Modeling and Simulation in

Mechanical Systems (MT331)

Dr. Khalil A. Ibrahim Dr. Gamal Abdelnasser

Associate Professor Assistant Professor

Mechanical Department Mechanical Department
email: khalil.Ibrahim@aun.edu.eg email: gamal@aun.edu.eg
 Lecture-3-4-5
Introduction Mathematical Modeling
Mathematical Modeling of Mechanical Systems

2
 Lecture Outline
• Introduction to Modeling
– Ways to Study System
– Modeling Classification

• Mathematical Modeling of Mechanical Systems

– Translational Mechanical Systems
– Rotational Mechanical Systems
– Mechanical Linkages

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 Model
• A model is a simplified representation or abstraction of
reality.

• Reality is generally too complex to copy exactly.

• Much of the complexity is actually irrelevant in problem

solving.

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 What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
 Ways to Study a System

System

Experiment with actual Experiment with a

System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

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Basic Types of Mechanical Systems
• Translational
– Linear Motion

• Rotational
– Rotational Motion

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Part-I

TRANSLATIONAL MECHANICAL SYSTEMS

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Basic Elements of Translational Mechanical Systems

Translational Spring
i)

Translational Mass
ii)

Translational Damper
iii)
 Translational Spring
• 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
 Translational Spring
• If F is the applied force
x1
x2

• Then x1 is the deformation if x 2 = 0 F

• Or ( x1 − x2 ) is the deformation. F

• The equation of motion is given as

F = k ( x1 − x2 )
• Where k is stiffness of spring expressed in N/m
 Translational Spring
• 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

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 Translational Spring
• The two springs have same displacement therefore:

k1x + 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 13
 Translational Spring
• The forces on two springs are same, F, however
displacements are different therefore:
(2) Series
k1x1 = k 2 x2 = F

F F
x1 = x2 =
k1 k2

• Since the total displacement is x = x1 + x2 , and we have F = k eq x

F F F
x = x1 + x2 ⇒ = +
k eq k1 k 2
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 Translational Spring
F F F
= +
k eq k1 k 2
• Then we can obtain

1 k1k 2
k eq = =
1 1 k1 + k 2
+
k1 k 2
• If n springs are connected in series then:

k1k 2  k n
k eq =
k1 + k 2 +  + k n
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 Translational Spring
• Exercise: Obtain the equivalent stiffness for the following
spring networks.

i)

k3

ii) k3

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 Translational Mass
• Translational Mass is an inertia Translational Mass
element. ii)

• A mechanical system without

mass does not exist.

• If a force F is applied to a mass x(t )

and it is displaced to x meters
then the relation b/w force and F (t )
M
displacements is given by
Newton’s law.

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

• All the materials exhibit the Translational Damper

iii)
property of damping to some
extent.

• If damping in the system is not

enough then extra elements (e.g.
Dashpot) are added to increase
damping.
 Common Uses of Dashpots
Door Stoppers
Vehicle Suspension

Bridge Suspension
Flyover Suspension
 Translational Damper

F = Cx F = C ( x1 − x 2 )

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

 Translational Damper
• Translational Dampers in series and parallel.

C1C 2
Ceq = C1 + C 2 Ceq =
C1 + C 2
 Modelling a simple Translational System
• Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.

mx = −kx
or
mx + kx = 0
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 Example-2
• Consider the following system (friction is negligible)

k
x
F
M

• Free Body Diagram

fk
M fM
F

• Where f k and f M are force applied by the spring and

inertial force respectively.
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 Example-2
fk
M fM
F

F = fk + fM
• Then the differential equation of the system is:
F = Mx + kx
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get

F ( s ) = Ms 2 X ( s ) + kX ( s )
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 Example-2
F ( s ) = Ms 2 X ( s ) + kX ( s )
• The transfer function of the system is

X (s) 1
=
F(s) Ms 2 + k

• if
M = 1000kg
k = 2000Nm −1

X (s) 0.001
= 2
F(s) s +2
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 Example-3
• Consider the following system

k
x
F
M

C
• Free Body Diagram
fk fC
M fM
F

F = f k + f M + fC
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 Example-3
Differential equation of the system is:

F = Mx + Cx + kx
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get

F ( s ) = Ms 2 X ( s ) + CsX ( s ) + kX ( s )

X (s) 1
=
F(s) Ms 2 + Cs + k

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 Example-4
• Consider the following system

• Free Body Diagram (same as example-3)

fk fB
M
F fM X (s) 1
=
F(s) Ms 2 + Bs + k
F = fk + fM + fB
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 Example-5
• Consider the following system
x2

x1 k B
F M

• Mechanical Network
x1 k x2

F ↑ M B

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 Example-5
• Mechanical Network
x1 k x2

F ↑ M B

At node x1

F = k ( x1 − x 2 )
At node x2

0 = k ( x 2 − x1 ) + Mx2 + Bx 2
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 Example-6
• Find the transfer function X2(s)/F(s) of the following system.

