Example 1.2 g the mechanical system shown in Pig, | 4- erin, 4ifferential equations governi Write the differentia Sotutior Fig. 1.45 r it ial equa- ©n system has three masses; therefore the number of differential eq! nig the system are three, Free body di gram for mass My is shown in Fig. 1.46Mathematical Modeling 1.37 where fing = My di Sir = ky 7 dey Ts Jn = By dl fa ay fix = ka(wy ~ x) (1.129) Ma feed Using Newton’s second law we have S(O) = fut + fier “e ite Pay =u Ve +S pt hale — 2) + kay (1.130) Freebody diagram for mass My is shown in Fig, 1.47. faa = ke(a2 ~ 21) Pay Srna = Mop fas = ks(w2 — 23) = dag _ dey Fig. 1.47 fin = Bo o_o) (1.131) Using Newton’s second law we can write Sma t fiat fia + fis =0 (1.132) That is &2 daz dag 2 — 21) + hs(t2 — 23) = 0 Mm We a(S at -&) shin 21) + k3(a2 — 23) = The freebody diagram of Ms is shown in Fig. 1.48. where fis = kg(23 ~ 22) dag, in=2(@ @xs fina = Ma Ge Using Newton’s second law we can write fina + fia + firs = 0m2) =0 sles (L135) (1.136) snanical system shown in Fig. 1.49, model ofthe meet ae Solution Let ws assume that there is no 4nd floor, Free body diagram of My is shown in Fig. 1.50, a1 — 2) (1.137) ‘The fre bane equation fr mgs Mis Therefore (1.138) (1.139)Mathematical Modeling 1.39 nz + fra + Sir + Sas = f(t). Therefore Prey (den ae MoT +B, (2 . e) +(e — 21) + ham = Fe) 1.142) ‘The frecbody diagram of Ma is shown in Fig, 1 52. fe. Fig. tae Using Nevins cond av of tion wen Jns + fia + fia =0. (1.143) Therefore @ ln ae 25 les day - MIS + By (G-) +nwe=0 (ss) ‘The set ofall differential equations governing the system is Px de Mie + BG + he(er 22) =0 (1.145) fx dary ) Baa GE) the-aten=s) aay Moar + Be (F- 2) + lena) + knee (1.146) @rs day dey _ ME +B, (2-2) + hyey = 0 (1.147) Example 1.4: Obtain the mathematical model of the system shown in Fig. 1 53.Fig. 1.53, The Fee body diagram of A is shown in Fig. 1.54 where nF (.tasy fa = b(2) ~ 29) (tay) Caine Newton's second lay of motion we have > BS f+ fea + fay =0 dey 2) + Fa + ge ~ 2) theyMathematical Modeling 1.41 wie f= fy (ta) a dt nf ey eet Sma = My—"3 ~L_ 7 Fig. 1.56 = } (1.154) Force bal ” : Jina + f+ fa =0 (1.155) Thats &xs das de des di My Bs _ dey dey _ dey 7 ee +40 (F a) +i (G zt) beta Equations 1.151, 1.153 and 1.156 put together represent the system. Example 1.5: For the spring, damper and mass system shown in Fig. 1.57 find the differen- tial equations governing the system. al. Fig. 1.57 Solution ie ‘The forces acting on mass Mj are shown in Fig. 1.58. where fir = hi(s ~ 2) d fn = Bigia-™) (1.157) Fon =m Glare) See ie Note that the displacement of mass m1 Is. M2.te 1.42 Control Systems Engineet™® The force balance equation it MASS Mis Sort Sort fa =9 (1.158) 4) + hu(ar - 02) = 9 (1459 acting on mass Mz are shown in Fi 1.59. “The force balance equation is oan fo deg _al ao hn + Beg tH 1 i a + Big tem) = f0) (1.160) ia Fig. 1.59 Eq.