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Primavera 2015
Me gusta la gente con
capacidad para medir las
consecuencias de sus
acciones, la gente que no
deja las soluciones al azar.
Mario Benedetti
Temario
• Force
• Pressure
• Torque
• Moment of inertia
• Energy
• Work
• Power
Physical Basic Concepts
Force.
In physics, the concept of force (F) is any influence that causes an
object to undergo a certain change, either concerning its movement,
direction, or geometrical construction.
Physical Basic Concepts
Force.
Force can also be described by intuitive concepts such as a push
or pull that can cause an object with mass to change its velocity
to accelerate, or which can cause a flexible object to deform.
Physical Basic Concepts
Force.
Force has both magnitude and direction, making it a vector
quantity.
Force is measured in Newtons (SI) or pounds (lb) (English).
Physical Basic Concepts
Physical Basic Concepts
Pressure.
Pressure is defined as force per unit area that a fluid exerts
on its surroundings.
Physical Basic Concepts
Pressure.
The SI unit for pressure is the Pascal (N/m2), but other
common units of pressure include pounds per square inch
(PSI), atmospheres (atm), bars, inches of mercury (in Hg),
millimeters of mercury (mm Hg) and Kg/mt2.
F
P A
Torque.
Torque is a twisting or turning force that tends to cause an
object to rotate. A force applied to the end of a lever, for
example, causes a turning effect or torque at the pivot
point.
Torque Definition.
Product of force applied to the object and the smallest distance
between the line of action of the force and the object’s axis of
rotation
Physical Basic Concepts
Torque.
Torque is measured in Newtons-mt (SI) or pounds-feet (lb-ft)
(English).
Rotational Systems
Newton´s Second Law
T=J
Physical Basic Concepts
Rotational Systems
Physical Basic Concepts
Work.
Whenever a force of any kind causes motion, work is
accomplished. For example, work is accomplished when an
object on a conveyor is moved from one point to another.
Energy = Work
Work is defined by the product of the net force (F) applied and
the distance (d) moved. W (Joules) = F (newton) x d (mt)
In rotational system W (Joules) = τ (kg-mt) x θ (radianes).
Physical Basic Concepts
Physical Basic Concepts
Physical Basic Concepts
Power
Power is the rate of doing work, or work divided by time.
P = τ x θ/t or P= τxw
Power can be expressed in
Watts, but is often expressed in
horsepower (HP).
1 HP = 0.746 kWatts
Elements of Translational
Mechanical Systems
Elements of Translational Mechanical Systems
Friction Elements
Friction is the most difficult of the three
elements to model accurately. However,
unless explicitly stated, in the context of
linear systems friction is assumed to be
viscous friction.
Elements of Translational Mechanical Systems
F= 𝑘 𝑥(𝑡)
Translational spring k constante de Hooke
F= 𝑏 𝑣(𝑡)
b coeficiente de fricción viscosa
Translational damper
F= 𝑚 𝑎(𝑡)
m masa
Translational mass
Elements of Translational Mechanical Systems
Velocity - v (m/s)
Acceleration - a (m/s2)
Elements of Translational Mechanical Systems
Springs
If neither side of the spring is
attached to a fixed reference, the
situation is slightly more
complex. The forces on both
ends of the spring must be equal
in magnitude and opposite in
direction. This way there is no
net force on the spring - if there
was a net force there would be
infinite acceleration, because the
mass of our ideal spring is zero.
Elements of Translational Mechanical Systems
A similar
statement can
be made about
friction
elements
Elements of Translational Mechanical Systems
Springs
A rotational spring is an element that is deformed (wound or unwound) in direct
proportion to the amount of torque applied. Ideal springs have no inertia.
A shaft
connected
between two
elements can
also act as a
rotational
spring.
Elements of Rotational Mechanical Systems
Friction Elements
As with the translating systems, friction is the most difficult of the three elements
to model accurately and we will generally only consider viscous friction.
A rotation friction
element often consists
of an object moving in a
fluid, very similar to the
translating dashpot, but
with a rotary motion.
