Translational Mechanical

Systems
System Variables

Ideal System Modeling Elements

Series and Parallel Connections of Elements
Interconnection (Physical) Laws
Derive Equation of Motion (EOM) - SDOF
Energy Transfer

Derive Equation of Motion (EOM) - MDOF

System Variables
f : force [N] (T variable)
v : velocity [m/sec] (A variable)

x : displacement [m]
a : acceleration [m/sec2]
p : power [Nm/sec]
w : work ( energy ) [Nm]
1 [Nm] = 1 [J] (Joule)
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System Modeling Elements (Idealized)

Spring

Real Spring

Energy Storage (Stiffness) element

Distributed system
Spring mass (may be considered
into the lumped model).
In large displacement operation
springs are nonlinear.

Idealization

fS

Massless
No Damping

Linear

Elemental equation

(x2 - x1)

Energy stored
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System Modeling Elements (Idealized)

Damper

Mass

Energy Dissipation (Friction) element

Energy Storage (Inertia) element

x1

x2

fD

fD

f2
f3

Elemental equation

f1

Elemental equation
Energy Dissipation Rate
Energy stored
http://en.wikipedia.org/wiki/Dashpot

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http://en.wikipedia.org/wiki/Door_closer

Series Connection
Spring in Series
x1

fS

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x2

x2

x1

fS

fS

ME450-Translational

KEQ

Series Connection
Damper in Series

fD

fD
B1

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x2

x1

x2

x1

fD

fD

BEQ

B2

ME450-Translational

Parallel Connection
Spring in Parallel
x2

x1

x2

x1
fS

K1

fS

fS
KEQ

K2

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Parallel Connection
Damper in Parallel
x2

x1
fD

B1

fD

fD

fD

BEQ
B2

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Interconnection Laws
Newtons Third Law
- Action & Reaction Force
Ensure the continuity of the force in the system

fs

fs

fs

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Modeling Steps
Identify reference point and positive direction.
Draw Free-Body-Diagram (FBD) for each basic element.
Write Elemental Equations as well as Interconnecting
Equations by applying Newtons third laws.
Obtain Equations of Motion (EOM): Combine Equations
by eliminating intermediate variables. (Check: # eq = #
unknown = #DOF)

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Lumped Model of a Flexible Beam

Vertical Beam, horizontal deflection

Horizontal Beam, vertical deflection

B,K,M

K,M

xs
x
f

x
K

B
g
M

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Vertical Single Degree of Freedom

(SDoF) System
xs
xs

B,K,M

xd x
M

B
g

Draw Free-Body-Diagram (FBD)

Write Elemental Equations

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Suspension System (without tire

model)
Suspension System
Minimize the effect of the surface
roughness of the road on the
drivers comfort.

xp

http://www.phelpsandwilliams.co.uk/suspension

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Horizontal Two Degree of Freedom

(TDoF) System

DOF = 2

x1

B1

M1
K1

Absolute coordinates

FBD

B1 x1

K1 x1

M2
K2

f1
x1

M1

Newtons law

f2
x2

B2 x2 - x1

K2 x2 - x1

f1

x2

B2

M2
f2

M 1 x1 - B1 x1 - K1 x1 B2 x2 - x1 K 2 x2 - x1 f1 t
M 2 x2 - B2 x2 - x1 - K 2 x2 - x1 f 2 t

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Horizontal Two Degree of Freedom

(TDoF) System
B1

B2
K

M1
K1

f1

M2
K2

f2

Absolute coordinates

M1 x1 B1 B2 x1 K1 K2 x1 - B2 x2 - K2 x2 f1 t
M 2 x2 B2 x2 K2 x2 - B2 x1 - K2 x1 f 2 t

Relative coordinates

M1 x1 B1 x1 K1 x1 - B2 x21 - K2 x21 f1 t
M 2 x1 M 2 x21 B2 x21 K2 x21 f 2 t

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Two DoF System, Matrix Form of EoM

B1

B2
K

M1
K1

K2

f1

f2

Absolute coordinates

M 1 0 x1 B1 B2
0 M x -B
2 2
2

M2

- B2 x1 K1 K 2

B2 x2 - K 2

- K 2 x1 f1 t

K 2 x2 f 2 t

Relative coordinates

M1
M
2

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0 x1 B1 - B2 x1 K1 - K 2 x1 f1 t

M 2 x21 0 B2 x21 0 K 2 x21 f 2 t

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Suspension System (with tire model)

Vertical Two DoF System
Suspension System

Simplified Schematic (with tire model)

M2

K2

x2
B2

g
M1

K1

x1

B1

xp
http://www.phelpsandwilliams.co.uk/suspension
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Suspension System (with tire model)

Vertical Two DoF System (cont.)
M2

M1

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Suspension System (with tire model)

Vertical Two DoF System (cont.)
Matrix Form

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Energy Distribution of a System

EOM of a simple Mass-Spring-Damper System

Mx
Contribution
of Inertia

Bx
Contribution
of the Damper

Kx
Contribution
of the Spring

f (t )
Total
Applied Force

We want to look at the energy distribution of the system. How should we start ?

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