아주대학교 기계공학과

Mechatronic System Design

Lecture 3
Fall, 2024

Dynamics of Motion System

Stiffness -
Everything
is flexible

1
Stiffness of Objects

𝑭
𝒌= (N/m)
𝒙

𝟑𝑬𝑰
m 𝒌=
𝑳𝟑
𝑳, 𝑰
2
Stiffness in Precision Machine

𝑭𝒄𝒖𝒕𝒕𝒊𝒏𝒈 =? ?
▪ Hooke‐Newton law for external force:

▪ How could the stiffness be increased?

➔ Take the shortest force loop 𝑬𝒓𝒓𝒐𝒓 = 𝟏 𝝁𝒎

𝒌𝒍𝒂𝒕𝒉𝒆 ≈ 𝟏𝟎𝟕 ~𝟏𝟎𝟖 𝑵/𝒎

𝑭𝒓 = 𝑭 = 𝒌𝒅𝒙

3
Natural Frequency : Mass-Spring System

𝑑2 𝑥
𝐹 = 𝑚 2 + 𝑘𝑥 = 0
𝑑𝑡

Sinusoidal harmonic 𝑥 = 𝑥ො0 sin 𝜔0 𝑡

oscillation = 𝑥ො0 𝑒 𝜆𝑡

−𝑚𝑥ො0 𝜔02 sin 𝜔0 𝑡 = −𝑘𝑥ො0 sin 𝜔0 𝑡

𝒌
𝝎𝟎 = Undamped natural frequency
𝒎

4
First natural frequency
the sensitivity to harmonic vibrations

▪ The maximum force needed to follow the Support frame

acceleration from an external disturbance
𝒎 Microscope
𝐹෠ = 𝑚𝑎ො = 𝑚𝑥ො𝑓 𝜔2 𝒌 Head

▪ The maximum error due to this force 𝒙𝒆

Object
𝐹෠ 𝑚𝑥ො𝑓 𝜔2 Vibration 𝒙𝒇
𝑥ො𝑒 = =
𝑘 𝑘
Base (ground)
▪ which result in
𝑥𝑓 = 10 𝜇𝑚
𝜔2 ෝ
𝒙𝒇 𝑘
𝑥ො𝑒 = 𝑥ො𝑓 𝜔2 ➔ 𝒇𝟎 ≥ 𝒇 ෝ
𝜔0 = 𝑚 = 5 𝑘𝑔
𝒙𝒆 𝑚
0 𝑘 = 5 ∗ 106 N/m

For example,
𝑥ො𝑓 = 10 𝜇𝑚
𝑚 = 5 𝑘𝑔 𝑥ො𝑒 = 𝟏𝟎 𝒏𝒎
𝑘 = 5 ∗ 106 N/m
𝑓 = 1 Hz
5
Active(virtual) stiffness in a CD player, bandwidth

▪ 200 μm radial vibrations (𝑥𝑟 ) at 𝑓 = 25 Hz

▪ Mass lens (𝑚): 10 ∙ 10−3 kg
▪ Max radial error (𝜀𝑟 ): 0.2 μm 1 𝑘𝑟
𝑓0 = ≈ 800 𝐻𝑧
➔ 𝑎𝑝𝑖𝑐𝑘𝑢𝑝 = 𝑥𝑟 2𝜋𝑓 2 ≈ 𝟓 𝒎/𝒔𝟐 2𝜋 𝑚
𝒎 𝒂𝒑𝒊𝒄𝒌𝒖𝒑
➔ 𝒌𝒓 ≥ ≈ 𝟐. 𝟓 × 𝟏𝟎𝟓 𝑵/𝒎 Or 𝑓0 ≥ 𝑓
𝑥𝑟
= 25
200
≈ 800 Hz
𝜺𝒓
𝜀𝑟 0.2
6
Virtual Spring

Moving
Body

Controller Amplifier

Measurement

▪ Real position (𝜹𝒓 ), Measure position (𝜹𝒎 )

▪ Actuate with force proportional and opposite to the deviation (feedback!)
𝐹𝑎 = 𝐺𝑡 𝛿𝑟 = − 𝐺𝑚 𝐺𝑎 𝐺𝑝 𝐺𝑐 𝛿𝑟
▪ Gives virtual spring stiffness (Hooke’s law)

𝐹𝑎
𝑘𝑟 = = −𝐺𝑡 = −𝐺𝑚 𝐺𝑎 𝐺𝑝 𝐺𝑐
𝛿𝑟
7
Mass-Spring
System with
Damping

8
Stiffness vs. Compliance

▪ Stiffness it the ability of a system to withstand a force by minimizing the resulting

motion/deformation
▪ (Dynamic) Compliance is the opposite of stiffness (flexibility)
▪ Both can be real, in phase with a periodic force, or complex, dynamic, frequency
dependent, 90° out of phase with a periodic force.
▪ A mechanical spring has a real stiffness/compliance:
Compliance of Dynamic Elements

