HANDOUT E.5 - EXAMPLES ON MODELLING OF TRANSLATIONAL MECHANICAL SYSTEMS
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1 MEEN 6 Parasura Leure 57 Augus 7 HANDOUT E5 - EAMPLES ON MODELLING OF TRANSLATIONAL MECHANICAL SYSTEMS A generalized proedure has been followed in all he eaples in his handou o derive he governing differenial equaions of oion Noe ha he ie dependene of all variables is ignored for all anipulaions Eaple : One DOF sse Consider he sse shown below Kineais sage In his sage he posiion veloi and he aeleraion of all he rigid bodies in he sse are defined In he above sse here is onl one rigid bod Le he displaeen oved b he bod fro he sai equilibriu posiion be equal o unis Then he veloi and he aeleraion of he bod is defined as respeivel This oplees he ineais sage ẏ and ẏ unis Kineis sage In his sage he Newon s seond law of oion whih saes ha he su of all he fores aing on he bod is equal o he produ of is ass and is aeleraion is applied o obain he final governing differenial equaion of oion Free bod diagra of he bod of ass
2 MEEN 6 Parasura Leure 57 Augus 7 Noe ha he gravi fore is no onsidered in he free bod diagra as he displaeen of he bod is onsidered fro he sai equilibriu posiion Hene he spring fore due o he iniial opression of he spring balanes he gravi fore Wriing he Newon s seond law of oion we have F a The blo does no ove in he -direion Equaion represens he governing differenial equaion of oion of he abovedefined sse Equaion an be rewrien as The generalized seond order differenial equaion is given b n n ζ ω ω where ζ is he daping raio and ω n is he naural frequen of he sse Coparing equaions and we have ζ ω ω n n Sae-spae represenaion Le he saes of he sse be defined as
3 MEEN 6 Parasura Leure 57 Augus 7 Fro he above relaions i an be onluded ha 5 Subsiuing he relaions given b equaion in equaion we have 6 Rewriing equaions 5 and 6 in ari fora we ge 7 If he oupu of he sse is he displaeen of he blo hen he oupu equaion an be wrien in he ari for as follows [ ] Y Y 8 Equaions 7 and 8 represen he sae-spae represenaion of he sse defined
4 MEEN 6 Parasura Leure 57 Augus 7 Eaple : Two DOF sse Consider he sse given below Noe: The ie dependene is ignored for all fuure anipulaions Kineais sage In his sage he posiion veloi and he aeleraion of all he rigid bodies are defined Fro he above figure i an be seen ha here are wo rigid bodies The oal nuber of degrees of freedo of he sse is wo The degrees of freedo of he sse are defined as he horizonal displaeen of he wo bodies of ass and Le he displaeen of he bodies of ass and be equal o and respeivel The veloi and aeleraion of he bod wih ass is given b and respeivel Siilarl he veloi and he aeleraion of he bod wih ass is and respeivel This oplees he ineais sage Kineis sage In his sage he Newon s seond law of oion is used o obain he final governing differenial equaion of oion To wrie he fore or he orque balane equaions we need o draw he free bod diagra of eah rigid bod Assue o be greaer han Free bod diagra of bod of ass g - N Wriing he Newon s seond law of oion whih saes ha he su of he fores aing on he bod us be equal o he produ of is ass and aeleraion
5 MEEN 6 Parasura Leure 57 Augus 7 F a 9 Siilarl F N a g where N is he reaion fore of he ground on he blo Noe ha he blo does no ove in he -direion and hene does no have an aeleraion in ha direion Free bod diagra of bod of ass g - N Wriing he Newon s seond law of oion for his bod we have F a F N a g where N is he reaion fore of he ground on he blo of ass Even in his ase he blo does no ove in he -direion and has no aeleraion in ha direion Equaions 9 and represen he governing equaion of oion for he sse defined Rewriing he equaions in he for of a ari we have 5
6 MEEN 6 Parasura Leure 57 Augus 7 The above equaion is of he for [ M] [ K][ ] where [M] is he ass ari [K] is he siffness ari and [] is he veor onaining he displaeens of he blos To alulae he Eigen values and Eigen veors Le he onsans in he above sse be defined as follows 5 Kg Kg N/ N/ N/ Therefore he ass and he siffness aries are M 5 K To obain he Eigen values and Eigen veors of he above sse use he following MATLAB ode % his ode alulaes he eigen values and eigen % veors assoiaed wih he defined sse [ ; 5]; [ -;- ]; [vd] eig wna sqrd The resul of he above ode is 6
