Content:
S.No.
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Title:
Concept
Learning Objectives
Mathematical Models of Different Types of Systems
Introduction
Mechanical Elements
Mechanical Systems
Electrical Systems
Analogous Between Electrical and Mechanical Systems
Solved Examples
Exercises
Review Questions
Match The Following
True or False
Drag and Drop
Model Questions
Learning Objectives
Page No.
Content
Translational Systems
Rotational Systems
Instruction to
animator
Display the
points one by
one
Graphics
Concept
Title:
Difference equations are useful for relating the evolution of variables (or
parameters) from one discrete instant of time (or other independent
variable) to another.
Instruction
to animator
Display point
by point
Graphics
Concept
Title:
Instruction
to
animator
Graphics
Mechanical Elements
Translational Elements:
Newtons second law states that the sum of applied forces is equal to the
sum of opposing forces on a body.
1) The mass element
The force (F) applied to the mass (M) is proportional to the rate of change of
its velocity v(t).
Fig. 1
dv
d x
or F
dt
dt2
By Newtons second law,
F
F M
dv
d2x
M
dt
dt2
Fig. 2
Fig. 3
F Kx(t )
F ( x1 x2 )
By Newtons second law,
t
F K ( x1 x2 ) Kx K
v1
v2 dt K
v dt
Insert
figures 1 ,
2,3, beside
the
statements
1. The
mass
element,
2,
3, resp
Fig. 4
Fig. 5
dx
v(t )
dt
By Newtons second law,
F
F f v (t ) fx (t )
F (v1 v2 )
By Newtons second law,
F f v1 v2 fv f (x 1 x 2 ) f x
where f is viscous friction coefficient ( Newton per m/sec )
where x is in m, v is in m/sec, M is in kg
Insert
figures 4 , 5,
6, beside the
statements
1. The
inertiaelem
ent, 2,
3, resp
Fig. 6
Rotational Elements:
1) The inertia element
The torque (T) applied to the rotational mass is proportional to the rate of
change of its angular velocity (t ) .
d
T
dt
By Newtons second law,
T J
d
d 2
J
dt
dt 2
T 1 2
t
T K (1 2 ) K K
1 2 dt
dt
T 1 2
By Newtons second law,
T f 1 2 f f 1 2 f
where f is viscous friction coefficient ( Newton per m/sec )
Mass/Inertia and the two kinds of springs are the energy storage
elements where in energy can be stored without loss and so these are
called conservative elements.
Energy stored in these elements is expressed as:
1
Mv 2 kinetic energy (J)
2
1
Inertia: E Mv 2 kinetic energy (J)
2
1
Spring (translatory): E Kx 2 potential energy (J)
2
1
Spring (torsional): E K 2 potential energy (J)
2
Mass: E
P f
(Translational)
Concept
Title:
Instruction to
animator
Graphics
Translational Systems
Consider the mechanical system shown in figure.
The way of analyzing such a system is to draw a free - body
diagram as shown in below figure.
By applying Newtons law of motion to the free - body
diagram, the force equation can be written as
F f
Fig. 1
dx
d2 x
d2 x
dx
Kx M
F M
f
Kx . (1)
2
2
dt
dt
dt
dt
Rotational Systems
Consider now, the rotational mechanical system as shown in
figure.
Fig. 2
d
d 2
K J
dt
dt 2
T J
d 2
dt
d
K (2)
dt
Fig. 3
Fig. 4
Concept
Title:
Instruction to
aniamtor
Insert fig. 1
above the
sentence By
applying KVL
Graphics
Fig. 1
By applying KVL
L
di
1
Ri
dt
C
i dt
d 2q
dt
dq 1
qe
dt
C
i dt
(3)
de
1
dt
L
e dt R
We know, e
d
dt
Insert fig. 2
above the
sentence By
applying KCL
Fig. 2
d 2
dt
1 d 1
i
R dt
L
(4)
Concept
Title:
d2x
dt
d 2
dx
Kx (1)
dt
d
K (2)
dt
dt
The voltage, current equations from the series and parallel RLC circuits are
T J
eL
i C
d 2q
dt
d 2
dt 2
dq 1
q (3)
dt C
1 d 1
(4)
R dt
L
Note: while
drawing tables
1st take
electrical
systems.
