Chapter l- Mathematical Models of Control Systems 1.

29

EXAMPLE 1.8

Write the differential equations governing the K, K,

mechanical system shown 1. Draw theforce-voltage and
in fig 000
f(t)
M, M,
force-current electrical analogous circuits and verity by writing
mesh and node equations.

SOLUTION B, Fig 1.

The given mechanical system has two nodes (masses). The differential equations
governing the mechanical system are given by forcebalance equationsat these nodes. Let the
displacements of masses M,and M, be x, and x, respectively. The correspondingvelocities be
v, and v,

The free body diagram of M, is shown in fig 2. The opposing forcesare marked as
fo fa fo12 and f
-f(t)

fm1=M, dt
dt

M,
-for2

By Newton's second law, fm t fo t fot2 tf =f() -f..

d'x, dx, ...1.)

.:. M,
dt?
+B, dt +B12 G (X;X,) + K,(x,-x) =f() Fig 2.
SS

The free body diagram of M, is shown in fig 3.The opposing forces are marked as fmgfg f12: f,,and f.

la
fm2 =M dt
dt ;b2=B12 X,-x)

fe=K,(x,-x) ; =K,X,
By Newton's second law, fn t+ fg t ft fo12 + f=0 M, f,12

M
d'x, +B,
dt
2 dt K,x, +B,2(x-x) + K,(M,- x)=0
..2)

and (2) of
-f
f

the differential equations (1)

On replacing the displacements by velocity in
Fig 3.
se the mechanical system we get,

dv dx x=-fva)
d²x A=y and
dt dt
(ie. dt
Ca
...3)

+ B,v, +B,2(,-V,) + K, /(V,-v,)dt

=f()
M dt

..4)
dv, + K, /(v,-v) dt =0
M2 dt +B,V, +K, v,dt + B,(V,-v)
Chopter 1- Mathematical Models of Control Systems 1. 35

EXAMPLE 1.10
K

Wrte the differential equationsgoverning the mechanical system shown in M, M

fo 1.Draw force-voltage and force-current electrical analogous circuits and verity B,

by writing mesh and node

equations.

SOLUTION
The given mechanical system has three nodes (masses). The differential
B
enuations governing the mechanical system are given by force balance equations
at thesenodes. Let the displacements of masses M,, M, and M, be x,, x, and x,
Fig 1.
respectively. The corresponding velocities be v,,v, and v,.

The free body diagram of M,is shownin fig 2. The opposing forces are marked as f, f,. f f and f

d'x, dx,
fn=M, dt
ifk=Kx,
dt?

-x):bo=B,,-x)
M,
By Newton's second law, fmi t fo1tf+f + f =0

M,-
d² +B,d+K;x, +B,-x)+B,-x)= 0 .(1) Fig 2.

The free body diagram of M, is shown in fig 3. The opposing forces are marked as faa and fu

d'x,
fn2M2 d? :b=8, (,-x)

M,
By Newon's second law, fnt fy t fo23 +fa3 =0
..2)
M,
dt
+B, (x,-x) + Bzs (x,-x,) + Kyg(X,-X) =0 Fig 3.

The free body diagram M, is shown in fig 4. The opposing forces are marked asfzy and
of
d'x, d
fn3=M3 d?

-
M,

By Newton's second law, ng t,, fs fu=0

+
t
M, B,,-x) B»
+ + (- x) Ky,(k,-x,) =0
...(3)
+
dt

equations (1), (2) and (3) governing the mechanical

On replacing the displacements by velocity in the differential

system we get,

d'x dv dx
(ie, dt? dt -v and x fvdt)
dv, A..(4)
MaB,v, +K,/ v,dt + B,(V,-v,) +B,(M,-v)-0

dv, ..(5)
M dt +B,(v,-v) + B,a(v,-v,) +K, /(Vy-v)dt 0
(6)
dv,
Ms dB,(V,- v) +B,a(v,-v,) + Kz (V,-v,)dt - 0
 systo
and (6)governing the mechanical

EXAMPLE 1.11
system shown in fig 1. K

mechanical
equations governing the by wNTIting
Wite the differential circuitsand verifty
analogous
Draw the force-voltage
mesh and node equations.
and force-current electrical

K
sOLUTION
MB
(masses). The differentialequations
two nodes
system has at these nodes. Let
The given mechanical force balance equations
system are given by The corresponding velocities Fig I.
governing the mechanical M,and M, be x, and x, respectively.
of masses
the displacement
be v, and v,
M, is shown in fig 2. The opposing
forces are marked
as f5 and

The free body diagram of

fn=M,;f,=B,
dt?
d(x-x>)
dt
: =K,x,- x>)

M.
By Newton's second law, fo + fo +fh =0
..(1)
d²x, d(x-X2) +K,(x,-X,) = 0 2
f.fo
M, dt? +B, dt Fig

marked as and f
of M,is shown in fig 3. The opposing forces are
The free body diagram

dt?
: f2=B2 dt
dx,

4,=K,(, x)
i
By Newton's second law, f, ft fat foit f,=f() M,

(2)
M,B,
dt Kyx, B Kg- x) + K,(X,-x) =f(0
+
Fig

by in the differential equations (1) and (2)governing the mechanical

On replacing the displacements velocity

system we get,

(ie., dy d
dudx
dt dt v and x- vdt)

.3)
MB,(v,-v,) +K,/ (v,-v,) dt - o

M2 ...4)
dt
 It is observed that the node basis
equations (7) and (8) are similar to the differentialequations (3)
governing the mechanical system. and (4)

EXAMPLE 1.9
f,(t)

Write the differential equations governing the

mechanical
K
fig 1. Draw the force -voltage and force-current system shown in
electricalanalogous circuitsand verify
by writing mesh and node euations. M,
f(0)
SOLUTION K,

The given mechanical system has three nodes masses. The M,

differential
equations governing the mechanical system are given by force balance equations B
K,
at these nodes. Let the displacements of masses M,, M,
and M, be x,, X, and x,
respectively. The corresponding velocities be v, V, M,
and V,
Fig 1.
The free body diagram of M, is shown in fig 2. The opposing forces are marked
as fmifo f,andf,

+f,(t)
+f()
-f

M, -f,1 M, -fp
M,
f
Fig 2. Fig 3. Fig 4.
1, 32 Control Syste

M,d'x, dx,
dt' dt

By Newton's second law, fo tf,+,+=1,(0)

M,B,+K,(x,-X,)
dt?
+ K;x=,(0)

M,is shown in fig 3. The opposing forces are marked as fg fs

Free body diagram of

fmz =M,
dx,
i b3 =B - x) hz=K,(x,-X) :
fo =K,(K,-x)

i
dt?

By Newton's second law,

M, dt

The free body diagram

fns =
+B,x,- x)+K,(x,- x)+

d'x.
M,:s=B,
dt?
of M, is shown

dt
in fig
K,(x,

K3-x)i hg=Kg(Kg-
(x,-x)
-X)= ,(0)
4. The opposing forces are marked

x,)
as ,
andf

By Newton's second law,

M3
dt
+ B,X3-X) +Kg(x3-X,) =0

On replacing the displacements by velocity in the differential equations (1). (2)and (3) goveing the mecham

system we get,
dv dx y and
(ie,d'x
dt? dt dt x-fvdt)
dv
MGB,y, + K, /ydt+K,/w,-v,)dt = t(0

M2dv2
dl +B,(v,-v,)+ K, (,-v)dt +K, /M,-v)dt = 60)

M dB,(Vg-v) Ky / g-v,) dt= 0

+