MEEN 364 Parasuram

Lecture 6,7 August 7, 2001

HANDOUT E.6 - EXAMPLES ON MODELLING OF ROTATIONAL

MECHANICAL SYSTEMS
Note that the time dependence of variables is ignored for all manipulations.

Example 1: A single DOF system

Consider a simple pendulum shown below.

θ
+ direction

Kinematics stage

There is only one rigid body. Let the degree of freedom of the rigid body of mass, ‘m’ be
defined by the angle θ, moved by the body from the vertical position. Therefore the
. ..
angular velocity and angular acceleration of the body is given by θ and θ respectively.
. ..
Therefore the linear velocity and linear acceleration of the body is given by L θ and L θ
respectively.

Kinetics stage

Free body diagram of the body

..
T mL θ

θ
mgsinθ mgcosθ
mg

T is the tension in the string. Writing the Newton’s force balance equation, we get

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MEEN 364 Parasuram
Lecture 6,7 August 7, 2001
T − mg cosθ = 0,
..
mL θ = − mg sin θ ,

Therefore the governing differential equation of motion for the system is given by

.. g
θ + sin θ = 0 . (1)
L

For small angles, i.e., if θ is very small then

sin θ ≈ θ

Therefore the equation of motion reduces to

.. g
θ + θ = 0. (2)
L

Equation (2) represents the final linearized differential equation of motion for a simple
pendulum.

The generalized second order differential equation is given by

..
θ + ω n2θ = 0 ,

where ωn is the natural frequency of the system.

Comparing equation (2), with the above-generalized equation, we get

g
ωn = .
L

State-space representation

Let the states of the system be defined by

θ = x1 ,
. (3)
θ = x2 .

From the above relations, we get

.
x1 = x 2 . (4)

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Lecture 6,7 August 7, 2001

Substituting the relations given by equation (3) in equation (2), we get

.. g
θ + θ = 0,
L
. g
⇒ x 2 = − x1 . (5)
L

Rewriting equations (4) and (5) in matrix format, we have

.   0 1  x 
 x. 1  =  g  1  . (6)
 x 2  − L 0  x 2 


If the output of the system is the angular velocity of the bob of the pendulum, then
expressing the output equation in a matrix format, we have

.
y = θ = x2 ,
x  (7)
⇒ y = [0 1] 1 .
 x2 

Equations (6) and (7) represent the state-space form of the above system.

Example 2: A single DOF system

Consider the system shown below.

A

θ + direction
L

k
B

Kinematics stage

From the above figure, it can be seen that there is only one rigid body and the degree of
freedom is represented by θ in the counter clockwise direction. The angular velocity and
. ..
the angular acceleration of the rod are given by θ and θ respectively. This completes the
kinematics stage.

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Lecture 6,7 August 7, 2001

Kinetics stage

Free body diagram of the rod

Ry

A Rx

Fs
B

mg

If we assume that θ is very small, then point B essentially moves horizontally. Therefore
the distance moved by point B is the arc length Lθ. This is the amount by which the
spring is compressed. Therefore the spring force is given by Fs = kLθ . Furthermore,
since θ is small, the spring is essentially horizontal. Therefore the moment of the spring
force about the pivot A is given by − L(kLθ ) .

Taking moments about the pivot A, we have

L ..
− kL2θ − mg sin θ = I A θ (8)
2
For small values of θ, we have
sin θ ≈ θ

Therefore equation (8) reduces to

.. L
I A θ + kL2θ + mg θ = 0 (9)
2
Equation (9) represents the governing equation of motion.

State-space representation

Let the states of the system be defined as

θ = x1 ,
.
(10)
θ = x2 .

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MEEN 364 Parasuram
Lecture 6,7 August 7, 2001
From the above relations, it can be seen that
.
x1 = x 2 . (11)

Substituting the relations given by equation (10) in equation (9), we have

.. L
I A θ + kL2θ + mg θ = 0,
2
. mgL
⇒ I A x 2 + (kL2 + ) x1 = 0,
2
mgL
. (kL2 + )
⇒ x2 = − 2 x1 . (12)
IA

Rewriting the equations (11) and 12) in matrix format, we have

 0 1
.   mgL   x1 
 x. 1  =  (kL +
2
)   . (13)
 x 2  − 2 0  x 2 
 IA 

If the output of the system is the angular displacement of the rod, then expressing the
output relation in matrix format, we have

y = θ = x1
x 
⇒ y = [1 0] 1 . (14)
 x2 

Equations (13) and (14) represent the state-space form of the above-defined system.

