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System Dynamics
and
Control
Mechanical Rotational Systems

Assistant Prof. Osama Mohamady

Email: [email protected]

Analogy of Mechanical Systems

Rotating Systems Translating Systems

Quantity Unit Quantity Unit
Moment of Inertia - J kg-m² Mass - m kg
Torque - τ N-m Force - f N
Angle - θ rad Length - l m
Angular velocity - rad/sec Velocity - m/s
Angular acceleration - rad/sec² Acceleration - m/s²
Spring Constant - Kr N-m/rad Spring Constant - k N/m
Friction Coefficient - Br N-m-s/rad Friction Coefficient - g N-s/m

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Inertia Elements

Shape Image Moment of Inertia, J

Cylinder,
radius=r, mass=m
Rotating about center
axis

Solid Sphere,
radius=r, mass=m
Rotating about center

Uniform Rod,
length=ℓ, mass=m
Rotating about end

Uniform Rod,
length=ℓ, mass=m
Rotating about center

Mass at end of massless

rod,
length=ℓ, mass=m
Rotating about end

Springs

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theta defined positive in the counterclockwise direction

Flexible Shaft Spring

A rotational spring is drawn as a shaft

or with the same symbol as a translating spring,

Friction Elements
Translating system equivalent:

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Equations for Rotating Mechanical Elements

Spring:

Friction:

Inertia:

Mechanical Rotational systems

Inertia Damper Shaft

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There are several ways of drawing these friction elements. Consider the animation shown below with one flywheel
(J1) attached by a flexible shaft (Kr) to a wall (as before), but now there is a second flywheel (J 2) that is driven by
friction between the two flywheels (Br1), and friction to the stationary ground (Br2). J1 starts with an initial value, so it
starts oscillating back and forth as the simulation begins. This drives J2, through Br1, but the energy in the system
decays over time because energy is lost to the friction.

Kr=Spring Kr=Flexible Shaft

Br1=dashpot Br1=dashpot
Br2=hashmarks Br2=dashpot

J𝜔(𝑡) = 𝑀
c
J𝜔(𝑡) = T(t) – c 𝜔(𝑡)
J
J𝜔(𝑡) + c 𝜔(𝑡) = T(t) ω(𝑡)
T Angular velocity
Torque
J𝜔(𝑡) + c 𝜔 𝑡 = T(t)
𝐽 𝑠 + 𝑐 𝜔 𝑠 = T(s)

𝜔 𝑠 1
= = Transfer Function
T(s) 𝐽𝑠 + 𝑐

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𝐽1 𝜃2 (𝑡) = −𝐾 Ө2 (𝑡) − Ө1 𝑡 − 𝑐 ( 𝜃2 𝑡 − 𝜃3 𝑡 )
K c
𝐽1 𝜃2 (𝑡) + 𝑐 𝜃2 (𝑡) + 𝐾Ө2 (𝑡) = 𝑐𝜃3 𝑡 + 𝐾Ө1 𝑡 𝐽1 𝐽2
𝐽2 𝜃3 𝑡 = − 𝑐(𝜃3 𝑡 − 𝜃2 (𝑡)) Ө2 (𝑡)
Ө1 Ө2 (𝑡) Ө3 (t)
𝐽2 𝜃3 𝑡 + 𝑐𝜃3 𝑡 = 𝑐𝜃2 (𝑡)
Ө1 𝑠 1 Ө2 (𝑠)
(𝐽1 𝑠 2 + 𝑐 𝑠 + 𝐾)Ө2 (𝑠) = 𝑐𝑠 Ө3 𝑠 + 𝐾Ө1 𝑠 𝐾
(𝐽1 𝑠2 + 𝑐 𝑠 + 𝐾)
+
𝐽2 𝑠 2 + 𝑐 𝑠 Ө3 𝑠 = 𝑐𝑠 Ө2 𝑠
𝑐𝑠
Ө2 𝑠 1 Ө3 𝑠 Ө3 𝑠
𝑐𝑠
𝐽2 𝑠 2 + 𝑐 𝑠

Ө1 𝑠 1 Ө2 (𝑠) 1 Ө3 𝑠
𝐾 𝑐𝑠
(𝐽1 𝑠 2 + 𝑐 𝑠 + 𝐾) 𝐽2 𝑠2 +𝑐𝑠
+
𝑐𝑠
Ө3 𝑠
Ө3 𝑠 𝐾 𝐾
Ө1 𝑠 Ө3 𝑠
= 𝐽1 𝐽2 3 2 𝐽2 𝐾
Ө1 𝑠 𝐽𝐽 𝐽 𝐾 ( 𝑐 )𝑠 + 𝐽1 + 𝐽2 𝑠 + 𝑐 𝑠+𝐾
( 1 2 𝑐 )𝑠 3 + 𝐽1 + 𝐽2 𝑠 2 + 2 𝑐 𝑠 + 𝐾

b
K
𝐽1 𝐽2

Ө1 Ө2 (𝑡) Ө2 (𝑡) Ө2 (𝑡)

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𝑁2 . 𝜃𝐿 = 𝑁1 . 𝜃𝑚
𝑁1
𝐺𝑒𝑎𝑟 𝑅𝑎𝑡𝑖𝑜 = 𝑛 =
𝑁2
𝜃𝑚 𝜔𝑚 𝜃𝐿 = 𝑛 . 𝜃𝑚
𝜃𝐿 𝜔𝐿

ω𝐿 = 𝑛 . ω𝑚

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𝜃
𝑥 = 𝑟 .𝜃
R radial motion
x linear motion

Power = constant System with Gears

𝑑2 𝑑2
𝑇1 𝜔1 = 𝑇2 𝜔2 𝑑1 𝑑1
𝑇1 𝑇2 𝑇1
𝜔2 𝜔1 = 𝑛 = output speed/ input speed 𝑇2

𝑑1 𝑑2 = 𝑛 𝜃1
𝜃2 𝜃2
𝑛 speed ratio 𝜃1
or gear ratio

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Gear train

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a. System using a gear train;

b. equivalent system at the input;
c. block diagram

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b
x1 x2
a

a b
𝑥2 Initial position
𝑥1 𝑦

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Thank you

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