This document provides an overview of mathematical modeling of mechanical systems, including:
- Translational systems with springs, masses, and dampers and examples of modeling simple systems.
- Rotational systems with rotational springs, dampers, and moments of inertia along with examples.
- Mechanical linkages including gears and gear trains. Properties of gears are discussed and gear ratios explained. Examples of modeling gear trains mathematically are provided.
The document covers the basic elements and concepts for modeling both translational and rotational mechanical systems, along with examples, and also introduces mechanical linkages focused on gears and gear trains.
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about modeling electrical and mechanical systems (transnational and rotational) in frequency domain.
Some experiments done on MATLAB for the course on Simulation and Modelling. Includes Model of Bouncing Ball, Model of Spring Mass System and Model of Traffic Flow.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
Troubleshooting and Enhancement of Inverted Pendulum System Controlled by DSP...Thomas Templin
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is often implemented with the pivot point mounted on a cart that can move horizontally and may be called a cart-and-pole system. A normal pendulum is always stable since the pendulum hangs downward, whereas the inverted pendulum is inherently unstable and trivially underactuated (because the number of actuators is less than the degrees of freedom). For these reasons, the inverted pendulum has become one of the most important classical problems of control engineering. Since the 1950s, the inverted-pendulum benchmark, especially the cart version, has been used for the teaching and understanding of the use of linear-feedback control theory to stabilize an open-loop unstable system.
The objectives of this project are to:
• Focus on hardware and software troubleshooting and enhancement of an inverted-pendulum system controlled by a DSP28355 microprocessor and CCSv7.1 software.
• Use the swing-up strategy to move the pendulum into the unstable upward position (‘saddle’). The cart/pole system employs linear bearings for back-and-forward motion. The motor shaft has a pinion gear that rides on a track permitting the cart to move in a linear fashion. Both rack and pinion are made of hardened steel and mesh with a tight tolerance. The rack-and-pinion mechanism eliminates undesirable effects found in belt-driven and free-wheel systems, such as slippage or belt stretching, ensuring consistent and continuous traction.
• The motor shaft is coupled to a high-resolution optical encoder that accurately measures the position of the cart. The angle of the pendulum is also measured by an optical encoder, and the system employs an LQR controller to stabilize the pendulum rod at the unstable-equilibrium position.
• Addition of real-time status reporting and visualization of the system.
For the project, the Quanser High Frequency Linear Cart (HFLC) was used. The HFLC system consists of a precisely machined solid aluminum cart driven by a high-power 3-phase brushless DC motor. The cart slides along two high-precision, ground-hardened stainless steel guide rails, allowing for multiple turns and continuous measurement over the entire range of motion.
Our team implemented a control strategy that consists of a linear stabilizing LQR controller, proportional-integral swing-up control, and a supervisory coordinator that determines the control strategy (LQR or swing-up) to be used at any given time. The function of the linear stabilizer is to stabilize the system when it is in the vicinity of the unstable equilibrium. When the pendulum is in its natural state (straight-down stable-equilibrium node), the swing-up controller provides the cart/pendulum system with adequate energy to move the pendulum to the unstable equilibrium inside the “region of attraction” in which the linearized LQR controller is functional.
Translational and rotational for hydraulic and pneumatic systemsdgoti3111
As stated earlier translational motion refers to a type of motion in which a body or an object mores along a linear axis rather than a rotational axis.
Hence translational motion is also referred to as linear motion. Translational motion involves moving left or right, forward or backward, up or down
ME-314 Introduction to Control Engineering is a course taught to Mechanical Engineering senior undergrads. The course is taught by Dr. Bilal Siddiqui at DHA Suffa University. This lecture is about modeling electrical and mechanical systems (transnational and rotational) in frequency domain.
Some experiments done on MATLAB for the course on Simulation and Modelling. Includes Model of Bouncing Ball, Model of Spring Mass System and Model of Traffic Flow.
Transfer Function and Mathematical Modeling
Transfer Function
Poles And Zeros of a Transfer Function
Properties of Transfer Function
Advantages and Disadvantages of T.F.