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Lecture 6,7 August 7, 2001
Example 3: Two DOF system

Consider the system shown in the figure below.

1 2
+ direction
R r F(t)

Kinematics stage

From the above figure it can be seen that, there are two rigid bodies, which are hinged
and can only rotate about the fixed point. Since the two bodies are interconnected by a
spring, there are two degrees of freedom for the system. Let the degrees of freedom be
the rotation of the two discs in the clockwise direction. Let the angle of rotation of the
two discs be defined as ‘θ1’ and ‘θ2’ respectively. Then the angular velocities of the discs
. .
are θ 1 and θ 2 respectively and the angular acceleration of the two discs are given by
.. ..
θ 1 and θ 2 respectively. This completes the kinematics stage.

Kinetics stage

Note that since the discs are identical, they have the same the moment of inertia, ‘I’.

Assume θ2 to be greater than θ1.

Free body diagram of the disc 1

kR(θ 2 −θ 1)

kRθ 1

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MEEN 364 Parasuram
Lecture 6,7 August 7, 2001
Writing the torque balance equation, i.e., taking moments about the center of the disc, we
get

..
∑M = Iθ
,,
⇒ −(kRθ 1 ) R + kR(θ 2 − θ 1 )R = I θ 1 ,
..
⇒ I θ 1 + 2kR 2θ 1 − kR 2θ 2 = 0. (15)

Free body diagram of the disc 2

kR(θ 2 −θ 1)

F(t)
r

Taking moments about the center of the disc, we have

..
Iθ 2 = − kR(θ 2 − θ 1 ) R + Fr ,
..
Iθ 2 − kR 2θ 1 + kR 2θ 2 = Fr . (16)

Equations (15) and (16) represent the equations of motion of the system. Rewriting the
equations in matrix format, we have

 .. 
 I 0 θ 1   2kR 2 − kR 2  θ 1   0 
0 I   ..  +    =   .
 θ 2  − kR 2 kR 2  θ 2   Fr 
 

State-space representation

Let the states of the system be defined as

θ 1 = x1 ,
.
θ 1 = x2 ,
(17)
θ 2 = x3 ,
.
θ 2 = x4 .

From the above relations, the following two differential equations can be derived.

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MEEN 364 Parasuram
Lecture 6,7 August 7, 2001
.
x1 = x 2 ,
.
(18)
x 3 = x4 .

Substituting the relations given by equation (17) in equation (15), we get

..
I θ 1 + 2kR 2θ 1 − kR 2θ 2 = 0,
.
⇒ I x 2 + 2kR 2 x1 − kR 2 x3 = 0,
2kR 2
. kR 2
⇒ x2 = − x1 + x3 . (19)
I I

Substituting the relations given by equation (17) in equation (16), we have

..
Iθ 2 − kR 2θ 1 + kR 2θ 2 = Fr ,
.
⇒ I x 4 − kR 2 x1 + kR 2 x3 = Fr ,
. kR 2 kR 2 r
⇒ x4 = x1 − x3 + F . (20)
I I I

Rewriting equations (18), (19) and (20) in matrix format, we get

.   0 2 1 0 0 0
 x. 1   2kR kR 2   x1   
 x 2  − I 0 0  x  0
I  2  +   F.
.  =  0 0 0 1  x3   0 
(21)
 x 3   kR 2 kR 2

  r 
 x.   0 − 0  x 4   
 4   I I  I 

If the output of the system is the angular displacements of both the discs, then expressing
the output equation in matrix format, we get

y1 = θ 1 = x1 ,
y2 = θ 2 = x3 ,

 x1 
 
 y1  1 0 0 0  x 2 
⇒ =  . (22)
 y 2  0 0 1 0   x 3 
 
 x4 

Equations (21) and (22) represent the state-space form of the system defined above.

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MEEN 364 Parasuram
Lecture 6,7 August 7, 2001
Example 4: Two DOF system

Consider the system shown below.

