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Figure 2.16: a) Free-body diagram of mass, spring and damper system b) transformed freebody diagram
We now write the differential equation of motion using Newtons law to sum to zero all of
the forces shown on the mass in Figure 2.16 (a):
d 2 x (t )
dx (t )
F f (t ) M
fv
Kx (t ) 0
2
dt
dt
d 2 x (t )
dx (t )
fv
Kx (t ) f (t )
2
dt
dt
Taking the Laplace transform, assuming zero initial conditions,
Ms 2 X ( s ) f v sX ( s ) KX ( s ) F ( s )
M
( Ms 2 f v s K ) X ( s) F ( s)
Or
Solving for the transfer function yields
X (s)
1
G ( s)
2
F ( s) Ms f v s K
which is represented in Figure 2.15 (b)
_____________________________________________________________________
Solution II:
We could also solve the problem using the block diagram / signal flow graph.
x
**** Begin the
solution by
kx
f
drawing the
m
free-body
f v x
diagram shown
in Figure 2.
Figure 2: Free-body diagram of mass, spring and damper system
1)
Write the differential equation of motion using Newtons Second Law
2)
d 2 x t
dx t
f t kx t f v
2
dt
dt
X s
1
F s K Fv s X s
Ms 2
T s
X (s)
1
2
F ( s ) Ms Fv s K
T s
1 / Ms 1
2
1 Fv s K / Ms
1
Ms Fv s K
2
Fi
gure 2.19: a) Forces on M 1 due only to motion of M 2 ; b) forces on M 1 due only to
motion of M 1 ;c) all forces on M 1
For M 2 , we proceed in a similar fashion: First we move M 2 to the right while holding
M 1 still; then we move M 1 to right and hold M 2 still. For each case, we evaluate the
forces on M 2 . The results appear in Figure 2.20.
The differential equation of motion using Newtons law to sum to zero all of the forces
shown on the mass:
d 2 x1 (t )
dx (t )
dx (t )
( f v1 f v 3 ) 1 ( K1 K 2 ) x1 (t ) f v 3 2 K 2 x2 (t )
2
dt
dt
dt
2
dx (t )
d x2 (t )
dx (t )
F 0 f v 3 1 K 2 x1 (t ) M 2
( f v1 f v 3 ) 2 ( K 2 K 3 ) x2 (t )
2
dt
dt
dt
2
d x1 (t )
dx (t )
dx (t )
M1
( f v1 f v 3 ) 1 ( K1 K 2 ) x1 (t ) f v 3 2 K 2 x2 (t ) f (t )
2
dt
dt
dt
2
dx (t )
d x2 (t )
dx (t )
f v 3 1 K 2 x1 (t ) M 2
( f v1 f v 3 ) 2 ( K 2 K 3 ) x2 (t ) 0
2
dt
dt
dt
FM 1 0 f (t ) M 1
The Laplace transform of the equations of motion can now be written from Figures 2.19 (c)
and 2.20 ( c) as
M s
1
( f v1 f v3 ) s ( K1 K 2 ) X 1 ( s )