Reminder:
In the table
write viscous.f
(or B)
Graphics
1. Identify all the displacements due to the applied force. The elements
spring and friction between two moving surfaces cause change in
displacement.
2. Draw the equivalent mechanical system based on node basis. The
elements under same displacement will get connected in parallel under
that node.
3. Each displacement is represented by separate node. Elements causing
change in displacement is always between the two nodes.
4. Write the algebraic equations. At any node algebraic sum of all the
forces acting is equal to zero.
5. In F - V analogy, use following replacements and rewrite equations,
F V,
M L, B R,
K 1 C,
x q,
x i
M C,
B 1 R,
K 1 L,
x ,
x e
Fig. 1
Insert fig. 1
below Question
Fig. 2
Insert fig. 2
above the
sentence At
node 1
i)
F - V Analogy
and
(ii) F - I Analogy.
Solution:
There are two displacements in the given figure.
There is no element at node 1; hence the force is directly applied to spring
K1. So it will store energy and cause to change the force applied to M2 .
Hence displacement of M2 is x2 and as B2 and K2 are connected to fixed
supports both are under x2 (t ) only as shown in the equivalent system.
At node 1,
0 K1(x2(t ) x1(t )) M2
d 2 x2
dt
K2 x2(t ) B2
dx2
dt
i)
F - V analogy:
M L;
B R;
(1)
(2)
V (s)
0
1
(q1(s) q2(s))
C1
1
1
(q2(s) q1(s)) L2s2q2(s)
q2(s) R2 sq2 (s)
C1
C2
By putting i
V (s)
0
. (3)
(4)
dq
I(s) sq(s) in the equations (3) & (4), we get
dt
1
(I1(s) I2(s))
sC1
1
1
(I2(s) I1(s)) L2sI2 (s)
I2(s) R2 I2(s)
sC1
sC2
Fig. 3
v(t )
1
C1
(i1(t ) i2(t ))
(5)
1
di (s) 1
(i2(t ) i1(t )) L2 2
C1
dt
C2
i2(t ) R2i2(t )
(6)
ii)
F I analogy:
M C;
1
;
R
1
;
L
I(s)
Insert fig. 3 at
the end of F-V
analogy
1
(1(s) 2 (s))
L1
(7)
1
1
1
(2 (s) 1(s)) C2s22(s)
2(s)
s2 (s)
L1
L2
R2
(8)
d
V (s) s(s) in the equations (7) & (8), we get
By putting V
dt
I(s)
1
(V1(s) V2 (s))
sL1
Fig. 4
1
1
1
(V2 (s) V1(s)) C2sV2(s)
V2(s)
V1(s)
sL1
sL2
R2
L1
di(t )
v1(t ) v2 (t )
dt
1
L1
v2(t ) v1(t ) C2
Insert fig. 4 at
the end of F-I
analogy
(9)
dv2(t ) 1
1
v2(t )
v1(t ) (10)
dt
L2
R2
Concept
Title:
Content
Graphics
Fig. 1.1
Solution:
As K and B are with respect to fixed support, all J, K and B are
under (t ) only.
Hence equivalent system is,
d 2 (t )
d (t )
dt
dt
By applying Laplace transform,
T (t ) J
K (t ) B
Fig. 1.2
i)
Fig. 1.3
J L;
B R;
By substituting q(s)
I(s)
, we get
s
Fig. 1.4
1
I(s)
sC
By applying inverse Laplace transform,
V (s) LsI(s) RI (s)
v(t ) L
di(t )
1
Ri(t )
dt
C
i(t )dt
M C;
1
;
R
1
;
L
1
1
By replacing (s)
V (s)
s
V (s)
1
V (s)
R
sL
i(t ) C
dv(t ) 1
1
v(t )
v(t )dt
dt
R
L
F - V Analogy
and
(ii) F - I Analogy.
Fig. 2.1
Solution:
The displacement of M1 is x1(t ) and as B1 is between M1 and
fixed support hence it is also under the influence of x1(t ) .