This is the case of
bearing lubrication
Elements of Rotational Mechanical Systems
T= 𝑘 Θ(𝑡)
Rotational Spring k constante de Hooke
T= 𝑏 𝑤(𝑡)
b coeficiente de fricción viscosa
Rotational Damper
T = J (t)
Rotational Mass J Momento de inercia
Elements of Rotational Mechanical Systems
Units
Modeling Translational and
Rotational Mechanical Systems
Modeling Mechanical Systems
Differential Equation
Modeling Mechanical Systems
Dynamic systems as
well as the differential
equations may be linear
or nonlinear, or variant
or time invariant. But
we will only analyze
linear systems time
invariant.
Modeling Mechanical Systems
L[f(t)] = F(s)
Modeling Mechanical Systems
L[ 𝑑(𝑓 𝑡 )
𝑑𝑡
] = sF(s)-f(0)
Derive in time domain is equivalent
to multiplying by s in Laplace domain
Modeling Mechanical Systems
𝑡 1
L[0 𝑓(𝑡)] = F(s)
𝑠
Integrate in time domain is equivalent
to divide by s in Laplace domain
Modeling Mechanical Systems
Step Function
f(t) = 1 ; t ≥ 0
1
L[f(t)] =
𝑠
Modeling Mechanical Systems
Ramp Function
𝐴
L[f(t)] = 2
𝑠
Modeling Mechanical Systems
Transfer Function
G(s)
Modeling Mechanical Systems
Transfer Function
𝐶(𝑠)
𝐺 𝑠 =
𝑅(𝑠)
Modeling Mechanical Systems
For the following system, analyze, using simulation, the behavior of displacement
x(t). Change conditions and observe response. Consider F=5 N, m=10, b=3 y
k=15.
Input Fe(t)
Output x(t) 5
𝑥 𝑠 =
𝑠(10𝑠2 + 0.1𝑠 + 15)
For the following system, analyze, using simulation, the behavior of angular
displacement Ɵ(t). Change conditions and observe response. Consider T=5 N mt,
J=10, B=2, k=1.
k T
Input T(t)
Output Θ(t)
Modeling Mechanical Systems
k1, k2, k3 = 10
b1, b2 = 1
m1= 10, m2=4
For the above system and considering Fe = 100 N do the following activities:
1. Obtain the simulation model at time for X1 and X2.
2. Obtain, mathematically, the transfer function for X1 and X2.
3. Obtain time response for X1 and X2
4. Using final value theorem, find final value of x1 and x2
5. Change value of damping elements and report behavior of the system.
6. Check responses with point 1 simulation.
7. Design a control system for X1 in order to obtain a permanent error of 5%. Report the
displacement overshot.
Modeling Mechanical Systems
For the following system, analyze, using simulation, the behavior of angular
displacement Ɵ(t). Change conditions and observe response. Consider T=5 N mt,
J=10, B=2, k=1.
Ɵ1
k
T
Input T(t)
Output Θ(t)
Basic Concepts Problems
Physical Basic Concepts
60
T=rxF
Physical Basic Concepts
Evaluación 1 Actividad 1.4
A cable is wrapped around a uniform, solid cylinder of radius 'R' and mass 'M'. The
cylinder rotates about its axis, and the cable unwinds without stretching or pulling. If
the cable is pulled with a force of 'F' Newtons, what is its lineal acceleration?
R=10 cms
M= 15 Kg
F= 150 N
a= 20 mts/seg2
Physical Basic Concepts
Evaluación 1 Actividad 1.5
A 5N force is applied to a stick, 3 m from the pivot. At what distance from the pivot
would a 2 N force have to be applied to prevent the stick from rotating?
7.5 meters
Evaluación 1 Actividad 1.6
A 50 kg ladder leans against a wall as shown below. What is the minimum force of
friction needed to prevent the ladder from sliding. Assume that the force of
friction from the wall is negligible
435N
Physical Basic Concepts
Evaluación 1 Actividad 1.7
A wheel that has a moment of inertia of 50 kg-m2 is pulled on by two ropes as shown
below. One rope is wrapped around the inner radius of 0.1 m and the other is
wrapped around the outer radius of 0.4 m. Determine the angular acceleration of
the wheel.
F1
F2
0.04 rad/s2
Physical Basic Concepts
Evaluación 1 Actividad 1.8
Un motor de DC de imán permanente mueve la carga de la figura 1, 1.5 mts
en 10 seg. Calcule; a) La potencia total consumida por el motor en Watts, b)
la potencia mecánica, c) La velocidad angular del motor en RPMs y d) El
torque generado por el motor en el extremo de la polea 1. Si la eficiencia
de la trasmisión es de 0.95, recalcule la potencia requerida del motor.
