Electromechanical Analogies

From Newtons law or using Lagrange equations of motions, the second-order

differential equations of translational-dynamics and torsional-dynamics are found as

d 2x dx
m Bv k s x Fa (t ) (Translational dynamics)
dt 2 dt
d 2 d
j 2 Bm k s Ta (t ) (Torsional dynamics)
dt dt
Fluid System Building Blocks
The basic building blocks of fluid systems are the volumetric rate of flow q and the
pressure difference.

Input Output

Volumetric rate of flow Pressure difference

Fluid system can be divided into two types: hydraulic and pneumatic.
Hydraulic resistance is the resistance to flow of liquid as the liquid flow through
valves or changes in pipe diameter takes place.

p1 p2 Rq
p1 - p2 is pressure difference
R is the hydraulic resistance
q is the volumetric rate of flow
 Hydraulic capacitance is the term used to describe energy storage with a liquid where
it is stored in the form of potential energy. A height of liquid in a container is one
form of such a storage. For such capacitance, the rate of change of volume V in the
container (dV / dt) is equal to the difference between the volumetric rate at which
liquid enters the container q1 and the rate at which it leaves q2.

dV
q1 q2 ; V Ah
dt
dh
q1 q2 A
dt
A dp
q1 q2
pg dt
( p is liquid density; g is the accelerati on due to gravity)
A dp
C ; q1 q2 C
pg dt
 Hydraulic inertance is the equivalent of inductance in electrical systems or a spring
in mechanical systems. To accelerate a fluid and so increase its velocity a force is
required.

F1=p1A
Mass m
F1 F2 p1 A p2 A ( p1 p2 ) A
F2=p2A
( p1 p2 ) A ma
dv dv dq
( p1 p2 ) A m ALp Lp
dt dt dt L
dq Lg
p1 p2 I ; I is the hydraulic inertance
dt A
L is the length of the block and g is the density
 With pneumatic systems the three basic buildings blocks are as with hydraulic
systems, resistance, capacitance, and inertance. However, gasses differ from liquids
in being compressible.

dm p1 p2
Resistance
dt R
dm d ( p1 p2 )
Capacitanc e C
dt dt
dm 1
Inertance ( p1 p2 )dt
dt L
 A fluid system
p is the liquid density
g is the accelerati on due to gravity
q1 q is the volumetri c rate of flow

dp
q1 q2 C (Capacitor )
h dt
p1 p2 Rq 2 (Resistanc e)
hpg
q2 p1-p2 hpg ; q2
R
hpg d (hpg ) dh pgh
q1 C A
R dt dt R
 Thermal System Building Blocks

There are only two basic building blocks for thermal systems: resistance and
capacitance.
There is a net flow of heat between two points if there is a temperature
difference between them.
The value of the resistance depends on the mode of heat transfer.

T2 T1 T T
q Ak 2 1
R L
A : Cross sectional area of the material through which the heat is being conducted
L is the length of material between the points at which t he temperatu re are T1 and T2 .
k is the thermal conductivity
Thermal System

T TL T
q q
R
TL
dT dT
q1 q2 C ;q C
dt dt
dT TL T
C
dt R
dT
RC T TL
dt
ROTATIONAL TRANSLATIONAL
SYSTEMS
ROTATIONAL TRANSLATIONAL SYSTEMS
 ELECTRO- MECHANICAL SYSTEMS
Rotary Potentiometer
 ELECTRO- MECHANICAL SYSTEMS

DC Motor with a load

 For Armature Controlled Motor, Field Current
remains constant. Constant Field current means a
constant Magnetic flux density.
For field controlled motor,
Rate of flow of liquid through an Orifice
HYDRAULIC MECHANICAL SYSTEMS