 • PID controllers, Phase lag and Phase lead compensation.
(11/08) • Analysis of Control systems in state space, pole placement, computer simulation
through MATLAB. 1
DMS6021 - Dynamics and Control of Mechanical Systems

Content
4 Introduction
4 Symbols and designations
4 Kinematics of rigid bodies in a plane
4 Instantaneous center of motion/velocity
4 Analysis of rigid body motion (velocity and acceleration)
q Graphical methods to determine velocities and
accelerations
q Analytical methods to (briefly):

References
1. F. P. Bear, E.R. Johnston and P.J. Cornwell; Vector Mechanics for Engineers, Dynamics, 10th
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Edition
2. A. Bedford and W. Fowler, Engineering Mechanics – Statics and dynamics principles
3. D.T. Greenwood, Advanced dynamics, Cambridge University Press (2006)
4. G. Gray, et al.,-Engineering Mechanics - Dynamics-McGray (2010)
DMS6021 - Dynamics and Control of Mechanical Systems 2
Introduction
4 Study of the Kinematics of rigid bodies (mechanisms) :
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DMS6021 - Dynamics and Control of Mechanical Systems 3

Kinematics of rigid bodies


4 Study of the Kinematics of rigid bodies (mechanisms) :
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Symbols & designations


j

Position, velocity and acceleration


s = position vector of a point (size and orientation)
s = size of a position vector s
v = velocity vector of a point (size and orientation)
v = speed (size of the velocity vector v)
a = aceeleration vector of a point (size and orientation)
a = size of an acceleration vector a
an = normal component of the acc. vector (normal to path of motion)
at = tangential component of acc. vector (tangent to path of motion)
j = angular position

w
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= dj/dt = j = angular speed à tme derivative



a = dw/dt = w = angular acceleration

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Symbols & designations


Position figure, velocity polygon and acc- polygon
A, B, C, Points in the position polygon, i.e. line segment A
etc. = to B in a position polygon gives the distance
between point A and B

A’, B’, C’, Points in the velocity polygon, i.e.. Line


etc. = segment from A’ to B’ n a velocity polygon gives
the relative velocity of point B wrt point A (=
vBA), while the absolute velocity of point A (vA=
vAO) is given by the line segment from O’ to A’.

A’’, B’’, C’’, Points in the acceleration polygon, i.e.. Lije


etc. = segment from A’’ to B’’ in the acc. polygon gives
the relative acc. of B wrt A (aBA),
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while absolute acce. Of point A (aA) is given by


the line segment O’’ to A’’.

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Symbols & designations
Some examples on use of indices
rAB = distance from point A to point B

vAB = relative velocity of point A wrt point B

vBA = relative velocity of point B wrt point A (= -vAB)

vA = absolute velocity of point A = relative velocity of A


wrt a stationary point (= vAO)

vrel = relative velocity

aBAn = normal comp. Of relative acc. aBA


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Oij = instantaneous center for relative motion of part i and part j

DMS6021 - Dynamics and Control of Mechanical Systems

Kinematics of rigid bodies


4 Kinematics of rigid bodies:
Relations between time and positions, velocities and accelerations of particles
composing the rigid body
4 Classifications of rigid body motion

- Sum of translation
- direction of any straight line - All particles in the
and rotation
inside the body is constant, body have the same
- all particles forming the body angualr velocity and
move in parallel lines. angular acceleration
!
- All particles have the same ! dr ! !
v= =w´r
dt
velocity and the same ! ! !
w = w k = q" k is ang. velocity
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acceleration.
! ! ! ! ! ! ! !
vB = v A and aB = a A dw !
= a = a k = w" k = q""k
dt

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Plane motion of a rigid body
4 General plane motion:
A motion where all particles in the body move in a parallell plane

4 A general plane motion is composed of two motions


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Plane motion a rigid body


4 Position vector of a 4 Graphical representation of velocity
and acc. vectors
particle in motion

v =ω xr
DV = DVt + DVn
Dr dr
V = lim =
Dt dt
DVn V2
DV dV an = an = lim =
a = lim
Dt
=
dt
Dt r
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a = a t + an der at = α x r DVn (V + DVt ) Dr


der =
og an = ω x ω x r Dt r !Dt
V
DMS6021 - Dynamics and Control of Mechanical Systems 10
Instantaneous center of motion