Damping coefficient
Stiffness of the spring Mass of the body
of the damper

𝑘 [𝑁/𝑚] 𝑐 [𝑁𝑠/𝑚] 𝑚 [𝑘𝑔]

𝑥 1 𝑥 1 𝑥 1
𝐶𝑠 𝜔 = = 𝐶𝑑 𝜔 = = 𝐶𝑚 𝜔 = =
𝐹 𝑘 𝐹 𝑗𝑐𝜔 𝐹 𝑚𝜔 2

10
Compliance of Dynamic Elements

Spring Damper Mass

𝑑𝑥 𝑑2𝑥
𝑓(𝑡) = 𝑘𝑥 𝑓 𝑡 =𝑐 𝑓 𝑡 =𝑚 2
𝑑𝑡 𝑑𝑡
𝐹(𝑠) = 𝑘𝑋(𝑠) 𝐹𝑑 (𝑠) = 𝑐𝑠𝑋(𝑠) 𝐹𝑚 (𝑠) = 𝑚𝑠 2 𝑋(𝑠)

𝑥 1 𝑥 1 𝑥 1
𝐶𝑠 𝜔 = = 𝐶𝑑 𝜔 = = 𝐶𝑚 𝜔 = =
𝐹𝑘 𝑘 𝐹𝑑 𝑗𝑐𝜔 𝐹𝑚 𝑚𝜔 2

Spring

𝐶 𝜔

11
Combined Compliance of M-S-D System

𝑥 𝑥 𝑥 𝑥
𝐹𝑡 𝜔 = 𝐹𝑠 + 𝐹𝑑 + 𝐹𝑚 = + + =
𝐶𝑠 𝐶𝑑 𝐶𝑚 𝐶𝑡
𝑥 1 1 1
𝐶𝑡 𝜔 = = = 2 = (𝑘 − 𝑚𝜔 2 ) + 𝑗𝑐𝜔
𝐹𝑡 𝜔 1 1 1 𝑘 + 𝑗𝑐𝜔 − 𝑚𝜔
𝐶𝑠 + 𝐶𝑑 + 𝐶𝑚

12
Dynamic Modelling of
Damped Mass‐Spring
Systems

13
Overview of the Dynamics Properties

14
Newton’s Second Law

𝑑𝑥 𝑑2 𝑥
Σ𝐹 = 𝐹𝑎 + 𝐹𝑑 + 𝐹𝑠 = 𝐹𝑎 − 𝑐 − 𝑘𝑥 = 𝑚 2
𝑑𝑡 𝑑𝑡 𝜔0 =
𝑘
𝑚
𝓛 1
𝑋 𝑠 1
𝐹𝑎 𝑠 = 𝑚𝑠 2 + 𝑐𝑠 + 𝑘 𝑋(𝑠) 𝐶𝑡 𝑠 = =𝑚 𝑘 𝐶𝑠 =
𝑘
𝐹𝑎 𝑠 𝑐
𝑠2 + 𝑠 + 1 𝑐
𝑘 𝑘 𝜁=
2𝑚𝜔0

𝑋 𝑠 𝐶𝑠
Total compliance 𝐶𝑡 𝑠 = = 2
𝐹𝑎 𝑠 𝑠 2𝜁𝑠
+ +1
𝜔02 𝜔0
15
Damped Mass-Spring System
✓ With only positive imaginary terms (Fourier):

𝒔 = 𝒋𝝎
𝑋 𝑠 𝐶𝑠
𝐶𝑡 𝑠 = = 2
𝐹𝑎 𝑠 𝑠 2𝜁𝑠
+ +1
𝜔02 𝜔0

2𝜁𝜔
𝜔0
𝜑 = −tan−1
𝜔2
1− 2
𝜔0

16
Dynamics Dependent on Damping

Damper line

17
Damped Mass-Spring System

1
𝑋 𝑠 𝑘 1
𝐶𝑡 𝑠 = =𝑚 𝑐 =
𝐹𝑎 𝑠 𝑠2 + 𝑠 + 1 1 + 1 + 1
𝑘 𝑘 𝐶𝑠 𝐶𝑑 𝐶𝑚
18
Compliance Bode Plot
𝐶𝑡 𝑚𝑎𝑥 1
Quality factor (Q) 𝑄= =≈
𝐶𝑠 2𝜁

Critical damping
Compliance (m/N)