(1.159) and Eg.(1.160) are the mathematical model of the system. Obiain the differential equations ofthe following mechanical systems JNTU April / May 2009 | . . foe A a0 2 au, OOM | 7 7 je Fig. 50a” @xy | | M Gethe + in +B z a) . io jt @n , » (a Moe + Bi (2 ley dey I «op eee + fo 7 + hat =0 P ae es My FIN] y, ANS: eee x, Meg thn thleMathematical Modeling 1.43 Example 1.6: Obtain mathe: ‘al model of the electrical hetwork shown in Fig. 1.60 Ry R, et, a Fig. 1.60 Solution : 7 a (1.161) di; 1 igdt + — ‘jdt 1.162) nf ated flay (1.162) Equations (1 161) and (1 162) represent the given electrical network, Practice Problem 1.; For the electric network given in Fig, 1.62 write network equations de- scribing the dynamic behaviour of t the network ANS : Fi, 4.62 Rul) +o [ls injae= a, a Oe i & | Ga tye + Palla is) +m =01.44. Control Systems Engineering a: Practice Problem 1. Doan dhe differential equations forthe circuit shown in Fig, 1.63 Obtain the ¢ coeur ak aie, Fig. 1.63 5 [lh ide (t) dt + = a (ia — is)dt Riis + oe 3 ‘Example 17: a \Wnite simultaneous differential equations for the translational Mechanical gy. ‘em shown in Fig, 1.64 and hence find X,(s) (AU Nowe 209 Solution The force balance equation for mass Mj is Pa od Sap + 4G lt -m) +50; = 10 (1.163) The force balance equation for mass My is @r id SG + 4G (ea ~ 21) +609 = singe (1.164) Taking Laplace transform of Eq. (1.163) by assum- M8 zero inital conditions, we get 38°X1(s) + 4s[X;(s) — %2(8)) + 5Xi(s) = 2 (35? $45 +5)X1(s) ~ dsX(s) = tb mT, (1.165) <6 Fig. 1.64Mathematical Modeling 1.45 Similarly applying Laplace transform of Lg. (L164) yields 39°Xa(s) + ds[Xa(s) X1(s)] + 6X (a) 30 75 1SX1(s) + (3s? +454. 6)X 94 a ) +48 + 6).Xy(,) FR (1.166) San be obtained by solving Eg. (1,165) and Eq. (1.166) [8s* +45 +5)(352 4 45+ 6) ~ 165%) x4( 8) oe = = (85? +45 +6) — 3 10(3s? + 4s +6) 120s sD(s) (F425)Dq) (1-167) where D(s) = (8s? +45 +5)(35? + 4s +6) — 1692 xi( Example 1.8: Obtain the transfer function of the mechanical system shown in Fig. 1.65 AU Nov / Dec 2009 bx os f>x(oupur) th mM, Ln M, 8, 8, Fig. 1.65 Solution Free body diagram of mass Mp is shown in Fig, 1.66 = x where fig = BaF . i fiz = ko(w- 21) Ro] Mm, b+ fo ee ey fo = Be le Fig. 1.66 @x Jnr = Maewt INSIST 20 PUY 89°13 w umoys am METAS 3 SunuasoAdo suonenty dun "99 Jodwep wonesqy an soy 61 dure 2H + TY + stig + 01g 4 Sy + ty + s(t, aa 88a) = (y+ Wy +8tg +eig 4 Tas yr etig psig s 18 om iS & = 3 2 (Lr) (OX ~ (6) ty)2y + (x - (xls + COLT) (xstar + (6) x — (lea + ) hg yo saps 04 aus nen wo 91Mathematical Modeling 1.47 Solution The free body diagram of M; is shown in Fig, 1.69a where f eae dry xn bo ia eee = Bp @. =| ™, fn fia=Iinys fia = Bie fm = MG “ 1 i Sie = ko(a1 — x2) (1.172) Fig. 1.69a The force balance equation