Translation motion
Rotational motion
Translation-Rotation counterparts
Analogy system
Force-Voltage analogy
Force-Current Analogy
Advantages
Example
Troubleshooting and Enhancement of Inverted Pendulum System Controlled by DSP...Thomas Templin
An inverted pendulum is a pendulum that has its center of mass above its pivot point. It is often implemented with the pivot point mounted on a cart that can move horizontally and may be called a cart-and-pole system. A normal pendulum is always stable since the pendulum hangs downward, whereas the inverted pendulum is inherently unstable and trivially underactuated (because the number of actuators is less than the degrees of freedom). For these reasons, the inverted pendulum has become one of the most important classical problems of control engineering. Since the 1950s, the inverted-pendulum benchmark, especially the cart version, has been used for the teaching and understanding of the use of linear-feedback control theory to stabilize an open-loop unstable system.
The objectives of this project are to:
• Focus on hardware and software troubleshooting and enhancement of an inverted-pendulum system controlled by a DSP28355 microprocessor and CCSv7.1 software.
• Use the swing-up strategy to move the pendulum into the unstable upward position (‘saddle’). The cart/pole system employs linear bearings for back-and-forward motion. The motor shaft has a pinion gear that rides on a track permitting the cart to move in a linear fashion. Both rack and pinion are made of hardened steel and mesh with a tight tolerance. The rack-and-pinion mechanism eliminates undesirable effects found in belt-driven and free-wheel systems, such as slippage or belt stretching, ensuring consistent and continuous traction.
• The motor shaft is coupled to a high-resolution optical encoder that accurately measures the position of the cart. The angle of the pendulum is also measured by an optical encoder, and the system employs an LQR controller to stabilize the pendulum rod at the unstable-equilibrium position.
• Addition of real-time status reporting and visualization of the system.
For the project, the Quanser High Frequency Linear Cart (HFLC) was used. The HFLC system consists of a precisely machined solid aluminum cart driven by a high-power 3-phase brushless DC motor. The cart slides along two high-precision, ground-hardened stainless steel guide rails, allowing for multiple turns and continuous measurement over the entire range of motion.
Our team implemented a control strategy that consists of a linear stabilizing LQR controller, proportional-integral swing-up control, and a supervisory coordinator that determines the control strategy (LQR or swing-up) to be used at any given time. The function of the linear stabilizer is to stabilize the system when it is in the vicinity of the unstable equilibrium. When the pendulum is in its natural state (straight-down stable-equilibrium node), the swing-up controller provides the cart/pendulum system with adequate energy to move the pendulum to the unstable equilibrium inside the “region of attraction” in which the linearized LQR controller is functional.
Translational and rotational for hydraulic and pneumatic systemsdgoti3111
As stated earlier translational motion refers to a type of motion in which a body or an object mores along a linear axis rather than a rotational axis.
Hence translational motion is also referred to as linear motion. Translational motion involves moving left or right, forward or backward, up or down
TECHNICAL TRAINING MANUAL GENERAL FAMILIARIZATION COURSEDuvanRamosGarzon1
AIRCRAFT GENERAL
The Single Aisle is the most advanced family aircraft in service today, with fly-by-wire flight controls.
The A318, A319, A320 and A321 are twin-engine subsonic medium range aircraft.
The family offers a choice of engines
Courier management system project report.pdfKamal Acharya
It is now-a-days very important for the people to send or receive articles like imported furniture, electronic items, gifts, business goods and the like. People depend vastly on different transport systems which mostly use the manual way of receiving and delivering the articles. There is no way to track the articles till they are received and there is no way to let the customer know what happened in transit, once he booked some articles. In such a situation, we need a system which completely computerizes the cargo activities including time to time tracking of the articles sent. This need is fulfilled by Courier Management System software which is online software for the cargo management people that enables them to receive the goods from a source and send them to a required destination and track their status from time to time.
About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Water scarcity is the lack of fresh water resources to meet the standard water demand. There are two type of water scarcity. One is physical. The other is economic water scarcity.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Cosmetic shop management system project report.pdfKamal Acharya
Buying new cosmetic products is difficult. It can even be scary for those who have sensitive skin and are prone to skin trouble. The information needed to alleviate this problem is on the back of each product, but it's thought to interpret those ingredient lists unless you have a background in chemistry.
Instead of buying and hoping for the best, we can use data science to help us predict which products may be good fits for us. It includes various function programs to do the above mentioned tasks.
Data file handling has been effectively used in the program.