Cs=1/k=1×10-4[m/N]

Cm=1/(m.2f2)
k=1×104[N/m]
m=0.025[kg]
Phase (deg)

Frequency (Hz) 19
Damping ratio via Pole location

𝑋 𝑠 𝐶𝑠
𝐶𝑡 𝑠 = = 2 𝒔 = 𝝈 ± 𝒋𝝎
𝐹𝑎 𝑠 𝑠 2𝜁𝑠
+ +1
𝜔02 𝜔0

✓ No damping
𝐶𝑠
𝜁=0 𝐶𝑡 𝑠 =
𝑠2
+1
𝜔02

✓ Critical damping 𝒄 = 𝟐 𝒌𝒎

𝐶𝑠
𝜁=1 𝐶𝑡 𝑠 = 2
𝑠
𝜔0 + 1

20
Extra

▪ Damped natural frequency (𝜔𝑑𝑛 ): Free response, pole

𝑋 𝑠 𝐶𝑠
𝐶𝑡 𝑠 = = 2 𝑑𝑒𝑛 = 𝑠 2 + 2𝜁𝜔0 𝑠 + 𝜔02 = 0
𝐹𝑎 𝑠 𝑠 2𝜁𝑠
2 + +1
𝜔
𝒅𝒆𝒏 0 𝜔 0
𝝎𝒅𝒏 = 𝝎𝟎 𝟏 − 𝜻𝟐

▪ Damped resonance frequency (𝜔𝑑𝑟 ): Tuning of disturbance

frequency
2
𝑑 𝑑𝑒𝑛 2 4ζ2 − 2 4 3
= 𝜔𝑑𝑟 + 4 𝜔𝑑𝑟 = 0
𝒅𝒆𝒏 𝑑𝜔 𝜔02 𝜔0

𝐶𝑡 𝑚𝑎𝑥 1
𝝎𝒅𝒓 = 𝝎𝟎 𝟏 − 𝟐𝜻𝟐 =
𝐶𝑠 2𝜁 1 − 𝜁 2
21
Quality Factor

Compliance (m/N)
0.1[mm]×10=1[mm]
1[N]×10-4[m/N]=0.1[mm]

k=1.104[N/m]
m=0.025[kg]

✓ Quality factor (Q)

𝐶𝑡 𝑚𝑎𝑥 1
𝑄= ≈ 𝜁 < 0.5
𝐶𝑠 2𝜁

✓ In case of a pickup, displacement d at ω0 , 𝑄 = 10, 𝑘 = 1 × 104 (𝑁/𝑚),

m = 0.025 kg, 𝐹 = 1 𝑁

𝑑 = 𝐹/𝑘 × 𝑄 = 1 𝑚𝑚
22
Energy in Resonance

▪ The energy from the actuator is stored periodically in kinetic

energy (mass) and potential energy (spring).
▪ In practice, a part of the energy is lost in every cycle due to
unavoidable damping effects
1
𝐸𝑠 = 𝐸𝑘,𝑝 = 𝑚𝑣𝑝2
2
𝑇 𝑇
𝐸𝑙 = න 𝑭 ∙ 𝒗𝒑 𝑑𝑡 = 𝑐 න 𝑣𝑝2 sin2 𝜔𝑑𝑛 𝑡𝑑𝑡
0 0
1 2 2𝜋
= 𝑐𝑣
2 𝑝 𝜔𝑑𝑛

𝐸𝑠 𝑚𝜔𝑑𝑛 𝑘𝑚
𝑅𝑒 = = ≈
𝐸𝑙 2𝜋 2𝜋𝑐

𝑘𝑚 1
𝑄 = 2𝜋𝑅𝑒 = =
𝑐 2𝜁 23
Energy in Resonance

▪ Energy will be “trapped” in the system. When excited in this

frequency, the amplitude will continue to rise.
▪ For electrical engineering (frequency domain) the quality
factor Q is defined for this property as resonators are also
useful.
▪ But in mechanical engineering the time domain related
term “damping ratio 𝜁” is more commonly used.