( f v3 s K 2 ) X 1 ( s)
M s
2
( f v3 s K 2 ) X 2 ( s)
2
F (s)
( f v 2 f v3 )s ( K 2 K 3 ) X 2 (s)
M 1s 2 ( f v1 f v 3 )s ( K1 K 2 )
( f v3 s K 2 )
X 2 (s)
M s
1
X 2 (s)
X 1 ( s) F ( s)
( fv3s K 2 )
M 2 s 2 ( f v 2 f v 3 ) s ( K 2 K 3 ) X 2 ( s ) 0
M 1s 2 ( f v1 f v 3 ) s ( K1 K 2 ) F ( s )
( f v3s K 2 )
0
2
( f v1 f v 3 ) s ( K1 K 2 )
( f v3s K 2 )
( f v3s K 2 )
M 2 s 2 ( f v 2 f v3 )s ( K 2 K 3 )
F ( s) ( f v 3 s K 2 )
M 1s 2 ( f v1 f v 3 ) s ( K1 K 2 )
( f v3s K 2 )
M s
( f v3s K 2 )
( f v 2 f v3 )s ( K 2 K 3 )
( f v3 s K 2 )
X 2 (s)
2
F ( s) M 1s ( f v1 f v 3 ) s ( K1 K 2 ) M 2 s 2 ( f v 2 f v 3 ) s ( K 2 K 3 ) ( f v3 s K 2 ) 2
F (s)
Or
M s
1
( f v1 f v 3 ) s ( K 1 K 2 )
( f v3 s K 2 )
( f v3 s K 2 )
M 2 s ( f v 2 f v3 ) s ( K 2 K 3 )
2
M 1s 2 ( f v1 f v 3 ) s ( K1 K 2 ) M 2 s 2 ( f v 2 f v 3 ) s ( K 2 K 3 ) ( f v 3 s K 2 ) 2
Displacement
Output 1
Input
Force
Displacement
Output 2
x2
x1
f
K1 x1
f V 1 x 1
fV 3 x 1 x 2
fV 2 x 2
K 2 x1 x2
K 3 x2
m1
f t k1 x1 t f v1 1 f v 3
k 2 x1 t x2 t
2
dt
dt
dt
dt
d 2 x2 t
dx t
dx1 t dx2 t
m2
k 3 x2 t f v 2 2 f v 3
k 2 x1 t x2 t
2
dt
dt
dt
dt
Taking the Laplace transform, assuming zero initial conditions,
M 1 s 2 X 1 s F s K1 X 1 s Fv1sX 1 s Fv 3 s X 1 s X 2 s K 2 X 1 s X 2 s
M 2 s 2 X 2 s K 3 X 2 s Fv 2 sX 2 s Fv 3 s X 1 s X 2 s K 2 X 1 s X 2 s
M s K
2
K 2 Fv1s Fv 3 s X 1 s
Fv 3 s K 2 X 2 s
F s
M 2 s 2 K 3 K 2 Fv 2 s Fv 3 s X 2 s 0
Fv 3 s K 2 X 1 s
M 1s 2 K1 K 2 Fv1s Fv3 s
Fv 3 s K 2
Fv 3 s K 2
M 2 s 2 K 3 K 2 Fv 2 s Fv3 s
X1 s F s
X s 0
M s K K F s F s F s
2
X 2 s
v1
Fv 3 s K 2
M s K K F s F s
2
v3
v1
v3
Fv 3 s K 2
Fv 3 s K 2
M 2 s K 3 K 2 Fv 2 s Fv 3 s
2
Fv3 s K 2
X 2 s
F2 s M 1s 2 K1 K 2 Fv1s Fv 3 s M 2 s 2 K 3 K 2 Fv 2 s Fv 3 s Fv 3 s K 2 2
We could also solve the problem using the block diagram / signal flow graph
1) Write the differential equation of motion using Newtons Second Law
d 2 x1 t
dx t
dx1 t dx2 t
m1
f t k1 x1 t f v1 1 f v 3
k 2 x1 t x2 t
2
dt
dt
dt
dt
d 2 x2 t
dx t
dx1 t dx2 t
m2
k 3 x2 t f v 2 2 f v 3
k 2 x1 t x2 t
2
dt
dt
dt
dt
2) Taking the Laplace transform, assuming zero initial conditions,
M 1s 2 X 1 s F s K1 X 1 s Fv1sX 1 s Fv 3 s X 1 s X 2 s K 2 X 1 s X 2 s
