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Mechanical System Modeling Essentials

Module 4 covers the modeling of mechanical systems, focusing on the three basic elements: inertia, springs, and dampers. It outlines the process of determining differential equations to model system behavior, including examples of motion transmission and conversion through gears. The module emphasizes the importance of first principles in modeling and the relationships between speed and torque in mechanical systems.

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11 views24 pages

Mechanical System Modeling Essentials

Module 4 covers the modeling of mechanical systems, focusing on the three basic elements: inertia, springs, and dampers. It outlines the process of determining differential equations to model system behavior, including examples of motion transmission and conversion through gears. The module emphasizes the importance of first principles in modeling and the relationships between speed and torque in mechanical systems.

Uploaded by

pirate7174
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Module 4: Modeling

Modeling Mechanical Systems


Mechanical Systems
Rick Hill, PhD
Dept of Mechanical Engineering
Module 4:
Modeling Mechanical Systems
determine the differential equations that
model the behavior of a mechanical system

Modeling Mechanical Systems


1. Elements making up a mechanical system
2. Modeling examples
3. Transmitting and converting motion
Modeling Mechanical Systems

Mechanical systems
consist of three basic
types of elements

Modeling Mechanical Systems


1. Inertia elements
2. Spring elements
3. Damper elements
Inertia Elements
• Examples: mass, moment of inertia
• Each inertia element with independent
motion needs its own differential equation
(Newton’s 2nd Law, Euler’s 2nd law)

Modeling Mechanical Systems


 F  ma  M  J
• Inertia elements store kinetic energy
1 2
E   Fvdt   mvvdt  mv
2
Spring Elements
• Force (torque) is generated to resist
deflection
• Examples: translational and rotational

Modeling Mechanical Systems


springs, even a steel rod has stiffness
• Spring elements store potential energy
1 2
E   Fvdt   kxxdt  kx
2
Spring Elements
• For a linear translational spring: F  k ( x1  x2 )

Modeling Mechanical Systems


• For a linear torsional spring: T  k (θ1  θ 2 )
Damper Elements
• Force is generated to resist motion
• Examples: dashpots, friction, wind drag

F  b( x1  x2 ) T  b(θ1  θ 2 )

Modeling Mechanical Systems


• Damper elements dissipate energy
Damper Elements

linear damping Coulomb friction drag

Modeling Mechanical Systems


x x

f  bx f  b sgn( x) f  bx 2

(viscous friction)
Friction Torque Example
• Real friction in general combines aspects of
multiple model types

Modeling Mechanical Systems


viscous
stiction friction

stiction
Modeling Mechanical Systems
Approach
1. Choose coordinates and orientation

2. Draw free-body diagrams for each inertia

Modeling Mechanical Systems


• Note assumptions

3. Generate equations of motion using Newton’s


2nd Law and Euler’s 2nd Law

 F  ma  M  J
4. Double check
→ coordinates (x,y), orientation defined

Example 1 → let x = 0, y = 0 when system is in static


equilibrium (allows gravity to be neglected)
→ assume linear springs and damper,
• ¼ Car Suspension negligible damping in the tire

2 y quarter mass of the car


m2
the suspension

k2 ( y  x)  Fs2 Fd  b( y  x)
unsprung mass

x tire stiffness
m1
ground motion
Fs1  k1 ( x  u )
Example (continued) 3 F  ma
y
2 m2 mass 2:
F   Fs 2  Fd  m2 y
 k2 ( y  x)  b( y  x)  m2 y
k2 ( y  x)  Fs2 Fd  b( y  x) mass 1:
F  Fs 2  Fd  Fs1  m1 x

x  k2 ( y  x)  b( y  x)  k1 ( x  u )  m1 x
m1
 m1 x  bx  (k1  k2 ) x  by  k2 y  k1u

Fs1  k1 ( x  u )  m2 y  by  k2 y  bx  k2 x

4 double check: signs should be consistent


Example
→ coordinate (θ) and orientation defined
1 → assume linear spring and damper,
parameters lumped together

• Driveline with wheel locked


2 θ T

bθ  Td Ts  kθ

3 M  J 4 signs are consistent

M  T  Td  Ts  Jθ
 T  bθ  kθ  Jθ  Jθ  bθ  kθ  T
→ coordinate (θ) and orientation defined

Example 1 → assume linear spring, light rod


→ assume in static equilibrium at θ = 0
→ assume small deflection
• Brake pedal Rx rs  l1 cos θ F
2 x  l1 sin θ
l1
recall that moments can be Ry
induced by forces, M = Fr┴ Fs  kx

3 M  J
O
M O  Fr  Fs rs  Jθ
 Fr  kxrs  ml22θ
 F (l2 cos θ)  k (l1 sin θ)(l1 cos θ)  ml22θ

 ml22θ  kl12 cos θ sin θ  Fl2 cos θ 4 double check


Transmitting and Converting Motion
• Gears can be used to convert the speed
and direction of motion, and modify the
magnitude of transmitted torque

Modeling Mechanical Systems


Transmitting and Converting Motion

1st gear

In order to 5

tractive effort (kN)


increase the 4 2nd gear

Modeling Mechanical Systems


torque trans- 3 3rd gear

mitted by an IC 2 4th gear


engine, a multi-
1
gear transmission
is needed 0 20 40 60 80 100 120
vehicle speed (mph)
Simple Gear Train
Gears mesh without slipping, therefore,
v1  v2  r11  r22

Modeling Mechanical Systems


and

2 r1 N1
 
1 r2 N 2
Simple Gear Train
Furthermore, if friction losses are neglected,
then the transmitted power is unchanged
T11  T22

Modeling Mechanical Systems


which leads to
T1 2 N1
 
T2 1 N 2

tradeoff between speed and torque


Complex Gear Train
1

N1   N1 
2 1
N2

Modeling Mechanical Systems


N2 N3   N 3   N 3 N1 
3 2 1
N4 N4 N2
N4
Torque/Speed Coupling
• With a series architecture, the two
power plants are coupled electrically
• With a parallel architecture, the two

Modeling Mechanical Systems


power plants are coupled mechanically
• Uses gears, pulleys, etc.
• Assuming power is conserved
Toutout  T11  T22
• Can either couple speed or torque
3 Var – 1 Eq = 2 DOF

Torque Coupling in practice, only 1


DOF

• Torques from the two sources add


Tout  k1T1  k2T2
• Coupling achieved with gears or pulleys (2 DOF)
1 ,T1

Modeling Mechanical Systems


N1 1 ,T1
N3
out , Tout k1 
out , Tout N1
N3
N3
2 ,T2 k2 
N2
N2 2 ,T2

• Speeds are constrained by no-slip condition


Speed Coupling
• Speeds from two sources add
out  k11  k22
• A typical device is a planetary gear set (2 DOF)

Modeling Mechanical Systems


R1 R1
k1  
2 R3 R1  R2 T1 T2
T3  
k2 
R2

R2 k1 k2
2 R3 R1  R2

• Torques are constrained by power conservation


Parallel/Series Implementation
• Engine connected to the carrier/yoke (the
planets)
• Generator connected to the sun gear
• Output connected to the ring gear (like a CVT)

Modeling Mechanical Systems


planetary

ring
engine

generator
sun N3

ring
N4
N2

motor to wheels
N1
N5
Module 4 Summary
• Elements of mechanical systems
• Inertias, springs, dampers
• First principles modeling of mech systems

Modeling Mechanical Systems


• Choose coord → Draw fbd → Newton’s 2nd Law
• Transmitting and converting motion
• Speed coupling
• Torque coupling

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