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Mathematical Modelling of Mechanical Systems

This document discusses mathematical modeling of mechanical systems. It describes translational mechanical systems as systems containing elements that undergo straight-line motion described by displacement, velocity, and acceleration. The active elements are forces and velocities, while the passive elements are mass, springs, and dashpots. Mass opposes applied forces proportional to acceleration. Springs oppose forces proportional to displacement via elastic restoring forces. Dashpots oppose forces proportional to velocity via frictional damping forces. D'Alembert's principle states the sum of external and resisting forces equals zero for translational systems.

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Pandu K
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71 views

Mathematical Modelling of Mechanical Systems

This document discusses mathematical modeling of mechanical systems. It describes translational mechanical systems as systems containing elements that undergo straight-line motion described by displacement, velocity, and acceleration. The active elements are forces and velocities, while the passive elements are mass, springs, and dashpots. Mass opposes applied forces proportional to acceleration. Springs oppose forces proportional to displacement via elastic restoring forces. Dashpots oppose forces proportional to velocity via frictional damping forces. D'Alembert's principle states the sum of external and resisting forces equals zero for translational systems.

Uploaded by

Pandu K
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Mathematical Modelling of Mechanical systems

Introduction:
System containing mechanical elements are known as mechanical systems. These
systems are classified based on type of motion as translational and rotational mechanical
systems. In practice the properties of mechanical elements are not linear and are investigated
after making various assumptions which make them linear.
Mathematical modelling of translational mechanical systems:
The motion along a straight line is defined as translational motion and is described by
displacement, velocity and acceleration. System having translational mechanical motions is
known as translational mechanical system. The active elements of these systems are force and
velocity while the passive elements are mass, spring and dashpot/damper. Passive elements
consume the mechanical power by opposing the motion in the system. Motion in this type of
mechanical systems is governed by Newton’s laws of motion and D’Alembert’s principle which
are stated below.
Newton’s Law of Motion.
1. Everybody continues in its state of rest or of uniform motion in a straight line unless it is
compelled to change the state by a force impressed on it.
2. The change of motion is proportional to the motive force impressed and is made in the
direction of the line in which that motive force is applied or force of mass m is equal to
the product of mass and its acceleration.
3. To every action there is an equal and opposite reaction.
D’Alembert’s principle for translational System. This states that for any body the algebraic
sum of externally applied forces and the forces resisting the motion in a given direction is zero.
Modeling of passive elements of translational mechanical system:
Mass :
Mass is considered as a property of an element that stores kinetic energy of translational motion.
If a force is applied on a body having mass M, then it is opposed by an opposing force due to
mass. This opposing force is proportional to the acceleration of the body.

F m∝ a

d2 x
F m=Ma= M
dt2
d2 x
F= F m= M
dt2
where
 F is the applied force
   F m is the opposing force due to mass
 M is mass
 a is acceleration
 x is displacement

Spring :
Spring is an element, which stores potential energy. If a force is applied on spring K, then it is
opposed by an opposing force due to elasticity of spring. Spring is shown in below figure

This restoring force created inside the spring is proportional to displacement ,i.e.

F∝x
F k= Kx
F=F k= Kx

 F is the applied force


 F k is the opposing force due to elasticity of spring
 K is Coefficient of Stiffness
 x is displacement
 If two displacements acts on a spring element as shown
Here x 1 (t) and x 2 (t) are displacements and v1 (t )and v 2(t ) are velocities
Then the force equation of the above element is
F k =k ( x2 −x1 )

Dashpot or Damper:
If a force is applied on dashpot B, then it is opposed by an opposing force due to friction of the
dashpot. This opposing force is proportional to the velocity of the body.

FB ∝ ν

dx
F B =Bν=B
dt
dx
F= F B=B dt

 F B is the opposing force due to friction of dashpot


 B is the frictional coefficient
 v is velocity
 x is displacement

If two displacements acts on a damper element as shown

Here x 1 (t) and x 2 (t) are displacements and v1 (t )and v 2(t ) are velocities
Then the force equation of the above element is
d x1 ( t ) d x2 ( t )
F B=B( dt
−
dt) =B(v 1 ( t )−v 2( t))

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