M1 M2
B
 Example-7
x1 x2

k B3 B4
M1 M2
f (t )

B1 B2

x1 B3 x2

f (t ) ↑ k M1 B1 B2 M2 B4

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 Example-8
• Find the transfer function of the mechanical translational
system given in Figure-1.
Free Body Diagram
fk fB

Figure-1

f (t ) fM

X (s) 1
f (t ) = f k + f M + f B =
F(s) Ms 2 + Bs + k
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 Example-9
• Restaurant plate dispenser

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 Example-10
• Find the transfer function X2(s)/F(s) of the following system.

Free Body Diagram

f k1 f k f B f k1 fB
2

M2 M1
k2
F (t ) f M 2 f M1

F (t ) = f k1 + f k 2 + f M 2 + f B

0 = f k1 + f M 1 + f B
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 Example-11

x2 x3
x1
k1 B3 B4

u(t ) B1 M1 k2 M2 k3

B2 B5

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Example-12: Automobile Suspension

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Automobile Suspension

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 Automobile Suspension

mxo + b( x o − xi ) + k ( xo − xi ) = 0 (eq .1)

mxo + bx o + kxo = bxi + kxi eq. 2

Taking Laplace Transform of the equation (2)

ms 2 X o ( s ) + bsX o ( s ) + kX o ( s ) = bsX i ( s ) + kX i ( s )

X o ( s) bs + k
= 2
X i ( s ) ms + bs + k 39
 Example-13: Train Suspension

Car Body
Bogie-2
Bogie-1
Secondary

Suspension
Bogie

Frame
Primary
Wheelsets
Suspension

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Example: Train Suspension

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Part-I

ROTATIONAL MECHANICAL SYSTEMS

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 Basic Elements of Rotational Mechanical Systems

Rotational Spring

θ1
θ2

T = k (θ1 − θ 2 )
 Basic Elements of Rotational Mechanical Systems

Rotational Damper

C
θ1
θ2 T

T = C (θ1 − θ2 )
 Basic Elements of Rotational Mechanical Systems

Moment of Inertia

θ
J T

T = Jθ
 Example-1

B1
θ1 k1 θ 2 θ3 k2
T J1 J2

θ1 k1 θ2 B1 θ3

T ↑ J1 J2 k2
 Example-2

θ1 k1 θ 2 B2
θ3 B4
T J1 J2

B1 B3

θ1 k1 θ2 B2 θ3

T ↑ J1 B1 B3 J2 B4
 Example-3

θ1
k1 θ2
T k2
J1 J2
B2
Example-4
Part-III

MECHANICAL LINKAGES

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 Gear
• Gear is a toothed machine part, such
as a wheel or cylinder, that meshes
with another toothed part to
transmit motion or to change speed
or direction.

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 Fundamental Properties
• The two gears turn in opposite directions: one clockwise and
the other counterclockwise.

• Two gears revolve at different speeds when number of teeth

on each gear are different.
 Gearing Up and Down
• Gearing up is able to convert torque to
velocity.
• The more velocity gained, the more torque
sacrifice.
• The ratio is exactly the same: if you get three
times your original angular velocity, you
reduce the resulting torque to one third.
• This conversion is symmetric: we can also
convert velocity to torque at the same ratio.
• The price of the conversion is power loss due
to friction.
 Why Gearing is necessary?

• A typical DC motor operates at speeds that are far too

high to be useful, and at torques that are far too low.

• Gear reduction is the standard method by which a

motor is made useful.

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Gear Trains

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 Gear Ratio
• You can calculate the gear ratio by using
the number of teeth of the driver
divided by the number of teeth of the
follower.

• We gear up when we increase velocity Driver

and decrease torque.
Follower
Ratio: 3:1

• We gear down when we increase torque

and reduce velocity.
Ratio: 1:3

Gear Ratio = # teeth input gear / # teeth output gear

= torque in / torque out = speed out / speed in
 Example of Gear Trains
• A most commonly used example of gear trains is the gears of
an automobile.