M 2 s 2 X 2 s K 3 X 2 s Fv 2 sX 2 s Fv 3 s X 1 s X 2 s K 2 X 1 s X 2 s
3) Separate the input signal (+ combination of other signal), system and output
signal
M 1s 2 X 1 s F s K1 X 1 s Fv1sX 1 s Fv 3 s X 1 s X 2 s K 2 X 1 s X 2 s
1
X1 s
F s K1 Fv1s X 1 s Fv 3 s K 2 X 1 s X 2 s
M 1s 2
System Input Summing Junction
M 2 s 2 X 2 s K 3 X 2 s Fv 2 sX 2 s Fv 3 s X 1 s X 2 s K 2 X 1 s X 2 s
1
K 3 Fv 2 s X 2 s Fv 3 s K 2 X 1 s X 2 s
X 2 s
M 2s2
Output System
Summing Junction
1
X 2 s
M 2s2
Summing junction
K 2 FV 3 s
1 X1
K F s X s F s K X s X s
3
connect
M 1s 2
K1 FV 1s
X2
connect
v2
K 2 FV 3 s
v3
1
M 2s2
K 3 FV 2 s
X2
F
1
2
M 1s K1 FV 1s
M 1s 2 K1 FV 1s
M s
K 3 Fv 2 s M 1s 2 K1 FV 1s
X2
X2
K 2 FV 3 s
M 2 s 2 K 3 Fv 2 s
1
2
M 1s K1 FV 1s
X2
K 2 FV 3 s
M 2 s 2 K 3 Fv 2 s
1
2
M 1s K1 FV 1s
1
2
M 2 s K 3 Fv2 s
K 2 FV 3 s
2
K 2 FV 3 s M 2 s K 3 Fv 2 s
K 2 FV 3 s
X1
K 2 FV 3 s
X 2 s
M 1s K1 FV 1s M 2 s 2 K 3 FV 2 s
K 2 FV 3 s
F2 s 1
M 2 s 2 K 3 FV 2 s M 1s 2 K1 FV 1s
2
2
M1s K1 FV 1s M 2 s K3 FV 2 s
K 2 FV 3 s
X 2 s
2
2
F2 s M 1s K1 FV 1s M 2 s K 3 FV 2 s K 2 FV 3 s M 2 s 2 K 3 FV 2 s M 1s 2 K1 FV 1s
2
connect
M 1s 2
K1 FV 1s
K 2 FV 3 s
1
M 2s2
F
1 X1
X2
K 3 FV 2 s
connect
K 2 F3 s
1
M 1s 2
K1 F1s
T s
1
K 2 F3 s M 2 s 2
K 3 F2 s
1
X2
2
M 1s
K 2 FV 3 s
2
M 2s
K1 FV 1s
K1 FV 1s K 3 FV 2 s
M 1s 2
K F s
M 1s 2
M 2s2
2 2V 3
K F s K 2 FV 3 s
M 1s
1
1 2V 1
K F s
M 1s
M 2s2
3 V2 2
K 2 FV 3 s K 3 FV 2 s
M 2s
K F s
M 1s 2
M 2s2
2 V2 3
M 2s
T s
K 2 FV 3 s
M 1M 2 s 4 K1M 2 s 2 F1M 2 s 3 K 2 M 2 s 2 F3 M 2 s 3 K 3 M 1s 2 F2 M 1s 3 K 2 M 1s 2 F3 M 1s 3 K1K 3
My F Ky By
Or
d2y
dy
M
F Ky B
2
dt
dt
Ms y s F s K Bs y s
2
Ms
Therefore,
K Bs y s F s
y s
1
2
F s Ms K Bs
Block diagram :
displacement output, x0
xO
B
K xO xi B x O x i
displacement input, xi
FBD
Mx
K xO xi B x O x i
2
xi s Ms K Bs
Block diagram :
Ms 2 xO s K Bs xi xO
y1
K1
M1
B1
y2
K2
Force, F
M2
y1
K1 y1
B1 y 1
M1
B2
B2 y 2 y 1
y2
M2
A mechanical system
m2
d 2 y2 t
dy 2 t dy1 t
f t B2
k 2 y2 t y1 t
2
dt
dt
dt
m1
d 2 y1 t
dy t
dy2 t dy1 t
k1 y1 t B1 1 B2
k 2 y2 t y1 t
2
dt
dt
dt
dt
m2 s 2 y 2 s f s B2 s y 2 s y1 s k 2 y 2 s y1 s
K 2 y2 y1
m1 s 2 y1 s k1 y1 t B1sy1 t B2 s y 2 s y1 s k 2 y 2 s y1 s
K 2 B2 s
1 y2
M 2s2
K 2 B2 s