Cf) Power Consumption due to damper

𝑘𝑚 1 𝑑𝑥 𝑑𝑥
2
𝑄= = 𝑃 𝑡 = 𝐹𝑑 = −𝑐 = −𝑐𝑣 2
𝑐 2𝜁 𝑑𝑡 𝑑𝑡

24
Energy in Resonance

𝑘𝑚 1
𝑄= =
𝑐 2𝜁

25
Transmissibility

26
Transmissibility

The force acting on the body equals

Principle of vibration isolation

• Dimensionless
• Unity in low freq.
• Additional zero

27
Transmissibility
DC gain? = 1
Transmissibility

High damping

Low damping
Phase(deg)

Low oscillation (vs) Low transmissibility

Frequency (Hz)
28
Vibration Isolator

▪ Passive vibration isolator

- optical measurement
- semiconductor/display equipment

29
Vibration Isolator

https://www.daeilsys.com

30
Two-Body Mass-Spring
System

31
Equations of Motion
▪ At Low frequency

▪ At High frequency

✓ First body (𝒎𝟏 )

𝑚1 𝑚2
✓ Second body (𝒎𝟐 ) 𝑚𝑐 =
𝑚1 +𝑚2

32
In case of 𝒎𝟏 < 𝒎𝟐 An actuated large mass
by a lighter actuator

2nd Resonance

1st Resonance:
f0,1=0[Hz]

Resonance at fa?

The ratio
of the difference in mass

Anti-resonance

33
In case of 𝒎𝟏 = 𝒎𝟐 Motor mass is optimized
to the driven mass
Same amplitude
2nd Resonance = 𝟐𝒇𝒂 Counter phase

1st Resonance:
f0,1=0[Hz]

Anti-resonance

34
In case of 𝒎𝟏 > 𝒎𝟐 Parasitic resonances

2nd Resonance

1st Resonance:
f0,1=0[Hz]

105 (Hz)

Anti-resonance

35
Modal Analysis

36
Eigenmodes

▪ When excited, non‐rigid bodies and complex mass‐spring

systems vibrate in different eigenmodes with two main
properties:
✓ Eigenfrequency: the related undamped natural (resonance) frequency.
✓ Mode‐shape: the deformation that corresponds with the eigenmode,
described in a multiple degree of freedom “shape function”.

▪ Modelling is done by discretization of the system in multiple

mass-spring systems.
✓ The shape function reduces to an eigenvector with one value for each
body for the relative motion magnitude and direction (sign).

37
Eigen Modes of Coupled Bodies

𝜹𝒙𝟏 𝜹𝒙𝟐 𝜹𝒙𝟏 𝜹𝒙𝟐

Stationary reference Stationary reference

(1) Eigenmode 1 (2) Eigenmode 2
Zero(Anti-resonance): fa

Pole(Resonance) : f0,2

Pole(resonance)
f0,1=0[Hz]

38
Two Resonating Eigenfrequencies

𝑥1 𝑚2 𝑠 2 + 𝑘
(1) =
𝐹𝑎 𝑚1 𝑚2 𝑠 4 + 𝑘 𝑚1 + 𝑚2 𝑠 2
1 𝑚2 𝑠 2 + 𝑘 𝑚1 𝑚2
= where 𝑚𝑐 =
𝑚1 + 𝑚2 𝑠 2 𝑚𝑐 𝑠 2 + 𝑘 𝑚1 +𝑚2
1 𝑚 2 s 2 − mc s 2
= 1+
𝑚1 + 𝑚2 𝑠 2 𝑚𝑐 𝑠 2 + 𝑘

𝑚22 𝑚1 𝑚2
1 𝑚1 + 𝑚2 2 Modal mass 𝑀1 = 𝑚1 + 𝑚2 𝑀2 = 𝑚𝑐 =
= + 𝑚1 + 𝑚2
𝑀1 𝑠 2 + 𝐾1 (𝑀2 𝑠 2 + 𝐾2 )
Modal stiffness 𝐾1 = 0 𝐾2 = 𝑘

1st mode 2nd mode

(rigid body mode) (flexible mode)
of mass 1 of mass 1
Modes

𝑥1 𝑚2 𝑠 2 + 𝑘
(1) =
𝐹𝑎 𝑚1 𝑚2 𝑠 4 + 𝑘 𝑚1 + 𝑚2 𝑠 2
𝑚22
1 2
1 1 𝑚1 + 𝑚2 2
= 𝑚2 𝑠 + 𝑘 = +
𝑚1 + 𝑚2 𝑠 2 𝑚𝑐 𝑠 2 + 𝑘 𝑀1 𝑠 2 + 𝐾1 (𝑀2 𝑠 2 + 𝐾2 )

𝑚1 𝑚2
Modal mass 𝑀1 = 𝑚1 + 𝑚2 𝑀2 = 𝑚𝑐 =
𝑚1 + 𝑚2
𝑥1 𝑥1 𝑥1
= + 𝒙𝟏 𝒎𝟐𝟐 𝒎
𝐹𝑎 𝐹𝑎 𝐹𝑎 = = 𝟐
1 2 𝒙𝟐 2 𝒎𝟏 𝒎𝟐 𝒎𝟏
𝑥2 1 𝑘
(2) =
𝐹𝑎 𝑚1 + 𝑚2 𝑠 2 𝑚𝑐 𝑠 2 + 𝑘
𝑚1 𝑚2
1 𝑠2
𝑚𝑐 + 𝑘 − 𝑚𝑐 𝑠2 1 −
𝑚1 + 𝑚2 2
= = +
𝑚1 + 𝑚2 𝑠 2 𝑚𝑐 𝑠 2 + 𝑘 𝑀1 𝑠 2 + 𝐾1 (𝑀2 𝑠 2 + 𝐾2 )