P=73.57 Watts
W=14.32 rpms
V = w. r
Physical Basic Concepts
Evaluación 1 Actividad 1.9
B=9,
V = w. r
Physical Basic Concepts
Evaluación 1 Actividad 1.10
Si el motor es de CD y esta alimentado con un voltaje de 180 VDC. ¿Cuál es la corriente que el motor
esta consumiendo sin tomar en cuenta las pérdidas?
Physical Basic Concepts
Evaluación 1 Actividad 1.11
If A = 3N, determine the weight of B,C,D,E, and F
Physical Basic Concepts
Evaluación 1 Actividad 1.13
b
a
Θ
K=30 N/m
b=5
r2=0.05
X y
F2
Physical Basic Concepts
Evaluación 1 ERA2
Wm= ?
Considerando el sistema de enrollado
mostrado en la figura con los datos dA= ?
dB= 0.1 mts
indicados, a) determine el diámetro de la
polea A (cada rotación de la polea A hace
que el alambre que se está enrollando dP= 0.15 mts
avance 1mm) a fin de que el enrollado se VLineal= ?
realice de manera alineada. b) ¿Cuál es la
velocidad lineal de enrollado del
0.5 mts
alambre? c) ¿Cuál debe de ser la dalambre= 0.5 mm
velocidad del motor a fin de que una
línea de enrollado se realice en 3 seg?
d) ¿afecta el diámetro del carrete de
enrollado en la sincronización del mismo? Diámetro inicial de enrollado
justifique su respuesta de manera 30 cms
matemática.
Electromagnetism
Basic Concepts
Electromagnetism fundamentals.
H
I
Intensidad del campo
Intensidad de la corriente magnético (amperes
eléctrica (amperes) vuelta/mt)
B
µ Densidad del flujo
Permeabilidad magnética magnético (webers/mt2 =
(henrys/mt) Teslas) = µH
φ
Flujo magnético total
(webers) = BA
Electromagnetism fundamentals.
F
Electromagnetism fundamentals.
Mixing actions
Electromagnetism fundamentals.
Circuitos magnéticos
Ŧ (amperes-vuelta) = N(vueltas) x I (amperes); Fuerza magnetomotriz
Ŧ = φR , flujo total x reluctancia
Para un núcleo cuadrado R = In/(µA)
Electromagnetism fundamentals.
Principios
1. Un conductor que lleva una corriente produce un campo
magnético a su alrededor (ley de Ampere). H=Ni/ln , B=µH, φ=BA
2. Un campo magnético variable en el tiempo induce un voltaje en
una bobina de alambre si pasa a través de ella (ley del
transformador). eind = -Ndφ/dt (Ley de Faraday)
3. Un conductor que porta corriente en presencia de un campo
magnético experimenta una fuerza inducida sobre él (ley del
motor). F = i (l × B)
4. Un conductor eléctrico que se mueva en presencia de un campo
magnético tendrá un voltaje inducido en él (ley del generador).
e= (v x B) • l
A
Electromagnetism fundamentals.
Creating an electromagnet.
+ -
Current
Electromagnetism fundamentals.
Creating an electromagnet.
SOUTH S N NORTH
Magnetic pole Magnetic pole
- +
Current
Electromagnetism fundamentals.
Creating an electromagnet
• Reversing the current direction, reverses the polarity
NORTH SOUTH
+ -
Current
Electromagnetic Actuators
Basic Concepts
Electromagnetic Actuators
Motors Classification
Electromagnetic Actuators
Series hybrid
Parallel hybrid
Series/Parallel or "full" hybrid
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
Electromagnetic Actuators
TOYOTA HYBRID
Electromagnetic Actuators
TOYOTA HYBRID
Electromagnetic Actuators
TOYOTA HYBRID
Electromagnetic Actuators
TOYOTA HYBRID
Electromagnetic Actuators
TOYOTA HYBRID
Motor/generator 1 (MG1)
Electromagnetic Actuators
TOYOTA HYBRID
Motor/generator 2 (MG2)
Electromagnetic Actuators
TOYOTA HYBRID
Electromagnetic Actuators
TOYOTA HYBRID
Ladder problem
Torque problem
Physical Basic Concepts