ME 375 Handouts

Translational Mechanical Systems

Basic (Idealized) Modeling Elements Interconnection Relationships -Physical Laws Derive Equation of Motion (EOM) - SDOF Energy Transfer Series and Parallel Connections Derive Equation of Motion (EOM) - MDOF

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Variables
x : displacement [m] v : velocity [m/sec] a : acceleration [m/sec2] f : force [N] p : power [Nm/sec] w : work ( energy ) [Nm] gy [ ] 1 [Nm] = 1 [J] (Joule)
d ! x! x!v dt d d"d ! v!v! $ dt dt & dt

2 # d x % ! 2 x ! !! ! a x ' dt d ! p ! f (v ! f ( x ! w dt t1

w(t1 ) ! w(t0 ) ) * p (t ) dt
t0

! ! w(t0 ) ) * ( f ( x) dt
t0
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t1

ME 375 Handouts

Idealized Modeling Elements

Inertia (mass) Stiffness (spring) Dissipation (damper)

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Basic (Idealized) Modeling Elements

Spring
Stiffness Element
x1 fS x2 fS

Reality
1/3 of the spring mass may be considered into the lumped model. In large displacement operation springs are nonlinear. nonlinear.
fS

f S ! K + x2 - x1 ,

Idealization
M l Massless No Damping Linear

Stores

Energy

(x2 - x1)

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ME 375 Handouts

Practical Nonlinear Spring

Engine Mount:
Experimental
4000 #T062 VERTICAL

Analytical Anal tical

2000

2 1

LOAD (N)

-2000

-4000 -20 -15 -10 DISP (mm) -5 0 5

Restoring force ! +K ) /.x 2 ,.x

1

Small motions 0K for isolation

Large motions for static loads

! K ) /.x 2

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Series Connection
Springs in Series
x1 fS x2 fS x1 x2 fS

K1

K2

fS

KEQ

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ME 375 Handouts

Parallel Connection
Springs in Parallel
x1 x2 x1 fS x2 fS KEQ

fS

K1 K2

fS

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Basic (Idealized) Modeling Elements

Damper
Friction Element
x1 fD x2 fD f2 f3

Mass
Inertia Element
x M f1

! ! f D ! B + x2 - x1 , ! B + v2 - v1 , Dissipate Energy
fD

M !! ! 2 fi ! f1 - f 2 - f3 x
i

Stores Kinetic Energy ! ! + x2 - x1 ,

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ME 375 Handouts

Series Connection
Dampers in Series
x1 fD B1 B2 x2 fD x1 x2 fD BEQ

fD

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Parallel Connection
Dampers in Parallel
x1 x2 x1 fD B1 B2 fD x2 fD BEQ

fD

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ME 375 Handouts

Interconnection Laws
Newtons Second Law
d x + M v , ! M !! ! 2 f EXTi dt " i
Linear Momentum

Newtons Third Law

Action & Reaction Forces
K M K M

Displacement Law
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Modeling Steps
Understand System Function, Define Problem, and Identify Input/Output Variables y p p Draw Simplified Schematics Using Basic Elements Develop Mathematical Model (Diff. Eq.)
Identify reference point and positive direction. Draw Free-Body-Diagram (FBD) for each basic element. Free-Body Write Elemental Equations as well as Interconnecting Equations by applying physical laws. (Check: # eq = # unk) (Check: Combine Equations by eliminating intermediate variables.

Validate Model by Comparing Simulation Results with Physical Measurements

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ME 375 Handouts

Energy Distribution
EOM of a simple Mass-Spring-Damper System Mass-SpringContribution of Inertia

K M B

x f

M !! ) x "

Contribution of the Damper

! Bx "

Contribution of the Spring

Kx "

Total Applied Force

f (t ) "

We want to look at the energy distribution of the system. How should we start ?

Multiply the above equation by the velocity term v : Integrate the second equation w.r.t. time:
!! ( x dt x ! * M%$& #$
t0 t1

34What have we done ?

34What are we doing now ?

1 ! .KE ! M x2 2

! ! dt * Bx ( x& #$ %$
t0
t1 !2 *t0 Bx dt 5 0

t1

! x(x * K%$dt #$ &

t0

t1

1 .PE ! K x2 2

* f + t , ( v dt #$%$&
t0

t1

Total work done by the applied force f ( t ) from time t0 to t1

.E

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Examples

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ME 375 Handouts

Examples (Continued)

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Examples (Continued)

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ME 375 Handouts

Examples (Continued)

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Example -- SDOF Suspension

Suspension System
Minimize the effect of the surface roughness of the road on the drivers comfort. comfort

Simplified Schematic (neglecting tire model)

Define the reference position for the displacement of the p p g y car as the position when the spring does not have any deflection (i.e., the neutral position)

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ME 375 Handouts

SDOF Suspension
Draw FBD Apply Interconnection Laws

Q: Since gravity is always present, is there a way to represent the suspension system by subtracting the effect of gravity?
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SDOF Suspension (II)

Relative Displacement Approach
Define the reference position as the position of the car when the system is at rest in the gravity field, i.e., the spring force balances the cars weight.

FBD

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ME 375 Handouts

SDOF Suspension (II)

Interconnection Laws & Simplification
Q: What are the differences between the two models?

Q: Do the two models represent the same physical system? If they do, why are they different?

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MDOF Suspension
Suspension System
Simplified Schematic (with tire model)

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ME 375 Handouts

MDOF Suspension
Draw FBD Apply Interconnection Laws

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MDOF Suspension
Matrix Form

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