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Translational System
Modeling
EE-371/EE-502 Control Systems
Milwaukee School of Engineering
Fall Term 2005
Dr. Glenn Wrate, P.E.
Background
• As, hopefully, you learned in
Physics and your ME courses,
mechanical systems can be
modeled with differential equations
– The equations look very similar to
those in electrical systems
• We will look at movement in one
direction – translational systems
d2 m
u
F m2 ⋅ z 2
2 2
dt
– z is displacement
– m is mass
z1 z2
b
u
m1 m2
k
• At mass 2
d2 ⎛d d ⎞
u m2 ⋅ z2 + b ⎜ z2 − z1 + k ( z2 − z1)
dt
2
⎝ dt dt ⎠
( ) (
b ⋅ s ⋅ Z 2 ( s) − Z 1 ( s) + k ⋅ Z 2 ( s) − Z 1 ( s) ) 2
m 1 ⋅ s ⋅ Z 1 ( s)
U ( s)
2
( ) (
m 2 ⋅ s ⋅ Z 2 ( s) + b ⋅ s ⋅ Z 2 ( s) − Z 1 ( s) + k ⋅ Z 2 ( s) − Z 1 ( s) )
• Assume initial conditions are zero
2
( b ⋅ s + k) ⋅ Z2 ( s) m1 ⋅ s ⋅ Z1 ( s) + b ⋅ s ⋅ Z1 ( s) + k ⋅ Z1 ( s)
( b ⋅ s + k) ⋅ Z2 ( s) ⎛ m ⋅ s 2 + b ⋅ s + k ⎞ ⋅ Z ( s)
⎝ 1 ⎠ 1
( −b ⋅ s − k) ⋅ Z1 ( s) + ⎛ m2 ⋅ s + b ⋅ s + k ⎞ ⋅ Z2 ( s)
2
U ( s)
⎝ ⎠
U ( s) + ( b ⋅ s + k) ⋅ Z1 ( s) ⎛ m ⋅ s 2 + b ⋅ s + k ⎞ ⋅ Z ( s)
⎝ 2 ⎠ 2
• Equation 2
1 b⋅ s + k
Z 2 ( s) ⋅ U ( s) + ⋅ Z 1 ( s)
⎛ m ⋅ s + b⋅ s + k⎞
2 2
m 2⋅ s + b⋅ s + k
⎝ 2 ⎠
b1 k1
u
y
m
b2 k2