※𝑀𝑒𝑓𝑓,𝑖,𝑘 = effective modal mass, 𝐾𝑒𝑓𝑓,𝑖,𝑘 = effective modal stiffness

40
Modes 𝑚22 1
1 𝑚1 𝑚2
𝑚1 + 𝑚2 2 −
𝑀1 𝑠 2 + 𝐾1 𝑚1 + 𝑚2 2
𝑀1 𝑠 2 + 𝐾1 (𝑀2 𝑠 2 + 𝐾2 )
Compliance(m/N)
Phase(deg) 𝒎𝟏 𝒎𝟐 (𝑀2 𝑠 2 + 𝐾2 )

-1 sign ➔ 180° phase delay

1st eigenmode
2nd eigenmode
Total system

Frequency(Hz) Frequency(Hz)
41
Theory of Modal Decomposition

▪ General equation of motion (vector/matrix) of finite element system

𝑴𝑥(𝑡)
ሷ + 𝑲𝑥(𝑡) = 𝐹(𝑡)

▪ General transfer function

𝑴𝑠 2 𝑋 (𝑠) + 𝑲𝑋(𝑠) = 𝐹(𝑠)

▪ In absence of external force

𝑠 = 𝑗𝜔
𝑴𝑠 2 𝑋 (𝑠) + 𝑲𝑋(𝑠) = 0 𝑲𝑥 𝜔 − 𝜔2 𝑴𝑥(𝜔) = 0

▪ Decoupled by eigenvalue problem, where 𝜙𝑖 =eigenvector (modal shape)

2
𝑲 − 𝜔0,𝑖 𝑴 𝜙𝑖 = 0

42
Ex. Two Mass-spring system

𝑴𝑥ሷ 𝑡 + 𝑲𝑥 𝑡 = 0
𝑚 0 𝑥ሷ 1 (𝑡) 2𝑘 −𝑘 𝑥1
= +
0 𝑚 𝑥ሷ 2 𝑡 −𝑘 2𝑘 𝑥2
2
0 + 2𝑘 −𝑘 𝑥1
= − 𝑚𝜔 𝑥2
0 𝑚𝜔2 −𝑘 2𝑘
𝑘 𝑘
𝐝𝐞𝐭( ) = 𝟎 𝜔02 =3 ,
𝑚 𝑚

2
𝑘 𝑥1
𝜔0,1 = 𝑲 − 𝜔0,1 2 𝑴 𝑥 = 0
𝑚 2
2𝑘 −𝑘 𝑘 𝑚 0 𝑥1
− 𝑥2 = 0 𝑥1 = 𝑥2
−𝑘 2𝑘 𝑚 0 𝑚
𝑥1 1
3𝑘 𝑥1 𝜙1 = 𝑥 = 𝑥1
2
𝜔0,2 = 2𝑴 2 1
𝑚 𝑲 − 𝜔0,2 𝑥2 = 0
2𝑘 −𝑘 3𝑘 𝑚 0 𝑥1
− 𝑥2 = 0 𝑥1 = −𝑥2
−𝑘 2𝑘 𝑚 0 𝑚
𝑥1 1
𝜙2 = 𝑥 = 𝑥1
2 −1 43
Modal mass and stiffness

▪ Modal mass (orthogonality properties)

𝜙𝑖𝑇 𝑴𝜙𝑗 = 0 where 𝑖 ≠ 𝑗 Scaling 𝜙𝑖 = 1

൞max 𝜙𝑖 = 1
𝜙𝑖𝑇 𝑴𝜙𝑖 = ℳ𝑖 ℳ𝑖 = 1
Length of eigenvector is not defined
(only the direction)

▪ Modal stiffness:

𝜙𝑖𝑇 𝑲𝜙𝑗 = 0 where 𝑖 ≠ 𝑗

𝜙𝑖𝑇 𝑲𝜙𝑖 = 𝒦𝑖

44
Modal coordinates

▪ When 𝑞𝑖 equals the motion of eigenmode 𝑖, then the total displacement

vector 𝑥(𝑡) will be

𝑥 𝑡 = 𝑞1 𝜙1,𝑘 + 𝑞2 𝜙2,𝑘 + ⋯ + 𝑞𝑛 𝜙𝑛,𝑘

where 𝑞𝑖 is called modal coordinate or modal degrees of freedom.