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 Mathematical Modelling of Gear Trains
• Gears increase or reduce angular velocity (while
simultaneously decreasing or increasing torque, such
that energy is conserved).
Energy of Driving Gear = Energy of Following Gear

N1θ1 = N 2θ 2

N1 Number of Teeth of Driving Gear

θ1 Angular Movement of Driving Gear

N2 Number of Teeth of Following Gear

θ2 Angular Movement of Following Gear

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 Mathematical Modelling of Gear Trains
• In the system below, a torque, τa, is applied to gear 1 (with
number of teeth N1, moment of inertia J1 and a rotational friction
B1).
• It, in turn, is connected to gear 2 (with number of teeth N2,
moment of inertia J2 and a rotational friction B2).
• The angle θ1 is defined positive clockwise, θ2 is defined positive
clockwise. The torque acts in the direction of θ1.
• Assume that TL is the load torque applied by the load connected
to Gear-2.

N2
N1
B1

B2 59
 Mathematical Modelling of Gear Trains
• For Gear-1

τ a = J1θ1 + B1θ1 + T1 Eq (1)

• For Gear-2

T2 = J 2θ2 + B2θ2 + TL Eq (2) N1

N2

B1
• Since
B2
N1θ1 = N 2θ 2
• therefore
N1
θ2 = θ1 Eq (3)
N2 60
 Mathematical Modelling of Gear Trains
• Gear Ratio is calculated as
T2 N2 N1
= ⇒ T1 = T2
T1 N1 N2
N2
• Put this value in eq (1) N1
B1
N
τ a = J1θ1 + B1θ1 + 1 T2
N2 B2
• Put T2 from eq (2)
N1
 
τ a = J1θ1 + B1θ1 + ( J 2θ2 + B2θ2 + TL )
N2
• Substitute θ2 from eq (3)
N1 N1  N1  N1
 
τ a = J1θ1 + B1θ1 + (J2 θ1 + B 2 θ2 + TL )
N2 N2 N2 N 2 61
 Mathematical Modelling of Gear Trains
N1 N1  N1  N1
 
τ a = J1θ1 + B1θ1 + (J2 θ1 + B 2 θ2 + TL )
N2 N2 N2 N2
• After simplification
2 2
  N1     N1  N
τ a = J1θ1 +   J 2θ1 + B1θ1 +   B2θ1 + 1 TL
 N2   N2  N2
  N1 
2    N 
2  N1

τ a = J1 +    
 J 2 θ1 + B1 +  1  
 B2 θ1 + TL
  N2     N2   N2
   
2 2
 N   N 
J eq = J 1 +  1  J 2 Beq = B1 +  1  B2
 N2   N2 

  N1
τ a = J eqθ1 + Beqθ1 + TL
N2 62
 Mathematical Modelling of Gear Trains

• For three gears connected together

2 2 2
 N1   N1   N3 
J eq = J 1 +   J 2 +     J 3
 N2   N2   N4 

2 2 2
 N1   N1   N3 
Beq = B1 +   B2 +     B3
 N2   N2   N4 

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 Home Work
• Drive Jeq and Beq and relation between applied
torque τa and load torque TL for three gears
connected together.

θ2
θ1
N1 θ3
N2

J1
N3
J2 J3 TL

B2
τa B1
B3

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END OF LECTURES-6-7-8

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MATHEMATICAL MODELING OF
MECHANICAL SYSTEMS

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 MATHEMATICAL MODELING OF
SIMPLEMECHANICAL SYSTEMS
• Newton's second law (for translational
motion).

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Newton's second law (for rotational
motion)

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Forced response and natural response.

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WORK, ENERGY, AND POWER

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 An energy method for deriving
equations of motion.
• Earlier in this chapter, we presented Newton's method for deriving
equations of motion of mechanical systems. Several other approaches for
obtaining equations of motion are
available, one of which is based on the law of conservation of energy. Here
we derive such equations from the fact that the total energy of a system
remains the same if no energy enters or leaves the system.
•
In mechanical systems, friction dissipates energy as heat. Systems that do
not involve friction are called conservative systems. Consider a
conservative system in
which the energy is in the form of kinetic or potential energy (or both).
Since energy
enters and leaves the conservative system in the form of mechanical work,
we obtain

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END OF LECTURES-3-4-5