B2 changes the displacement from x1(t ) to x2(t ) as it is
between two moving points. M2 and K are under the
displacement x2 (t ) .
At node1,
F M1s2 X1 B1sX1 B2 s( X1 X2 )
(1)
At node2,
0 M2s2 X2 KX2 B2s( X2 X1)
i)
F - V analogy:
(2)
Fig. 2.2
M L;
B R;
0 L2 s2q2 (s)
1
q2(s) R2s(q2(s) q1(s))
C
By replacing q(s)
I(s)
in the above equations
s
v(t ) L1
di1(t )
R1i1(t ) R2(i1(t ) i2(t ))
dt
di (t ) 1
0 L2 2
i2 (t ) R2(i2 (t ) i1(t ))
dt
C
below.
ii)
F - I analogy:
M C;
1
;
R
1
;
L
Fig. 2.3
Insert fig. 2.3 at
the end of F-V
analogy
1
1
s1(s)
s(1(s) 2(s))
R1
R2
I(s) C1s21(s)
0 C2s22 (s)
1
1
2 (s)
s(2(s) 1(s))
L
R2
By replacing (s)
I(s) C1sV1(s)
V (s)
in the above equations
s
1
1
V1(s)
(V1(s) V2(s))
R1
R2
1
1
V2(s)
(V2(s) V1(s))
sL
R2
By applying inverse Laplace transform, we get
0 C2sV2(s)
i(t ) C1
0 C2
dv1(t ) 1
1
v1(t )
(v1(t ) v2(t ))
dt
R1
R2
dv2(t ) 1
1
v2(t )
(v2(t ) v1(t ))
dt
L
R2
Fig. 2.4
Insert fig. 2.4 at
the end of F-I
analogy
Concept
Title:
Content
Graphics
Fig. 1.1
i)
F - V Analogy
and
(ii) F - I Analogy.
Answer:
The equivalent mechanical system is,
Fig. 1.2
Fig. 1.3
i)
T - V Analogy
and
below the
sentence
Electrical
analogous
circuit using FV analogy is,
Insert fig. 2.4
below the
sentence
Electrical
analogous
circuit using FI analogy is,
Fig. 2.2
Fig. 2.3
(ii) T - I Analogy.
Fig. 2.4
Answer:
Fig. 3.1
Fig. 3.2
Fig. 3.3
Fig. 3.4
Concept
Title:
Content
Review Questions
Review Questions
Displacement
Velocity
Acceleration
Coulomb friction
Voltage
Resistance
Inductance
Charge
Instruction to
animator
Graphics
d 2y1(t )
b) M
d 2y2(t )
c) M
d 2y1(t )
d) M
dt 2
dt
dt
d y2(t )
dt 2
dy1(t )
k[y2 (t ) y1(t )]
dt
dy2(t )
k[y2(t ) y1(t )]
dt
dy1(t )
k[y1(t ) y2(t )]
dt
dy2(t )
k[y1(t ) y2(t )]
dt
6. Which one of the following represents the linear mathematical model of the
physical system shown in the figure?
a) m
b) m
c) m
d) m
d 2 x(t )
2
dt
2
d x(t )
dt
d x(t )
dt
d 2 x(t )
dt
dx(t )
kx(t ) f (t )
dt
dx(t )
kx(t ) 0
dt
dx(t )
kx(t ) f (t ) 0
dt
dx(t )
kx(t ) f (t ) 0
dt
Charge
Current
Resistance
Reciprocal of capacitance
Insert fig. q5
below q5
Insert fig. q6
below q6
resistance
reciprocal of resistance
capacitance
reciprocal of capacitance
capacitance
reciprocal of capacitance
inductance
reciprocal of inductance
Concept
Title:
Instruction to
animator
Electrical Systems
1. Force F
a) Inductance L
2. Spring stiffness K
b) Resistance R
3. Displacement
c) Voltage e
d) Charge q
5. Mass
e) 1/C
6. Velocity
f) Current i
Graphics
Concept
Title:
Content
True or False
True or False
True
3. Under force- voltage analogy, resistance is analogous to
displacement
False
4. Under force- current analogy, magnetic flux linkage is analogous
to displacement
True
5.
