Modelling & Simulation of

Engineering Systems
(ECE 232)

Part (3)

Dr. Waleed M. Gaballah

 Contents
Mathematical Modeling of
Mechanical Systems
- Translational (linear) Mechanical systems.

- Rotational Mechanical systems.

Remember ..

To describe the physics of the system, and estimate all important parameters:

 The analyst writes the differential and/or algebraic equations that are thought to describe the
system dynamics.
 Laplace transforms are used to convert differential equations into S-domain, assuming all initial
condition to be zero.
 Take the ratio of the output to the input. This ratio is the overall transfer function of the system.

A control system may be composed of various components including:

mechanical, electrical, thermal, fluid, pneumatic….

Modelling of Mechanical Systems
• Translational
Linear Motion

• Rotational
Rotational Motion

5
6
 Translational Spring
i)

Translational Damper
ii)

Translational Mass
iii)
• A translational spring is a mechanical element that can be
deformed by an external force such that the deformation is
directly proportional to the force applied to it.

Translational Spring
i)

Circuit Symbols
Translational Spring
• If F is the applied force
F
Then x1 is the deformation if x 2 = 0
→ The equation of motion is given as
𝐹 𝑡 = 𝑘 𝑥1 𝑡 −→ F(s) = k 𝑋1 (s)

• Or ( x1 − x 2 ) is the deformation.

• The equation of motion is given as

𝐹1 = 𝑘(𝑥1 − 𝑥2 )
𝐹2 = 𝑘(𝑥2 − 𝑥1 )

• Where k is stiffness of spring expressed in N/m

• Given two springs with spring constant k1 and k2, obtain the
equivalent spring constant keq for the two springs connected in:

(1) Parallel (2) Series

10
• The two springs have same displacement therefore:

k1 x + k 2 x = F
(1) Parallel
( k1 + k 2 ) x = F

k eq x = F
k eq = k1 + k 2

• If n springs are connected in parallel then:

k eq = k1 + k 2 +  + k n 11
 • The forces on two springs are same, F, however displacements
are different therefore:
(2) Series
𝑘1 𝑥1 = 𝐹 𝑘2 (𝑥2 − 𝑥1 ) = 𝐹
𝐹
𝑘2 (𝑥2 − ) = 𝐹
𝑘1
𝑘2
+ 1 𝐹 = 𝑥2 𝑘2
𝑘1
1 k1k 2
𝑘1 𝑘2 𝐹 k eq = =
= 1 1 k1 + k 2
𝑘1 + 𝑘2 𝑥2 +
k1 k 2
12
• Exercise: Obtain the equivalent stiffness for the following spring
networks.

i)

k3

ii) k3

13
• Translational Mass is an inertia element. Translational Mass
(how much it resists being accelerated can be ii)
represented by mass. )

• A mechanical system without mass does

not exist.
x(t )
• If a force F is applied to a mass and it is
displaced to x meters then the relation F (t )
between force and displacements is M
given by Newton’s 2nd. law.

෍ 𝐹 = 𝑀𝑎 F = Mx
• When the viscosity or drag is not negligible in
a system, we often model them with the
Translational Damper
damping force. iii)

• This is a piston moving in a viscous medium in

a cylinder such as that shown in Fig.

• The resistive force F which has to be

overcome is proportional to the velocity of
the piston and hence the rate of change of
displacement X(t) with time.
𝑑𝑥
𝐹 𝑡 =𝐵 → F(s) = BSX(s)
𝑑𝑡
Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension
 B
B

𝐹 = 𝐵𝑥ሶ 𝐹 = 𝐵(𝑥ሶ1 − 𝑥ሶ 2 )

• Where B is damping coefficient (N/ms-1).

• Translational Dampers in series and parallel.

B1

B1 B2
B2
𝐵1 𝐵2
𝐵𝑒𝑞 = 𝐵1 + 𝐵2 𝐵𝑒𝑞 =
𝐵1 + 𝐵2
The following example illustrates how we can arrive at a
model for the mechanical system given in Fig.

1- The input to the system is the force F and the output is the displacement X(t).
2- To obtain the system model we draw free-body diagrams.
3- Using Newton’s second law, it can be shown that the differential equation of
motion is,

4- Taking the Laplace transform of each term of the Eq. 2 gives,

19
 • Find the transfer function X2(s)/F(s) of the following system.

B
M1 M2

Answer
𝑥2 (𝑠) 𝑆+1
= 4
𝐹(𝑠) 𝑆 + 2𝑆 3 + 2𝑆 2
 • For the system in Fig., draw free-body diagrams, the obtain the T.F. = X2(S)/F(S)
(Two degrees of freedom translational mechanical system)

Answer

where,
22
• The extension of Newton's law of motion for rotational motion states that the algebraic sum of
moments or torque about a fixed axis is equal to the product of the inertia and the angular
acceleration about the axis.

where, "J" denotes the inertia and "α" is the angular acceleration.
• The other variables generally used to describe the motion of rotation are:
Torque "T", angular velocity "", angular displacement "“
When a torque is applied to a body with inertia J, as shown in Fig. the torque equation is written:
Rotational Spring

Rotational Damper

Moment of Inertia
Block Diagram and Transfer function of DC-MOTOR ARMATURE CONTROLLED
END of part (3)

Dr. Waleed Gaballah