for mass Mj is Sea t+ for + fro + fini = FQ) (1.173) 2. = M, Get Bt i 2 4 kyay + hole — a2) = f(t) 1.174) The free body diagram of My is shown in Fig. 1.69b ra where fxg =ko(t2—21); fin = Bo? fmo = ue oy (1.175) dt The force balance equation for mass M is be n fiat Smo + foo =0 fox] M, fare My 4 By tt + hol )=0 (1.176) i" Sera 09 — 21) = i Peccedae sai naedmenitne saci Fig. 1.69bExample 1.1 geet ig al system shown in Fig.1.74 draw an analogous electric circuit For the mechanical sys nt. in which force is analogous to curre if 7 ky Et a Fig. 1.74 Solution Let 2}, £2, and 23 are the displacement of masses My, Mz and M3 respec- tively and the wheels are friction free. The free body diagram for mass My is shown in Fig. 1.75 x where fxg = k3(z1 — 29) ben ‘a fia = yx —4 Mi i dx, ft fa = Bie Md fin = My toy Ee Fig. 1.75Mathematical Modeling 1.51 The force bi alance equation for mass My is Bry de Mia + hve + By ae t kale Ta) = f(t) (1.189) The tree body diagram for mass My is shown in Fig. 1.76, fia = kala ~ 03) fen far = ka(a ~ 23) : ( r—* d — M, —fy fia = By? — =f ce Fig. 1.76 faa = home and fing = My 22 dt? The force balance equation for mass My is d: MG + ka(w2 — 21) + kag — 2) + B+ ham=0 ( Similarly The force balance equation for Ms is shown in Fig. 1.76(a). 1.190) MyS22 + balan — 29) =0 (191) In force current analogy fQ i Fig.1.76(a) M—C @e dv eee ee : = a i ‘trical quantities we Replacing the Mechanical quantities in Eq. (1.189) with elect eplacing get : 192 2 L f(y - wat = itt) Ce dy | dt+ Rutz Ce | ee Bi 82 Control Systems Pngineering trh . hanical parameter in Eg. (1.190) by electrical quantities we get Placing the mechanical parameter in Ei 1 1 pe 7 [we rides [ n2—Us)dt-+ Rt This can be Fig. 1.79 Similarly Eq. (1.191) in force-current analogy can the circuit as in Fig, 1.79,ical Modeling. 1.53 Solution Fig. 1.81 Ro Wat ‘TQ lop 272] 4 Fig, 1.82 Loop I: B= Rin +b 4 agi, i) 4h (ix — tg)at (1.194) a tei) + [aa ) Loop 2: peal Rein + & [Gears Retin i) =0 (1.195) Eo = Reig (1.196) Taking Laplace transform of the equations by assuming zero initial conditions on both sides, we have Ei(s) = Ril(s) + Lsh(s) + Rah(s) - Roh(s) Flats) — h(s)] (1.197) Rslo(s) +e Oe — A(s)] + Re[lo(s) - 1(s)] =0 (1.198) E,(s) = ed ) E(s) = h(s) [rs +Ry+Ls+ al = Bis) [re + al : (Re + a) h(s) + (®% + Rpt =) hls) Set of equations governing the system can be presented in a matrix form as fol- lows: Es) 0 (1.199), he ~(Ro+ a) [| -(Ro+&) (Re+R+h) | |b: Pq, (1.196) we have, 1.195) ane B,(s) (BR ) ) (Rit Rot Ag) — (Ro 4 Rri tet a, Ry (Ra + Ay) Ls + 2) (at Ra + a) — (Ry +a)? Rt ist cy Example 1.14 ‘erential equations of mechanical system and heng © draw the vous circuit based on force current analogy, y we ee pom] m, FHF 4 oy, pone 1 DD No Frietion Fig. 1.83 Solution ‘Ne Srechody diagram of mass My is shown in Fig, 1.84 be Where fin = hyn; ea. Pr, fo— Mm, fmt = My fu— dey de, Fig. 1.84 fa = Bi dae The force balance ©quation for mass My is I= fh + Sra + fin = G1 _ dag (1.200) dt The freebody diagram for mass Mb is sho The force balance equation foy mass My j Lr, dey dey _ Move +B | 7 7 Phere =0 (a9) fn fo {In force current analopyMathematical Modeling. 