True
6. Under force- voltage analogy, velocity is analogous to
reciprocal of inductance
True
Instruction to
aniamtor
Graphics
Concept
Title:
Content
For the mechanical translational system elements shown below find the equivalent
analogous electrical elements for Force Current analogy.
1. Force F
a) Current i
2. Spring stiffness K
b) 1/L
3. Displacement
d) 1/R
5. Mass
e) Capacitance C
6. Velocity
f) Voltage e
Graphics
Concept
Title:
1) For the mechanical system shown below obtain the electrical analogous
systems.
Instruction to
animator
Graphics
Solution:
There are two displacements are there in the given system. The mechanical
equivalent circuit for the given system is shown below.
Fig. 1.1
Insert fig. 1.2 below 1st
line of solution
At node 1,
Ms2 X (s) K2[X (s) X2 (s)] F (s) (1)
Fig. 1.2
At node 2,
(2)
F - V analogy:
M L;
B R;
V (s) L1s2q1(s)
1
s(q(s) q1(s))
C2
1
1
q1(s)
(q1(s) q(s))
C1
C2
By replacing q(s)
V (s) L1sI1(s)
I(s)
in the above equations
s
1
(I(s) I1(s))
C2
1
1
I1(s)
(I1(s) I(s))
sC1
sC2
By applying inverse Laplace transform, we get
0
v(t ) L1
1
C1
di1(t ) 1
i(t ) i1(t )
dt
C2
1
F - I analogy:
M C;
1
;
R
1
;
L
I(s) C1s21(s)
1
s( (s) 1(s))
L2
1
1
1(s)
(1(s) (s))
L1
L2
By replacing (s)
V (s)
in the above equations
s
Fig. 1.3
I(s) C1sV1(s)
1
(V (s) V1(s))
sL2
1
1
V1(s)
(V1(s) V (s))
sL1
sL2
By applying inverse Laplace transform, we get
0
i(t ) C1
0
1
L1
dv1(t ) 1
2) For the mechanical system shown below obtain the torque - voltage and
torque current electrical analogous system.
Fig. 1.4
Insert fig. 2.1 below Q2
Insert fig. 2.2 below the
1st line of solution
Solution:
The mechanical equivalent to the given system is shown below.
Fig. 2.1
At node1,
T (t ) J1
d 21(t )
dt
B1
d1(t )
K1(1(t ) 2 (t ))
dt
At node 2,
0 J2
d 22(t )
dt
B1
d2(t )
K1(2(t ) 1(t )) K22(t )
dt
Fig. 2.2
. (1)
i)
.. (2)
J L;
B R;
1
(q1(s) q2(s))
C1
1
1
(q2(s) q1(s))
q2 (s)
C1
C2
I(s)
, we get
s
1
V (s) L1sI1(s) R1I1(s)
(I1(s) I2 (s))
sC1
By substituting q(s)
1
1
(I2(s) I1(s))
I2(s)
sC1
sC2
By applying inverse Laplace transform,
0 L2sI2(s) R1I2(s)
v(t ) L
0 L2
ii)
di1(t )
1
R1i1(t )
(i1(t ) i2(t ))dt
dt
C1
di2(t )
1
1
R1i2(t )
(i2(t ) i1(t ))dt
dt
C1
C2
i2(t )dt
Fig. 2.3
M C;
1
;
R
1
;
L
I(s) C1s21(s)
0 C2s22(s)
1
1
s1(s)
(1(s) 2(s))
R1
L1
1
1
1
s2(s)
(2(s) 1(s))
2(s)
R1
L1
L2
V (s)
, we get
s
1
1
I(s) C1sV1(s)
V1(s)
(V1(s) V2 (s))
R1
sL1
By substituting (s)
1
1
1
V2 (s)
(V2 (s) V1(s))
V2(s)
R1
sL1
sL2
By applying inverse Laplace transform,
0 C2 sV2(s)
i(t ) C1
0 C2
dv1(t ) 1
1
v1(t )
(v1(t ) v2(t ))dt
dt
R1
L1
dv2(t ) 1
1
1
v2(t )
(v2(t ) v1(t ))dt
v2(t )dt
dt
R1
L1
L2
Fig. 2.4