MECA 333

MOTION CONTROL
SYSTEMS

LECTURE-2
Modelling Single- and Multi-DOF
Mechanical Systems
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 Fundamental Quantities
• Mass (Inertia): Quantity of matter in a rigid body. It is the property of
matter which resists acceleration
• Force (Torque): Any interaction that changes motion of an object.
– Contact forces result out of interaction
– Field forces exist without interaction
• Weight: Force of gravity on an object
• Generalized Coordinate of Motion (GCM): Refers to either one of
linear or angular position depending on the context
• Velocity: The rate of change of position
• Acceleration: The rate of change of velocity
• Jerk: The rate of change of acceleration
• Yank: The rate of change of force

Mass Force Weight GCM Velocity Acceleration Jerk Yank

m I F  W x q x q x q x  F

 q 
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 Newton’s Law of Motion

• First Law: A stationary body will tend to stay at rest

and a moving body will have zero acceleration,
as long as the net respective forces acting on
these objects are zero.

• Second Law: An unbalanced force (i.e. Nonzero

net force) on a body causes acceleration

F = mx
• Third Law: For every action, there is
an equal and opposite reaction
force (action-reaction principle)

F12 = − F21
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 Elements in Mechanical Systems
• Mass/Inertia: Quantity of matter in a rigid body. It is the property of
matter which resists acceleration. Mass/inertia stores energy like an
inductance
• {Linear/Angular} Spring: An elastic mechanical element that can be
deformed (stretched or compressed) by an external force/torque.
The deformation is done via force and is proportional to the
divergence from the natural position. Spring stores energy like a
capacitance
• {Linear/Angular} Damper: A mechanical element with viscous
friction property. It can be stretched or compressed by a force
proportional to the velocity. Damper dissipates energy like a
resistance

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 Mathematical Models of Springs and Dampers
Spring: Damper

F = k ( x1 − x2 ) F = b( x1 − x2 )

• k ➔ spring constant • b ➔ damping coefficient

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 Linearity Assumption
• In real-life, neither one of the springs and dampers are “ideal”
• Springs may show non-linear behavior
• Dampers follow the principle of Striback Effect
• F = kx and F = bx are mathematically ideal assumptions of
these two elements
• In most of the applications, these idealizations hold valid and
help to model the systems in an easy way
• The non-ideal behavior of springs occur when they are
stretched or compressed “too much”
• The non-ideal behavior of dampers occur when the velocity
imposed on the damper is “very small”

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 Linearity Assumption

F = kx F = bx

F = kx + lx 3 F = c + (d − c )e − x vs + bx

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 Modeling Mass-Spring System
• Apply Newton’s 2nd Law for a system with only mass and
spring elements:

 F = mx

• Model-1: With gravity

Fe + mg − kx = mx

Fe = mx + kx − mg
• Model-2: Without gravity
Fe − kx = mx

Fe = mx + kx
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 Modeling Mass-Spring System
• Obtain the solution x(t) for some fiven Fe.
• Use Laplace Transform:
Fe (t ) = mx(t ) + kx(t )
Fe ( s ) = ms 2 X ( s ) + kX ( s )
X (s) 1
=
Fe ( s ) (ms 2 + k )

• For constant Fe(t)=F

F k m
X (s) =
k s ( s 2 + k m)

x(t ) = (1 − cos( k mt ))
F
k
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 Modeling Mass-Spring-Damper System
• Apply Newton’s 2nd Law for a system with mass, spring and
damper elements:

 F = mx

• Model-1: With gravity

Fe + mg − kx − bx = mx

Fe = mx + bx + kx − mg
• Model-2: Without gravity
Fe − kx − bx = mx

Fe = mx + bx + kx
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 Modeling Mass-Spring-Damper System
• Obtain the solution x(t) for some fiven Fe.
• Use Laplace Transform:
Fe (t ) = mx(t ) + bx (t ) + kx(t )
Fe ( s ) = ms 2 X ( s ) + bsX ( s ) + kX ( s )
X (s) 1
=
Fe ( s ) (ms 2 + bs + k )

• For constant Fe(t)=F

F k m
X (s) =
k s ( s 2 + (b m) s + k m)

F   b2 k
& n =
1
x•(t ) = 1− e − nt
sin(n 1 −  t +  )  ➔
2
 =
k  1−  2 
 4mk m
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 Modeling Rotational Mass-Damper System
• The system commonly encontered in electro-mechanical
actuators (i.e. motors)
 = Jq
 in − bq = Jq
 in = Jq + bq
• Use Laplace Transform:
Tin ( s ) = Js 2Q ( s ) + bsQ ( s )
Q( s) 1
= 2
Tin ( s ) Js + bs
• For constant in(t)=
Q( s) T 1
= ➔ q (t ) = ( b)t − (J b 2 ) + (J b 2 )e −(b J )t
Tin ( s ) J s 2 ( s + b J )
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 Lagrangian Dynamics
• An alternative way to Newtonian approach for deriving
equations of motion of a system
• Useful particularly for complex systems
• Based on work and energy principles
• Also called Euler-Lagrange formulation
• Lagrangian of a system:
L( x, x ) = T ( x ) − U ( x)
• Equations of motion:
d  L   L 
 −  = F
dt  q   q 

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 Lagrangian Dynamics - Example
• Potential energy of the system
U = (1 2 )kx 2
• Kinetic energy of the system
T = (1 2 )mx 2
• Lagrangian ➔ L = T − U
L = (1 2 )mx 2 − (1 2 )kx 2
d  L   L 
  −   = Fe
dt  x   x 
d
(mx ) + kx = Fe
dt
mx + kx = Fe
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 Multi-Body Dynamics-1
Apply Lagrange equations for a multi-DOF system
• Kinematic relationships:
x1 = r1 cos1
y1 = r1 sin 1
x2 = l1 cos1 + r2 cos(1 +  2 )
y2 = l1 sin 1 + r2 sin (1 +  2 )

• Differentiate to get:

x1 = − r1 sin 11

y1 = r1 cos11
x2 = −(l1 sin 1 + r2 sin (1 +  2 ))1 − r2 sin (1 +  2 )2
y 2 = (l1 cos1 + r2 cos(1 +  2 ))1 + r2 cos(1 +  2 )2 15
 Multi-Body Dynamics-2
• Kinetic energy of the system

2
2
( 2
2
) 2
2 2
2
( )
T = m1 x1 + y1 + I11 + m2 x2 + y 2 + I 2 (1 + 2 )
1 1 2 1 1 2

1 1   + 2  cos 2  +  cos 2  1 

T

T=      
2 2    +  cos 2   2 
 = I1 + I 2 + m1r12 + m2 (l12 + r22 )
 = m2l1r2  = I 2 + m2 r22
• Potential energy of the system
g (m1 y1 + m2 y2 )
g (m1r1 sin 1 + m2l1 sin 1 + m2 r2 sin (1 +  2 ))
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 Multi-Body Dynamics-3
d  L   L 
  −   = Fe
dt  x   x 
• Differentiate kinetic energy w.r.t. generalized coordinates
 + 2  cos 2  +  cos 2  1  −  sin  22 −  sin  2 (1 + 2 ) 1   1 
  +  cos    +    = 
 2    2    sin  21
 0   2   2 


• Differentiate potential energy w.r.t. generalized coordinates

g (m1r1 cos1 + m2l1 cos1 + 2m2 r2 cos(1 +  2 ))
• And finally obtain the multi-body dynamics of the system:

A(q )q
 + B(q, q ) + G (q ) = τ

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