▪ This gives the following displacement for a physical DOF 𝑥𝑘 (𝑡)

𝑥𝑘 𝑡 = 𝑞1 (𝑡)𝜙1,𝑘 + 𝑞2 (𝑡)𝜙2,𝑘 + ⋯ + 𝑞𝑛 (𝑡)𝜙𝑛,𝑘

𝑥 𝑡 = 𝜱𝒒(𝑡)

45
Modal coordinates

▪Full set of uncoupled equations

𝑥 𝑡 = 𝜱𝒒(𝑡) 𝑞1 𝑡
⋮
with 𝜱 = 𝜙1 𝜙2 𝜙𝑖 ⋯ 𝜙𝑛 and 𝒒 𝑡 = 𝑞𝑖 (𝑡)
⋮
𝑞𝑛 𝑡

applied to 𝑴𝑠 2 𝒙 𝑠 + 𝑲𝒙 𝑠 = 𝑭(𝑠) gives with pre-multiplication with 𝛷𝑇

Φ𝑇 𝑀Φ𝑞(𝑡)
ሷ + Φ𝑇 𝐾Φ𝑞(𝑡) = Φ𝑇 𝐹(𝑡) 𝓜𝒊 𝒒ሷ 𝒊 𝒕 + 𝓚𝒊 𝒒𝒊 𝒕 = 𝝓𝑻𝒊 𝑭(𝒕)
i-th modal coordinate (𝑞𝑖 (𝑡))
0 0

0 0
46
Resulting Transfer Function

▪ For the stability analysis ➔ Frequency response

▪ The response of DOF 𝑥𝑙 by eigenmode 𝑖 on force 𝐹𝑘
𝑞𝑖 𝜙𝑖,𝑘
𝓜𝒊 𝒒ሷ 𝒊 𝒕 + 𝓚𝒊 𝒒𝒊 𝒕 = 𝝓𝑻𝒊,𝒌 𝑭𝒌 (𝒕) s =
𝐹𝑘 ℳ𝑖 s2 + 𝒦𝑖

𝑥 𝑡 = 𝜱𝒒(𝑡) 𝑥𝑙 𝜙𝑖,𝑘 𝜙𝑖,𝑙

𝑠 =
𝐹𝑘 𝑖
ℳ𝑖 s 2 + 𝒦𝑖

▪ The overall transfer function

by summation of the individual modal
contributions (all eigenmodes)
𝑛
𝑥𝑙 𝜙𝑖,𝑘 𝜙𝑖,𝑙
𝑠 =෍
𝐹𝑘 ℳ𝑖 s2 + 𝒦𝑖
𝑖=1

47
Graphical Representation

𝑛 𝑛
▪ The modal coordinate qi is 𝑥𝑘 𝑡 = ෍ 𝑞𝑖 𝑡 𝜙𝑖,𝑘 2
𝐼𝑖 = ෍ 𝑚𝑘 𝜙𝑖,𝑘
represented by the angle of the 𝑖=1 𝑖=1
lever or the displacement at = 𝑇
𝜙𝑖 𝑴𝜙𝑖 = ℳ𝑖
distance 1.

▪ Modal mass and stiffness are

connected to the modal
coordinate.

▪ The eigenvectors determine the

ratio of “controllability” of
actuator and “observability” of
sensor.

