ECE 330 Power Circuits and Electromechanics: Dynamics of Lumped Mechanical Systems

ECE 330
POWER CIRCUITS AND ELECTROMECHANICS
LECTURE 19
DYNAMICS OF LUMPED MECHANICAL SYSTEMS
Acknowledgment-These handouts and lecture notes given in class are based on material from Prof. Peter
Sauer’s ECE 330 lecture notes. Some slides are taken from Ali Bazi’s presentations
Disclaimer- These handouts only provide highlights and should not be used to replace the course textbook.
10/24/2017
Copyright © 2017 Hassan Sowidan
So far we have studied the electrical subsystem and its

interaction with the lossless magnetic field system, which
resulted in the force of electric origin acting on the
mechanical system. We next study the dynamics of the
mechanical system and finally get the overall dynamic
model.
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Lumped elements of mechanical systems:
• Masses: store kinetic energy(KE)
• Springs: store potential energy(PE)
• Dashpots: the dissipative elements
Elements of electrical systems:
- Capacitance C, inductance L: store energies
- Resistance R: dissipate energy
Instead of KCL and KVL, we have Newton’s law to write
the equations of motion in a mechanical system.
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MASS-SPRING SYSTEM
W
For a mass M = suspended from a spring of stiffness K.
g
The gravitational force in equilibrium position is
W  Mg is balanced by spring force K

is the stretching of the spring due to the weight W
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MASS-SPRING SYSTEM
Displacement x downward causes a force in the spring to

pull the mass upward.
Newton’s law: acceleration force in the positive x direction
is equal to the algebraic sum of all the forces acting on the
mass in the positive x direction.
Mx = Kx or Mx  Kx = 0
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MASS-SPRING SYSTEM WITH DISSIPATIVE ELEMENT
The same example with dashpot arrangement.
f(t) is the applied force.
dx B
fB =B
dt
Application of Newton’s law
Mx = f (t )  f K 1  f K 2  f B
dx
Mx = f (t )  K 1x  K 2 x  B
dt
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EXAMPLE
The mechanical equations for the two degrees of freedom
system.x1 and x2 are measured from the equilibrium position
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EXAMPLE
The free body diagram
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EXAMPLE
Define x 2  x1 = x
Applying Newton’s law to each of the two masses, we get
M 1x 1 = f 1 (t )  K 2 (x 2  x 1 )
 B 2 ( x 2  x 1 )  B 1x 1  K 1x 1
M 2 x 2 = f 2 (t )  B 2 (x 2  x 1 )
 K 2 (x 2  x 1 )  B 3x 2  K 3x 2
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EXAMPLE
Suppose f1(t) and f2(t) are unit step functions of magnitudes
F̂1 and F̂2 respectively.
In steady state the derivatives of x 1 and x 2 are zero.
0 = K 1x 1  K 2 (x 1  x 2 )  F1
ss ss ss
0 = K 3 x 2  K 2 (x 1  x 2 )  F2
ss ss ss
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EXAMPLE
K 1  K 2 K 2   x   Fˆ1 ss
 = ˆ 
1
 K 
K 2  K 3   x   F2 
ss
 2 2
ss ss
We solve for x 1 and x 2 which will be the new
equilibrium positions
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STATE SPACE MODELS
The electrical and mechanical equations are coupled.
State space models are writing the coupled electrical and
mechanical equations in the form of a set of first order
deferential equations.
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EXAMPLE
Write the electrical and mechanical equations of the motion
for the system and put them in the state space form.
dx
Mx = f (t )  K 1x  K 2 x  B
dt
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EXAMPLE
We have derived the flux linkages in example 4.7:
2
N i
=
 c 2x 
  
  A 0 A 
2x
Note
c
 c and   g (x )
A 0 A
2
N i
=
c   g (x )
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EXAMPLE
The co-energy is:
i 2 2 2 2
N i N i
W m    di  =
0
2(R c  R g (x )) 2R (x )
Where, R (x ) = R c  R g (x )
e W m
The force of electrical origin: f =
x
e N i 2 2
f = 2
 2x 
0 A  R c  
 0 A 
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EXAMPLE
Equations for the electrical side:
d
vs = i R 
dt
2
N di N 2i 2 dx
v s = iR  
 2x  dt  2 x 
2
0 A dt
 Rc    Rc  
  0 A   0 A 
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EXAMPLE
Mechanical equation:
Let be the static equilibrium position of the moving
member. This is the same as the upstretched length of the
spring with i = 0 . We assume > 0 , i.e., the two pieces
do not touch each other
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EXAMPLE
If we measure the position of the moving member from the
equilibrium position, then the mechanical equations have
the variable (x  )
d 2 (x  ) d 2 x
2
= 2
dt dt
d (x  ) dx
=
dt dt
2
d x dx N i2 2
M 2
 K (x  )  B e
=f = 2
dt dt  2x 
0 A  R c  
 0 A 
10/24/2017 18
EXAMPLE
State space model:
A set of three first-order differential equations. Define the
dx
state variables as x , (denoted by  (velocity )) and i
dt
dx 2
d d x
=  ...................(1) , = 2
dt dt dt
  
  
d 1  N i
2 2
 
=   2 
 K (x  )  B   ..........(2)
  A  R  2 x  
dt M

 0  c 0 A   
  
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EXAMPLE
 
 
di 1  2
N i 2 
=  iR     s  .........(3)
dt L (x )  
2
0 A
 
2 x 
  c
R  
 0 A 
Where 2
N
L (x ) =
 2x 
 Rc  
 0 A 
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EXAMPLE
Equations 1,2,3 are first-order differential equations and are
called the state space equations of electromechanical system.
The initial conditions are x (0) = ,  (0) = 0 , and i (0) = 0.