y1
1
2
M 1s
K1 B1s
K 2 B2 s
1
M 2s2
1
M 2 s K 2 B2 s
K 2 B2 s
M 2s2
M 2s2
1
M 1s K1 B1s
2
K 2 B2 s
M 1s 2 K1 B1s
y s
K 2 B2 s
2
2
F s M 2 s K 2 B2 s M 1s K1 B1s K 2 B2 s M 2 s 2
y1
y1
T s
K 2 B2 s 1 / M 1s 2 1 / M 2 s 2
K 2 B2 s
M 1s 2
K B s K B s K1 B1s
1 2 22 2 22
M 2s
M 1s
M 2s2
K Bs
1 21
M 2s
K 2 B2 s
K 2 B2 s
F
1
M 1s 2
1
M 2 s 2 y1
K1 B1s
*** Please write all the forward path gains, loop gains, non-touching loop gains and
To check the equ.:
T s
K 2 B2 s
M 1M 2 s 4 K 2 M 1s 2 K 2 M 2 s 2 K1M 2 s 2 B2 M 2 s 3 B2 M 2 s 3 B1M 2 s 3
K 2 K1 K 2 B1s B2 K1s B1B2 s
M2
B
K2
K1
K2 x y
M1
M2
B x y
M1
K1 x u
Free Body Diagram
or
d 2 x t
dx t dy t
dx t dy t
m1
B
k2
k1 x t u t
2
dt
dt
dt
dt
dt
d 2 y t
dx t dy t
m2
k 2 x t y t B
2
dt
dt
dt
M 1s 2 X s Bs X s Y s K 2 X s Y s K1 X s U s
M 1s 2 X s Bs Y s X s K 2 Y s X s K1 U s X s
M 2 s 2Y s K 2 X s Y s Bs X s Y s
K1
1 X
M 1s 2
K 2 Bs
1
M 2s2
1 / K1
K 2 Bs
1
M 2s2
1
M 2s2
1
M 2s2
1 / K1
K 2 Bs
M 1 s 2 K1
K1
K1 K 2 Bs
M 1s K1 K 2 Bs
1
M 2s2
1 / K1
K1
M 1 s 2 K1
K 2 Bs
K1
M 1 s 2 K1
K1
M 1s 2
M 1 s 2 K1
K1
Y s
K1 K 2 Bs
2
2
U s M 2 s M 1s K1 K 2 Bs K 2 Bs M 1s 2 K1
T s
K1 / M 1 s
Bs / M 2 s 2
1 K 2 Bs / M 1s 2
1
K 2 B2 s 1 / M 2 s y1
2
K1
1 / M 1s 2
1
K 2 Bs / M 2 s 2
K1 K 2 Bs
M 1s 2 M 2 s 2
K1 xO xi B1 x O x i
xi
K1
B1
B2
K2
xO
y
A mechanical system
B2 x o y
K2 y
xO
y
B x
2
y K2 y
B1s X i s X O s K1 X i s X 0 s B2 X 0 s Y s
B2 X 0 s Y s K 2Y s
Xi
K1 B1s
B2 s X O Y 1
B2 s
XO Y
1
K2
XO
K1 B1s K 2 B2 s
Xi
XO
1
1
B2 s K 2
K1 B1s
XO
K 2 B2 s
Xi
K1 B1s K 2 B2 s
K 2 B2 s K1 B1s K 2 B2 s
X O s
X i s
B1
B
s 1 2 s 1
K1
K2
B
B
B1
s 1 2 s 1 2 s
K1
K2
K1
XO
T s
K1 B1s / B2 s K1 B1s / K 2
K1 B1s / B2 s
1
K1 B1s / K 2
K 2 K1 B1s B2 s K1 B1s
K 2 B2 s K1 B1s K 2 K1 B1s B2 s
K1 B1s K 2 B2 s
K 2 B2 s K1 B1s K 2 B2 s
Xi
1 / B2 s
K1 B1s
X0
1/ K2
1
Equation of motion by inspection
Problem: Write but do not solve, the equations of motion for the mechanical network of
Figure 2.21
M s
1
( f v1 f v 3 ) s ( K1 K 2 ) X 1 ( s) K 2 X 2 ( s) f v 3 sX 3 ( s) 0
Similarly, for M 2
K 2 X 1 ( s ) M 2 s 2 ( f v 2 f v 4 ) s K 2 X 2 ( s ) f v 4 sX 3 ( s ) F ( s )
And for M 3
f v 3 sX 1 ( s ) f v 4 sX 2 ( s ) M 3 s 2 ( f v 3 f v 4 ) s X 3 ( s ) 0