48
User defined physical DOF

𝑥𝑠𝑒𝑟𝑣𝑜 = 𝑥𝑠𝑙𝑖𝑑𝑒 − 𝑥𝑠𝑒𝑛𝑠𝑜𝑟

𝑥𝑎𝑐𝑐𝑢𝑟𝑎𝑐𝑦 = 𝑥𝑝𝑎𝑦𝑙𝑜𝑎𝑑 − 𝑥𝑡𝑜𝑜𝑙
𝑥𝑓𝑜𝑟𝑐𝑒 = 𝑥𝑠𝑙𝑖𝑑𝑒 − 𝑥𝑠𝑡𝑎𝑡𝑜𝑟

𝑭𝒇𝒐𝒓𝒄𝒆

ℳ𝑖

𝒦𝑖

49
Effective Modal Values

Actuation force가 가해지는 점을 기준으로 변환…

𝓜𝒊
𝓜𝐞𝐟𝐟,𝒊,𝐚 = 𝟐
𝝓𝒊,𝐚
𝓚𝐢
𝓚𝐞𝐟𝐟,𝒊,𝐚 =
𝝓𝟐𝒊,𝐚

50
Example

◆ Equation of Motion and Eigenvalues

𝑀𝑥ሷ 𝑡 + 𝐾𝑥 𝑡 = 0

𝑚1 0 𝑥ሷ 1 (𝑡) 𝑘 + 𝑘2 −𝑘1 𝑥1
+ 1
0 𝑚2 𝑥ሷ 2 𝑡 −𝑘2 𝑘2 𝑥2

𝑚1 𝜔2 0 𝑘1 + 𝑘2 −𝑘1 𝑥1
= − + 𝑥2
0 𝑚2 𝜔 2 −𝑘2 𝑘2

𝐝𝐞𝐭( ) = 𝟎 𝝎𝒊 , 𝝓𝒊

𝝎𝟏 = 𝟑𝟎𝟎 𝒓𝒂𝒅/𝒔, 𝝎𝟐 = 𝟏𝟎𝟓𝟔 𝒓𝒂𝒅/𝒔

𝝓𝑻𝟏 = [𝟎. 𝟔𝟕 𝟎. 𝟕𝟒], 𝝓𝑻𝟐 = [−𝟎. 𝟏𝟏 𝟎. 𝟗𝟗]

Example

◆ Modal values

𝝓𝑻𝟏 = [𝟎. 𝟔𝟕 𝟎. 𝟕𝟒], 𝝓𝑻𝟐 = [−𝟎. 𝟏𝟏 𝟎. 𝟗𝟗]

✓ Modal mass of Mode 1

ℳ1 = 𝜙1𝑇 𝑀𝜙1 = 𝑚1 𝜙1,1
2 2
+ 𝑚2 𝜙1,2 = 100 ∙ 0.672 + 10 ∙ 0.742 = 50.8 𝑘𝑔

✓ Modal mass of Mode 2

ℳ2 = 𝜙2𝑇 𝑀𝜙2 = 𝑚1 𝜙2,1
2 2
+ 𝑚2 𝜙2,2 = 100 ∙ (−0.11)2 + 10 ∙ 0.992 = 11.1 𝑘𝑔

𝓚𝒊 = 𝝎𝟐𝒊 𝓜𝐢
Example
◆ Effective Modal values

𝓜𝟏 𝓜𝟐
𝓜𝐞𝐟𝐟.𝟏,𝟏 = 𝟐 𝓜𝐞𝐟𝐟.𝟐,𝟏 =
𝝓𝟏,𝟏 Mode 1 Mode 2 𝝓𝟐𝟐,𝟏
𝓜𝟏 𝓜𝟐
𝑲𝐞𝐟𝐟.𝟏,𝟏 = 𝑲𝐞𝐟𝐟.𝟐,𝟏 =
𝝓𝟐𝟏,𝟏 𝝓𝟐𝟐,𝟏

(X1/F1)i 𝑥1 1
=
𝐹1 1
ℳ𝑒𝑓𝑓.1,1 s2 + 𝒦𝑒𝑓𝑓.1,1

𝑥1 1
X1/F1 =
𝐹1 2
ℳ𝑒𝑓𝑓.2,1 s2 + 𝒦𝑒𝑓𝑓.2,1

53
Suspension and Rigid-body Mode

Modal shape
Assume 𝒙𝟏 = 𝒙𝟐

Should be 𝝎𝟎,𝟏 = 𝒌𝟐,𝟎 = 𝟎

Suspension and Rigid-body Mode

▪ The amount of internal deformation associated with the suspension mode

𝜙1𝑇 = 1 + 𝜀𝑟 1 𝜀𝑟 = 𝜀/𝑥2 𝝎𝟎,𝟏 : floor vibration freq.

2 2
−𝜔0,1 𝑚1 + 𝑘1,2 −𝑘1,2 1 + 𝜀𝑟 −𝜔0,1 𝑚1 + 𝑘1,2 𝜀𝑟
2 = [ 2 ]=0
−𝑘1,2 −𝜔0,1 𝑚2 + 𝑘2,0 + 𝑘1,2 1 −𝜔0,1 𝑚2 + 𝑘2,0 − 𝑘1,2 𝜀𝑟