Instantaneous
center of zero
velocity

For the car to be able to drive along a curve without sliding, all the
axles of the wheels indicate towards the same point, which is an
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instantaneous center of motion (point O)

è The car (at the moment) is undertaking a rotational motion about point O
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Instantaneous center of motion

Fig. (a): Part 3 moves wrt part 1 (which is stationary part)


§ Point C and D follow circular paths about A and B respectively
§ Point O (at the moment) has no velocity in any direction
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à It is Instantaneous Center – a point where part 3 (at the given


instant) undergoes a rotational motion about the point
à Curve OO’ is the motion path that the ICV follows
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Instantaneous center of motion
Summary
ICV is:
1) A point on part 1 (stationary part)
where part 3 rotates about at the moment
Example: for point E on part 3
Speed : VE = w3 x I E -O13
Acceleration, tangential : a Et = a x rE -O13 ;
VE2
Accelaration, normal : a En = = w32 x rE -O13
rE -O13
2) A point on part 3 (stationary part)
where part 1 rotates about at the moment
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3) A crossing point where both part 1 and part 3


have the same absolute motion, i.e. null
relative motion, (valid when both are in motion)
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Number of instantaneous center of velocity


Several parts in a mechanism: è several instantaneous centers (ICV)
# instantaneous centers: = # different ways of selecting to parts
F. ex. The mechanism shown below has 4 parts joined together at joints
A, B, C and D
Each joint has two parts having a relative motion against each other.
à Each joint is an ICV
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DMS6021 - Dynamics and Control of Mechanical Systems


Types of Instantaneous Centers
Three main types of ICVs Type 1: Fixed instantaneous centers
– a fixed point on a body where
another part is rotating about
f. ex. O12 and O14
Type 2: Permanent instantaneous centers
- A common point of two parts that are
in motion with the same speed.
This is valid for joints
f. ex. O23 and O34
NB: Type 1 and 2 are known (identified) ICVs

Type 3: Imaginary instantaneous centers


- an imaginary point on or outside of a
mechanism where the part can be imagined
to rotate about at the moment
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f. ex. O13 and O24

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Types of Instantaneous Centers


Three types of known/identified instantaneous centers
Pin joint mechanism
– Each joint is known instantaneous center
Sliding contact
- Two points A and B on a rigid body that is in
sliding motion undertakes translation motion,
thus it has known instantaneous center

- Q: where is the instantaneous center OAB?


Rolling contact gives known instantaneous
center
- Where is the instantaneous center O12?
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Assume A pure rolling motion!

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Instantanous Centers of Velocity, examples
Find and locate the ICVs for the following mechanisms

Example 1

Example 2

Example 3
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Kennedy´s Theorem
4 Kennedy´s Theorem
Gives the basis for a systematic decisions of the number and location of
instantaneous center of velocity
The Theorem is expressed as follows
For relative motion of three randomly selected parts, the three ICVs are
located on a straight line segment
NB: The Theorem is valid if only one of the parts is in motion or both are in
motion

Example:
Kennedy´s theorem for
two parts in sliding contact
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http://web.mit.edu/linkagedemo/www/linkageanimation.html
DMS6021 - Dynamics and Control of Mechanical Systems 18
Kennedy´s Theorem, an example
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Kennedy’s theorem and graphical solution, example

A systematic procedure of using Kennedy’s theorem to find and locate ICVs:


