Modeling of Mechanical System
• Formula
Mechanical Components Force-displacement Laplace Domain
Relationship
Translational Spring 𝐹 = 𝑘 𝑥1 − 𝑥2 𝐹 𝑆 = 𝑘(𝑋1 𝑠 − 𝑋2 𝑠 )
𝑁
𝑘=
𝑚
Translational Damper 𝐹 = 𝐶 𝑥ሶ 𝐹 𝑆 = 𝐶 𝑠𝑋(𝑆)
𝐶 𝑖𝑠 𝑑𝑎𝑚𝑝𝑖𝑛𝑔 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡
𝑁
( −1 )
𝑚𝑠
Translational Mass 𝐹 = 𝑀𝑥ሷ 𝐹 𝑆 = 𝑀 𝑠 2 𝑋(𝑆)
Example: Find the transfer function X2(S)/F(S)
Free Body Diagram Mechanical Network
Solution
• 𝐴𝑝𝑝𝑙𝑦𝑖𝑛𝑔 𝑛𝑜𝑑𝑒𝑙 𝑎𝑡 𝑥1
• 𝐹 𝑠 = 𝑘𝑋1 𝑠 + 𝑀𝑠 2 𝑋1 𝑠 + 𝐵1 𝑠𝑋1 𝑠 + 𝐵3 𝑠 𝑋1 𝑠 − 𝑋2 𝑠
• 𝐹 𝑆 = 𝑀 𝑠 2 + 𝐵1 𝑠 + 𝐵3 𝑠 + 𝑘 𝑋1 𝑠 − 𝐵3 𝑠𝑋2 -----A
• 𝐴𝑝𝑝𝑙𝑦𝑖𝑛𝑔 𝑁𝑜𝑑𝑎𝑙 𝑎𝑡 𝑥2
• 𝐵3 𝑠 𝑋1 𝑠 − 𝑋2 𝑠 = 𝑀𝑠 2 𝑋2 𝑠 + 𝐵2 𝑠𝑋2 𝑠 + 𝐵4 𝑠𝑋2 𝑠
𝑀𝑠+𝐵2 +𝐵3 +𝐵4
• 𝑋1 𝑠 = 𝑋2 (𝑠)
𝐵3
• 𝑃𝑢𝑡𝑡𝑖𝑛𝑔 𝑖𝑛 A
𝑀𝑠 2 +𝐵1 𝑆+𝐵3 𝑠+𝑘 𝑀𝑠+𝐵2 +𝐵3 +𝐵4
• 𝐹 𝑠 = ∗ 𝑋2 𝑠 − 𝐵3 𝑠𝑋2 (𝑠)
𝐵3
• Solving the above equation
𝑋2 𝑆 𝐵3
• =
𝐹 𝑠 𝑀𝑠 2 +𝐵1 𝑠+𝐵3 𝑠+𝑘 𝑀𝑠+𝐵2 +𝐵3 +𝐵4 −𝐵32 𝑠
State Space Equation
Why State Space Equation
• Transfer function can tell us the input/output characteristics of the LTI
system, but can not describe the internal state of the system
• State variables represent a way to describe ALL linear systems in terms of a
common set of equations involving matrix algebra.
• The state variables often represent internal elements of the system such as
voltages across capacitors and currents across inductors
• Matrix transformations can be used to convert from one state variable
representation to the other, so the initial choice of variables is not critical.
• Software tools such as MATLAB can be used to perform the matrix
manipulations required
Theory or Definitions
V – Input vector • Y – Output vector
• Can be multiple inputs •A function of the input and the
• Written as a column vector present state of the internal
variables
y1 (t )
v1 (t ) y (t )
v (t )
y (t ) = 2
v(t ) = 2
M
y (t )
vR (t )
Definitions
• STATE: -
• State of a dynamic system is the smallest set of variables (called state
variables) that must be known at any given instant in order that, the future
response of the system to any specified input may be calculated from the
given dynamic equation. These are the set of variables such that the
knowledge of these variables at t=t0, together with the input for t>=t0
completely determines the behaiour of the sytems for any time t>=t0.
Definition
State Variable State Space
• The state variables of a dynamic • The n-dimensional space whose
system are the smallest set of coordinate axes consist of the x1
variables which determine the axis, x2 axis, ….. xn axis is called
state of the dynamic system a state space.
• It can be • Any state can be represented by
• Measurable or observable a point in the state space.
(Convenient)
• Not measurable or observable
General Form of State space Variable
x (t ) = Ax(t ) + Bv(t )
y (t ) = Cx(t ) + Dv(t )
• Where
• 𝑥 𝑡 𝑖𝑠 𝑡ℎ𝑒 𝑠𝑡𝑎𝑡𝑒 𝑣𝑎𝑟𝑖𝑎𝑏𝑙𝑒
• 𝐴 𝑖𝑠 𝑡ℎ𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 𝑝𝑟𝑜𝑝𝑒𝑟𝑡𝑦 𝑜𝑟 𝑐𝑜𝑒𝑓𝑓𝑖𝑐𝑖𝑒𝑛𝑡
• 𝐵 𝑖𝑠 𝑡ℎ𝑒 𝑖𝑛𝑝𝑢𝑡 𝑚𝑎𝑡𝑟𝑖𝑥
• 𝐶 𝑖𝑠 𝑡ℎ𝑒 𝑜𝑢𝑡𝑝𝑢𝑡 𝑚𝑎𝑡𝑟𝑖𝑥
• D is the transmission matrix which shows direct coupling from system inputs
to system outputs.
Constructing State Equations from a
Differential Equation
• Trick: - there should be no derivatives term of the input
1. The dimension of the state equations (number of state variables)
should equal the order of the differential equation
2. Let one state variable equal the output (y(t))
3. Let one state variable equal the derivative of the output
4. Let one state variable equal the (N-1)-th derivative of the output
(where N is the order of the differential equation)
5. Find the derivative of each of the newly defined state equations
6. In terms of the other state variables and the outputs
7. Write the state equations
Example: Find current through resistor
Example 2: Mechanical System
• Question and its differential • We know that
𝑑𝑥1
equations •
𝑑𝑡
= 𝑣1 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
𝑑𝑣1 𝑑 2 𝑥1
• = 𝑎𝑐𝑐𝑒𝑟𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛
𝑑𝑡 𝑑2𝑡
• we can write state variable equation as follow
Example 2
• In this example there is no
output equation.
• Suppose if output is 𝑣1
• 𝑦 = 0100 𝑥
Converting Transfer Function into State Space
Representation equation.
• Suppose given transfer function • How many integrator would be
is required to solve the differential
equation
• Rewrite the transfer function • We would required three
integrator
• We know from Laplace table
s=dx/dt
• A
• State variable
• 𝑥1 = 𝑐
• 𝑥2 = 𝑥1ሶ = 𝑐ሶ
• 𝑥3 = 𝑥2ሶ = 𝑐ሷ
• Derivate of state variable
Solution