2
𝑚1 𝝎𝟐𝟎,𝟏
𝜀 = 𝜀𝑟 𝑥2 = 𝜔0,1 𝑥 = 𝒙 𝝎𝒊𝒏𝒕 : internal mode freq.
𝑘1,2 2 𝝎𝟐𝒊𝒏𝒕 𝟐

▪ Floor vibration = 10 𝜇𝑚, 𝜔0,1 = 3 Hz

▪ Internal frequency of the manipulator (𝜔𝑖𝑛𝑡 ) = 150 Hz

𝐹𝑏 2
𝐹 𝝎𝟐𝟎,𝟏
𝜀= , 𝐹𝑏 = 𝑚1 𝑥ሷ 2 = 𝑚1 𝜔0,1 𝑥2 𝜀= = 𝒙
𝑘1,2 𝑘1,2 𝝎𝟐𝒊𝒏𝒕 𝟐

𝝎𝟐𝟎,𝟏
𝜀= 𝟐 𝒙𝟐
= 𝟒 𝒏𝒎
𝝎𝒊𝒏𝒕
55
Mode-shape of Complex Non-rigid Body

56
Eigenfrequencies of Multiple Eigenmodes In 6-DOF

57
Mechanical
Frequency
Response

58
Frequency Response

▪ Modal decomposition
- The total dynamic behavior of a mechanical system can
be described as a linear combination of the dynamic beh
avior of all separate eigenmodes.

▪ Two body mass-spring system

- Two eigenmodes: rigid-body mode, non rigid-body
mode.

- 6 different combinations → 4 different interaction

patterns in the final frequency response
59
Frequency Response

두 개의 교차점

한 개의 교차점과
고주파에서의
점근적 접근

하나의교차점
Four Types of Frequency Responses

▪ 유형1: 기울기-2/한쌍의 영점/한쌍의 극점/기울기-2(>0)

f0:공진주파수

fa:반공진주파수

▪ 유형2: 기울기-2/한쌍의 극점/한쌍의 영점/기울기-2(-1< <0)

불안정

▪ 유형3: 기울기-2/한쌍의 극점/기울기-4( = -1)

▪ 유형4: 기울기-2/한쌍의 극점/기울기-2( <-1)

Type I (>0)

▪ 기울기-2
▪ 한쌍의 영점/한쌍
의 극점
▪ fa<f<f0 : phase
lead
Type II (-1< <0)

▪ 기울기-2
▪ 한쌍의 극점/한쌍
의 영점
▪ fa<f<f0 : phase lag
→ make closed-
loop system
unstable
Type III( = -1)

▪ 저주파: 기울기-2
▪ 한쌍의 극점
▪ 고주파:기울기-4
Type IV( <-1)

▪ 기울기-2/한쌍의
극점/기울기-2
▪ Phase: -180˚→ -
360˚
▪ Non-minimum
phase (Positive
zero)
-180
Systems that are causal
and stable whose inverses
are causal and unstable.
-Wiki
-360
Mass on Leaf-spring, Two Eigenmodes

“swinging” “rocking”

1st mode 2nd mode

▪ 센서의 위치는 능동제어되는 동적 시스템의 관측성과 제어성에 영향을 끼친다.

▪ 작동기와 센서의 위치가 서로 다른 경우에는 주파수 응답이 달라진다
Step Resp. w.r.t Sensing Location

Sensor/
Actuator
Collocated
sensing

“Driving point
measurement”

Actuator Non-Minimum Phase Response

Non-Collocated
Sensor x sensing

67
Q. How about sensing at center?
Type I vs. Type IV

Top side sensing Bottom side sensing

Compliance [m/N]

-2 slope with -360°

phase is non-minim
phase system
Phase [deg]

Frequency [Hz] Frequency [Hz]

68
H-Drive

리니어모터 리니어모터
스테이지

▪ Translation : Average of Sy1, Sy2

▪ Rotation
▪ 센서와 작동기 동일방향: 거리차이로 인하여 작동기 운동의 1/10
만큼 작은 값 측정⇒ 보드선도 1형 응답
▪ 센서와 작동기 반대방향: 작동기 운동방향과는 반대로 측정⇒ 보
드선도 2형응답
H-Drive Frequency Responses

Ay1→Sy1, Ay2→Sy2 Ay2→Sy1, Ay1→Sy2

Frequency Response

Note that
1. The observability and controllability of eigenmod
es depends on the location of the position sensor
and actuator
2. For most eigenmodes a location can be found wh
ere the sensor is not able to observe or where th
e actuator is not able to excite the eigenmode.
3. An uncontrolled and unobserved eigenmode can
still be excited by external disturbing forces. This
can impair the functionality of the system while t
he controller is not able to improve its dynamic b
ehavior.

71
요약

▪ 강성(기계적, 제어적)은 정밀도의 결정적 요인

▪ 모든 구조물은 스프링-질량-댐퍼의 조합으로 모
델링 가능
▪ 개별 고유모드의 기여도는 중첩 가능
▪ 작동기와 센서의 위치가 각 고유모드에 대한 관
측성과 제어성을 결정 (I, II, III, IV)
▪ 정밀설계를 위해서 고유모드를 고려하여 요소를
세심하게 배치해야 함

72