7 MEEN 6 Parasura Leure 57 Augus 7 v d e * wna The diagonal eleens in he ari d represens he Eigen values of he sse and he orresponding olun veor in he ari v represens he Eigen veor assoiaed wih ha pariular Eigen value Also noe ha he naural frequen of he sse is defined as he square roo of he Eigen values The veor wna gives he naural frequen of he sse The phsial signifiane of he Eigen values and Eigen veors is eplained in deail in he handou on Eigen values and Eigen veors Sae-spae represenaion Le he saes of he sse be defined as Fro he above relaions he following equaions an be derived Subsiuing he relaions given b equaion in equaion 9 we ge 7
8 MEEN 6 Parasura Leure 57 Augus 7 8 Siilarl subsiuing he relaions given b equaion in equaion we ge 5 Rewriing equaions and 5 in ari fora we ge 6 If he oupu of he sse is he displaeen of he blo of ass hen he oupu equaion an be wrien in he ari fora as [ ] Y Y 7 Equaions 6 and 7 represen he sae-spae for of he above-defined sse
9 MEEN 6 Parasura Leure 57 Augus 7 Eaple : Base eiaion proble Consider he sse shown below in whih he base of he sse oves M Fe Noie ha he base of he sse oves b unis independen of he ass Bu in his ase we however now how he base oves as given b he haroni funion So in effe his is jus a one degree of freedo proble Tha is in oher words here are wo degrees of freedo for his sse bu ou of whih one degree of freedo is nown Kineais sage The posiion veloi and he aeleraion of he ass are oplees he ineais sage respeivel This Kineis sage Free bod diagra of he ass Noe ha he displaeens and in he sse are fro he sai equilibriu posiion Hene he spring fore due o he iniial opression of he spring will balane he gravi fore Wriing he Newon s fore balane equaion we have 9
10 MEEN 6 Parasura Leure 57 Augus 7 F a 8 Sine Fe F e Subsiuing he above relaions in equaion 8 we ge F e Fe F e 9 Equaion 9 represens he governing differenial equaion of oion for he sse in whih he base is eied wih a nown apliude and phase This equaion is siilar o ha of a fored one degree of freedo sse Sae-spae represenaion Le he saes of he sse be Fro he above relaions i ab be onluded ha Subsiuing he relaions given b equaion in equaion 9 we have F e where F F F e
11 MEEN 6 Parasura Leure 57 Augus 7 F Cobining equaions and in a ari fora we ge F If he oupu of he sse is he veloi of he ass hen he oupu equaion an be wrien in he ari fora as Y Y [ ] Equaions and represen he sae-spae for of he sse defined Eaple : The quarer-ar odel Consider he sse shown below Road surfae r Inerial referene
12 MEEN 6 Parasura Leure 57 Augus 7 The sse shown below is an approiaion of a suspension odel for one wheel of an auoobile The displaeens of he asses and are fro heir equilibriu posiions Kineais sage The veloi and aeleraion of he wo asses are given as respeivel Kineis sage Free bod diagra of he bod of ass r Noe ha he gravi fore is negleed as he spring fores due o he iniial opression of he springs balane he gravi fore Wriing he Newon s seond law of oion we ge F a r r 5 Free bod diagra of bod of ass
13 MEEN 6 Parasura Leure 57 Augus 7 Wriing he Newon s fore balane equaion we have 6 Equaions 5 and 6 represen he equaions of oion for he quarer ar odel Sae-spae represenaion Le he saes of he sse be defined as 7 The following wo equaions an be derived based on he above relaions 8 Subsiuing he relaions given b equaion 7 in equaion 5 we ge r r r 9 Siilarl subsiuing he relaions given b equaion 7 in equaion 6 we ge Rewriing equaions 8 9 and in ari fora we have
14 MEEN 6 Parasura Leure 57 Augus 7 r If he oupu of he sse is he displaeen of ass hen he oupu equaion an be epressed in he ari fora as Y [ ] Y Equaions and represen he sae-spae for of he sse defined
15 MEEN 6 Parasura Leure 57 Augus 7 Assignen Derive he differenial equaion of oion for he sse shown below F For he sse shown below derive he governing differenial equaion of oion Reoended Reading Feedba Conrol of Dnai Sses h Ediion b Gene F Franlin eal pp - 5 Reoended Assignen Feedba Conrol of Dnai Sses h Ediion b Gene F Franlin eal probles 8 5
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