A + direction

L1 L2

Kinematics stage

There are two rigid bodies and since they are attached by means of a spring, the number
of degrees of freedom of the system is two. Let the two DOF’s be represented by the
amount of angular displacement of both the rods. Therefore let the DOF’s be θ1 and θ2.
. . .. ..
Then the angular velocities and angular accelerations will be θ 1 ,θ 2 ,θ 1 ,θ 2

respectively. This completes the kinematics stage. Assume θ1 and θ2 to be small.

Kinetics stage

Free body diagram of the rod 1

θ1
L1

k ( L1θ 1 − L2θ 2 )

m1 g

Taking moments about the point A, we have

..
∑M A
= IAθ 1
(23)
L ..
⇒ − m1 g 1 sin θ 1 − k ( L1θ 1 − L2θ 2 ) L1 cosθ 1 = I1 A θ 1 .
2

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Lecture 6,7 August 7, 2001
For very small angles,

sin θ 1 ≈ θ 1,
cosθ 1 ≈ 1.

Substituting the above relation in equation (23), we have

.. m1 gL1
I 1 A θ 1 + (kL12 + )θ 1 − kL1 L2θ 2 = 0. (24)
2

Free body diagram of the rod 2

θ2
L2

k ( L1θ 1 − L2θ 2 )

m2 g

Taking moments about the point B, we get

..
∑M B = IB θ 2
(25)
L ..
⇒ − m2 g 2 sin θ 2 + k ( L1θ 1 − L2θ 2 ) L2 cosθ 2 = I 2B θ 2 .
2

Assuming small angles, the above equation reduces to

.. m2 gL2
I 2B θ 2 )θ 2 − kL1 L2θ 1 = 0.
+ (kL22 + (26)
2
Equations (24) and (26) represent the governing differential equations of motion.

State-space representation

Let the states of the system be defined as

θ 1 = x1 ,
.
(27)
θ 1 = x2 ,

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Lecture 6,7 August 7, 2001

θ 2 = x3 ,
.
(28)
θ 2 = x4 .

From the relations given by equations (27) and (28), we have

.
x1 = x 2 ,
.
(29)
x 3 = x4 .

Substituting the relations given by equations (27) and (28) in equation (24), we have

.. m1 gL1
I 1 A θ 1 + (kL12 + )θ 1 − kL1 L2θ 2 = 0.,
2
. m gL
⇒ I1 A x 2 + (kL12 + 1 1 ) x1 − kL1 L2 x3 = 0,
2

m1 gL1
(kL12 + )
.
2 kL L
x2 = − x1 + 1 2 x3 . (30)
I1A I1A

Similarly, substituting the relations given by equations (27) and (28) in equation (26), we
get

.. m2 gL2
I 2B θ 2 + (kL22 + )θ 2 − kL1 L2θ 1 = 0.,
2
. m gL
⇒ I 2 B x 4 + (kL22 + 2 2 ) x3 − kL1 L2 x1 = 0,
2
m gL
(kL22 + 2 2 )
. kL1 L2 2
x4 = x1 − x3 . (31)
I 2B I 2B

Rewriting equations (29), (30) and (31) in matrix format, we have

 0 1 0 0
 m gL 
 .   (kL12 + 1 1 )   x1 
 x. 1  − 2 0
kL1 L2
0  
x 2   I1 A I1A x
  2 .
.  =  0 0 0 1  x3 
(32)
x3   2 m gL  
.
x   (kL2 + 2 2 )   x4 
 4 kL1 L2 2
 0 0
 I 2B I 2B 

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Lecture 6,7 August 7, 2001
If the output if the system is the angular displacement of rod 1, then the output expression
can be expressed in matrix format as

y =θ 1 = x1 ,

 x1 
x 
⇒ y = [1 0 0 0] 2 . (33)
 x3 
 
 x4 

Equations (32) and (33) represents the state-space form of the system defined.

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Lecture 6,7 August 7, 2001
Assignment

1) For the system shown below, derive the governing differential equation.

θ1

l1, m1

θ2
l2 , m2

The above system consists of two point masses m1 and m2, each suspended by strings of
length L1 and L2.

2) Derive the governing differential equations of motion for the system shown below.

Mass m

L
2
c c

L
2

Recommended Reading

“Feedback Control of Dynamic Systems” 4th Edition, by Gene F. Franklin et.al – pp 24 -

45.

Recommended Assignment

“Feedback Control of Dynamic Systems” 4th Edition, by Gene F. Franklin et.al –

problems 2.3.

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