.
æ nö n (n -1)
1. Determine number of parts in the mechanism: = n, and # ICV: çç 2 ÷÷ =
è ø 2
2. Draw a circle with a random dimeter size.
3. Divide the circumference into n equal sections and number them ( 1, 2, … n).
4. Locate the known ICVs on the circle by drawing a chord between the marked points
1 and 2, 2 and 3, etc. to get O12, O23, O34, etc.
Location of ICVs at joints are known ICVs.
5. Search for a chord that creates the last side of two triangles (common side to two triangles).
6. Draw this chord in the circle using a dashed line until the location of the ICV is found on
the mechanism.
7. According to Kennedy’s theorem, the sides of each triangle correspond to ICVs that are on a
striaght line. This means that each triangle represents a straight line.
8. The intersection between two lines (corr. to two triangles) determines the searched ICV.
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9. When the ICV is localized, draw the chord with a solid line.
10. Go back and repeat the procedure from step 5 until all ICVs are localized on the
mechanism
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Kennedys teorem og grafiske løsninger
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Graphical methods of determining velocities and accelerations

VA = O’A’:
perpendicular to CA
VB = O’B’:
perpendicular to DB
VBA = A’B’:
perpendicular to AB
Velocity polygon
aB = aA + aBA
aBn + aBt aAn + aAt aBAn + aBAt
sr r sr sr sr r

aAt
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Acceleration polygon
22
DMS6021 - Dynamics and Control of Mechanical Systems
Illustrative example

How will the motion of point P on part 3


look like, when part 2 rotates?

§http://www.softintegration.com/chhtml/toolkit/mechanism/fig/fourbar/animation.gif
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Example exercise

§ In this mechanism, the crank AB is rotating with a constant angular speed so


that the speed of point B is VB = 5 m/s. At the given position, use graphical
method and determine acceleration of point D, which is a corner point of the
rigid body 3.
B’

VB = 5,0
VCB = 5,0
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C’
O’
VC = 5,0

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Example exercise

aC = aB + aCB = aB + ( aCBn + aCBt )


(r ) ( rs) ( rs) (r )
aD = aC + a DC
Þ a Dn + a Dt = aC + ( a DCn + a DCt )
( rs) ( rs) (r )
a D = a B + a DB
Þ a Dn + a Dt = a B + (a DBn + a DBt )
( rs) ( rs) (r )
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DMS6021 - Dynamics and Control of Mechanical Systems 25

Analytical approach
Relative motion of point B wrt A:
- Velocity: VB = VA + VBA
- Acceleration: aB = aA + aBA
- Acc. Components: aBn + aBt = aAn+ aAt + aBAn+ aBAt
Vector exp ression of velocity and acc. components
A 4 bar linkage mechanism ! !
V = w x r, (magn. v = wr )
! ! !
a n = w x V = w x (w x r ), (magn. an = w 2 r )
®
! ! ! . !
a t = α x r =w x r (magn. at = a r )

VA = w x r = w 2 k x x A i + y A j ( )
- w2 y A i + w2 x A j
i j k
ixi= jx j =k x k =0 VA = w x r = 0 0 w2 = - w2 y A i + w2 x A j
ix j =-jxi =k xA yA 0
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j x k = -k x j = i i j k
k x i = -i x k = j ( )
a n = w x w x r = w2 k x 0 0 w2 ( )
= - w22 x A i + w2 y A j = - w22 r
xA yA 0

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Summary and questions
The following are covered in tis part of the lecture
4 Kinematics of rigid bodies – analysis and synthesis
4 Classification of rigid body motion
4 Parameters to describe a general plane motion
4 Instantaneous center of motion/velocity
4 Analysis of rigid body motion (velocity and acceleration)
q Graphical methods to determine velocities and accelerations
q Analytical methods to determine velocities and accelerations:

?
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Next: Review of methods of momentum and angular momentum of system


of particles, Euler angles, inertia tensor of rigid body.
DMS6021 - Dynamics and Control of Mechanical Systems 27

Exercise
An oil pumping rig is shown in the figure below. The flexible pump rod D is fastened to
the sector at E and is always vertical as it enters the fitting below D. The link AB causes
the beam BCE to oscillate as the cranked weight OA revolves. If OA has a constant CW
speed of 1 rev every 3 s, determine the acceleration of the pump rod D when the beam
and the crank OA are both in the horizontal position as shown.
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DMS6021 - Dynamics and Control of Mechanical Systems 28

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