1.55 f(t) a(t) nod [ow hae de Ll a MC, _ #e dt? Eq,(1.194) can be written in force-current anal- ogy as follows. 1 a! t) = Ch 4 Sy - = WAG + galt Tf udt (1.202) The circuit for above Eq.(1.202) is shown in Fig 1.86. Eq.(1.201) can be written in force-current anal- ogy as follows fm —n) ++ [rat =0 qe w+ gf mde The circuit for the above equation is shown in Fig. 1.87. The complete circuit diagram is the combina- tion of figures 1.86 and 1.87, which is analo- i¢y(f tr gous to the given mechanical system as shown in Fig. 1.88 below. Practice Problem 1.4: Obtain the t shown in Fig. 1.89. bx B do dt io 1 T ju Fig. 1.88 ransfer function of the mechanical system fo xoutrut iH “| oom y Fig. 1.89 eS M, Ao input oe~ S fexoupe, Me + | co | ipaSolution w Using KVL we Tone nce, ats by ssuning zn condition fr the above eu dons, we have Bi(s) = ale) 0+ at (1.208) Fale) = 16) + Rall (1.204) From Eg, (1.203) = — Fils) As)= Ronee (1.205) From E9, (1.204) Eris)= (q+™) 10 (1.206) ing Eq, (1.205) in By (1.206) we gt 1 Exo) | Rekse RCs + * (is RCsMathematical Modeling 1.57 Solution . TA=f @ eit) ) | i Fig. 1.95 Using KVL we have ei(t) = Rri(t) + 3 fia + Rai(t) a= 3 fi Taking Laplace transform by assuming zero initial conditions for the above equa- tions, we have t)dt + Roi(?) Ex(s) = Ril(s) + Are) + Rol(s) (1.208) Ea(s) = ahs) + Rol(s) (1.204) From Eq. (1.203) Es) (s) = 2 I(s) Rees (1.205) From Eq. (1.204) Ev(s) = (% + ®) I(s) (1.206) Substituting Eq. (1.205) in Eq, (1.206) we get 0-554] ame Fo(s)___ReCs+1 Ex(s) (Ri + Ro)Cs+11 — Ih(s)] _pshls)* oe) 2(s)] J+ Zlh) - h(s)| _k 1(s 4 Ry+ Last zs || Rls | = Ryls(8) Eat | ptlist ey Fils) | a 9 J9(6) —T 1 Ry + List e Gs & Ry + Los + Gs Egle Es) i Ht Last 2g) (Ro + Los + a)- oe Ey\s) RoC's Es) (LyCs? + RCs + \)(LyCs? + RoCs + q)j-1xamph es, find the clos he closed-loop ti Tan: Sfer fu ie. jaction techni Fig. 1.138 1 20 845? Gy = aioMathematical Modeling 1.81 Solution: @ Split the Fig. 1.140 Step 1: After splitting the summing point. Fig. 1.141 Step 2 : After combining the parallel blocks G2 and Gy and after eliminating feedback loop having G and Hy blocks. Cascade blocks 6\G,+6,) GH, Fig. 1.142 Step 3: Atier combining the cascade blocks and after eliminating feedback loop GGG, + Gs) (1+ GH + GH) a | GG, +G)| 1 1+, T Fig. 1.143Mathematical Modeling 1.85 Step 4: After combining the parallel paths and after eliminating the feedback loop. Rt G GG |i c 1 +G,G,H, 1 c Gi+G, GG R G,"1+G,G,H, Fig. 1.157 c GyG/+G,) R 1+G,GH, ae Fig. 1.158