Principles of Feedback Control
Lecture on ODE
Mathematical Modelling of Dynamic Mechanical Systems
Dr. Shafayat Abrar, Habib University
[email protected] Dynamic System:
• A system where the current output variables (or dynamic
variables) depend on the initial conditions (or stored energy)
of the system and/or the previous input variables.
• The dynamic variables of the system (e.g., displacement,
velocity, voltage, pressure) vary with time.
• For the DC motor example, the angular velocity of the motor
is the dynamic variable and the circuit voltage is the input.
•
Modelling:
The process of applying the
appropriate fundamental
physical laws in order to
derive mathematical
equations that adequately
describe the physics of the
engineering system.
• Dynamic systems are
represented by differential
equations. For the DC
motor example, the
electrical circuit is modeled
by using Kirchhoff’s voltage A mathematical description of a
law and the mechanical dynamic system’s behavior is usually
motion is modeled by using a set of linear or nonlinear ordinary
Newton’s second law. differential equations (ODEs).
Natura non facit saltus
or,
Nature does not make leaps…
If you assume continuity, you can
open the well-stocked mathematical
toolkit of continuous functions and
differential equations, the saws and
hammers of engineering and physics
for the past two centuries (and the
foreseeable future).
— Benoit Mandelbrot
An Example of ODE Modelling a Mechanical System
Mathematical Modeling
of Mechanical Systems
• We discuss components of mechanical systems whose ideal versions
behave in a linear fashion, and follow Newtonian physics.
• Components are:
– Mass (linear or inertial mass)
– Spring (linear or torsional)
– Damper (viscous or surface friction)
Modern Control Engineering
by Katsuhiko Ogata, 5th Edition
Linear Control System Analysis
and Design by J.J. D’Azzo and
C.H. Houpis, 4th Edition
Simple Spring System
Borrowed from Modern Control Engineering
by Katsuhiko Ogata, 5th Edition
Hooke's law is a principle of physics that
states that the force (F) needed to extend
or compress a spring by some
distance x scales linearly with respect to
that distance. (below negative sign indicates
that the direction of the restoring force is
opposite to that of the displacement)
Simple Spring System
Borrowed from Modern Control Engineering
by Katsuhiko Ogata, 5th Edition
Hooke's law is a principle of physics that
states that the force (F) needed to extend
or compress a spring by some
distance x scales linearly with respect to
that distance. (below negative sign indicates
that the direction of the restoring force is
opposite to that of the displacement)
D’Azzo and Houpis suggested that a mechanical system may be converted into an
electrical network; they believe that this must be a comfortable way for an electrical
engineer to understand the mechanical system.
The analogy is established by realizing the similarity in behavior of mechanical force
and electrical current that they both have flowing nature. As a current gets divided
when it flows into a node containing branches, the force also get divided when pass
through parallel connected springs.
Another similarity is that as
we have a refence ground
position in a mechanical
system where the
displacement becomes zero,
we have a similar concept of
voltage in electrical circuits
where it is always possible to
create a reference node in a
circuit where we may consider
potenial to be equal to zero
Simple Spring System
Borrowed from Modern Control Engineering
by Katsuhiko Ogata, 5th Edition
Simple Spring System
Borrowed from Modern Control Engineering
by Katsuhiko Ogata, 5th Edition
Two Springs in Parallel
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
Two Springs in Parallel
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
Two Springs in Series
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
Two Springs in Series
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
Simple Damper System
An oil-filled damper is often called a dashpot.
A dashpot is a device that provides viscous friction,
or damping shock and vibration. It consists of a
piston and oil-filled cylinder.
Any relative motion between the piston rod and the
cylinder is resisted by the oil because oil must flow
around the piston (or through orifices provided in
the piston) from one side of the piston to the other.
The dashpot absorbs energy. This absorbed energy is
dissipated as heat, and the dashpot does not store
any kinetic or potential energy.
Fischer-Cripps, Anthony C. –
The Physics Companion, 2nd ed.
2014, CRC Press
Stokes’ law
The negative sign indicates that the resistive force is in the
direction opposite to the displacement.
Single Damper
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
According to Stokes’ law, a constant viscous
friction (a mechanical impedance) means that
the velocity produced is always linearly
proportional to the force applied.
Single Damper
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
When both piston and cylinder are in motion,
we have
Two Dampers in Parallel
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
Two Dampers in Series
Borrowed from Modern Control Engineering by
Katsuhiko Ogata, 5th Edition
Simple Dashpot+Spring+Mass
Borrowed from Modern Control Engineering
by Katsuhiko Ogata, 5th Edition
Multiple Dashpots+Springs+Masses
Borrowed from Modern Control Engineering by Katsuhiko Ogata, 5th Edition
Simple Dashpot+Spring+Mass in Series
Borrowed from Linear Control System Analysis And Design With
Matlab by John J. D’Azzo and Constantine H. Houpis, 5th E
Cart over a Cart Borrowed from Modern Control Engineering by Ogata,
5th Edition
Borrowed from Modern Control Engineering by Katsuhiko Ogata, 5th Edition
Activity 03
Borrowed from Linear Control System Analysis And Design With Matlab
by John J. D’Azzo and Constantine H. Houpis, 5th E
Wheel Suspension:
As a car moves along the road, the vertical displacements at the tires act as the motion excitation
to the automobile suspension system. The motion of this system consists of a translational
motion of the center of mass and a rotational motion about the center of mass. The suspension
system is supposed to maintain wheels in contact with ground for all time. Borrowed from
Modern Control Engineering by Katsuhiko Ogata, 5th Ed.
Borrowed from Modern Control Engineering by Katsuhiko Ogata, 5th Edition
Conclusions
• Today, we discussed mechanical systems
modelling using mass, spring and dashpots.
• We considered different arrangement of trolleys,
multiple mass, and suspension system in
automobiles.
• We relied on D’Azzo-Houpis method to convert
the given mechanical system into a sort of
electrical circuit where displacement behaves like
voltage, force behaves like current.
• In the next class, we continue to discuss
modelling for rotational systems.