v s (t ) is a forcing function. Generally, we can also redefine
the state variables mathematically as x = x 1 ,  = x 2 ,

i = x 3 , and v s = u
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EXAMPLE
The state space equations are then of the form
x 1 = f 1 (x 1 , x 2 , x 3 )
x 2 = f 2 (x 1 , x 2 , x 3 )
x 3 = f 3 (x 1 , x 2 , x 3 ,u )
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EXAMPLE
In the matrix form
 x 1 (0) 

x = f (x , u ), x (0) =  x 2 (0)  ,  u = u , a scalar
 x 3 (0) 
Where
x1  f 1 
x =  x 2  , f = f 2 
 x 3   f 3 
x (0) are the initial conditions. In this case x 1 (0) = ,
x 2 (0) = x 3 (0) = 0 . Given u (t) and knowing x(0), we can
integrate to obtain the time domain response.
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EQUILIBRIUM POINTS
Consider the equation x  f (x ,u ) , if u is const .  uˆ ,
by setting x = 0 we get algebraic equations 0  f (x ,uˆ )

e e
This may have several solutions for x denoted x 1 ,x 2 ,….
are called static equilibrium solutions.
10/24/2017 24
EQUILIBRIUM POINTS
Graphically, setting derivatives equal to zero,  e = 0 ,
vs
Since i 
e
, x is the only unknown
R
Plot  K ( x  ) and  f e
(i e
,x )
N 2 (i e ) 2
K (x  ) = 2
= f e (i e , x )
 2x 
0 A  R c  
 0 A 
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NUMERICAL INTEGRATION
There are two kinds of methods: a) explicit and b) implicit.
Euler’s method is an explicit one. Euler’s method is easier
to implement for small systems.
For large systems, the implicit method is better because it is
numerically stable.
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EXPLICIT METHOD(EULER’S METHOD)
The equation is x = f (x , u ), x (0) = x 0
x , f and u are vectors. We split the time interval into
equally spaced time instantst 0 , t 1 , t 2 , , t n , t n 1 ,
From t n to t n 1
t n 1 t n 1
tn
x (t ) dt = 
tn
f (x , u ) dt
x (t n 1 )  x (t n ) = (t n 1  t n ) f (x (t n ), u (t n ))
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EXPLICIT METHOD (EULER’S METHOD)
x (t n 1 ) = x (t n )  t [ f (x (t n ), u (t n ))]
Where t = t n 1  t n =constant , n = 0,1, 2
t is the integration step size

(1) (2) (n ) ( n 1)
x ,x , ,x ,x are known from the previous time instant
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APPLICATION FOR HIGHER-ORDER SYSTEMS
The same procedure is applicable.
Let x 1 = f 1 (x 1 , x 2 , x 3 , t )
x 2 = f 2 (x 1 , x 2 , x 3 , t )
x 3 = f 3 (x 1 , x 2 , x 3 , t )
Application of Euler’s method gives
x 1( n 1) = x 1( n )  t (f 1 (x 1( n ) , x 2( n ) , x 3( n ) , t n ))
x 2( n 1) = x 2( n )  t (f 2 (x 1( n ) , x 2( n ) , x 3( n ) , t n ))
x 3( n 1) = x 3( n )  t (f 3 (x 1( n ) , x 2( n ) , x 3( n ) , t n ))
Superscript notation is used to denote the time instant
(n )  n t = t n , (n  1)  (n  1)t = t n 1
10/24/2017 29

ECE 330 Power Circuits and Electromechanics: Dynamics of Lumped Mechanical Systems

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ECE 330 Power Circuits and Electromechanics: Dynamics of Lumped Mechanical Systems

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ECE 330

POWER CIRCUITS AND ELECTROMECHANICS

So far we have studied the electrical subsystem and its

The gravitational force in equilibrium position is

W  Mg is balanced by spring force K

Displacement x downward causes a force in the spring to

The free body diagram

Applying Newton’s law to each of the two masses, we get

The initial conditions are x (0) = ,  (0) = 0 , and i (0) = 0.

the state variables mathematically as x = x 1 ,  = x 2 ,

The state space equations are then of the form

Consider the equation x  f (x ,u ) , if u is const .  uˆ ,

by setting x = 0 we get algebraic equations 0  f (x ,uˆ )

are called static equilibrium solutions.

Where t = t n 1  t n =constant , n = 0,1, 2

t is the integration step size

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