The automated cosmetic shop management system should deal with the automation of general workflow and administration process of the shop. The main processes of the system focus on customer's request where the system is able to search the most appropriate products and deliver it to the customers. It should help the employees to quickly identify the list of cosmetic product that have reached the minimum quantity and also keep a track of expired date for each cosmetic product. It should help the employees to find the rack number in which the product is placed.It is also Faster and more efficient way.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
2. Outline of this Lecture
• Part-I: Translational Mechanical System
• Part-II: Rotational Mechanical System
• Part-III: Mechanical Linkages
2
3. Basic Types of Mechanical Systems
• Translational
– Linear Motion
• Rotational
– Rotational Motion
3
4. Basic Elements of Translational Mechanical Systems
Translational Spring
i)
Translational Mass
ii)
Translational Damper
iii)
Part-I
Translational Mechanical Systems
6. Translational Spring
i)
Circuit Symbols
Translational Spring
• A translational spring is a mechanical element that
can be deformed by an external force such that the
deformation is directly proportional to the force
applied to it.
Translational Spring
7. Translational Spring
• If F is the applied force
• Then is the deformation if
• Or is the deformation.
• The equation of motion is given as
• Where is stiffness of spring expressed in N/m
2
x
1
x
0
2
x
1
x
)
( 2
1 x
x
)
( 2
1 x
x
k
F
k
F
F
8. Translational Spring
• Given two springs with spring constant k1 and k2, obtain
the equivalent spring constant keq for the two springs
connected in:
8
(1) Parallel (2) Series
9. Translational Spring
9
(1) Parallel
F
x
k
x
k
2
1
F
x
k
k
)
( 2
1
F
x
keq
• The two springs have same displacement therefore:
2
1 k
k
keq
• If n springs are connected in parallel then:
n
eq k
k
k
k
2
1
10. Translational Spring
10
(2) Series
F
x
k
x
k
2
2
1
1
• The forces on two springs are same, F, however
displacements are different therefore:
1
1
k
F
x
2
2
k
F
x
• Since the total displacement is , and we have
2
1 x
x
x
x
k
F eq
2
1
2
1
k
F
k
F
k
F
x
x
x
eq
11. Translational Spring
11
• Then we can obtain
2
1
2
1
2
1
1
1
1
k
k
k
k
k
k
keq
2
1 k
F
k
F
k
F
eq
• If n springs are connected in series then:
n
n
eq
k
k
k
k
k
k
k
2
1
2
1
13. Translational Mass
Translational Mass
ii)
• Translational Mass is an inertia
element.
• A mechanical system without
mass does not exist.
• If a force F is applied to a mass
and it is displaced to x meters
then the relation b/w force and
displacements is given by
Newton’s law.
M
)
(t
F
)
(t
x
x
M
F
14. Translational Damper
Translational Damper
iii)
• When the viscosity or drag is not
negligible in a system, we often
model them with the damping
force.
• All the materials exhibit the
property of damping to some
extent.
• If damping in the system is not
enough then extra elements (e.g.
Dashpot) are added to increase
damping.
15. Common Uses of Dashpots
Door Stoppers
Vehicle Suspension
Bridge Suspension
Flyover Suspension
18. Modelling a simple Translational System
• Example-1: Consider a simple horizontal spring-mass system on a
frictionless surface, as shown in figure below.
or
18
kx
x
m
0
kx
x
m
19. Example-2
• Consider the following system (friction is negligible)
19
• Free Body Diagram
M
F
k
f
M
f
k
F
x
M
• Where and are force applied by the spring and
inertial force respectively.
k
f M
f
20. Example-2
20
• Then the differential equation of the system is:
kx
x
M
F
• Taking the Laplace Transform of both sides and ignoring
initial conditions we get
M
F
k
f
M
f
M
k f
f
F
)
(
)
(
)
( s
kX
s
X
Ms
s
F
2
21. 21
)
(
)
(
)
( s
kX
s
X
Ms
s
F
2
• The transfer function of the system is
k
Ms
s
F
s
X
2
1
)
(
)
(
• if
1
2000
1000
Nm
k
kg
M
2
001
0
2
s
s
F
s
X .
)
(
)
(
Example-2
22. Example-3
• Consider the following system
22
• Free Body Diagram
k
F
x
M
C
M
F
k
f
M
f
C
f
C
M
k f
f
f
F
23. Example-3
23
Differential equation of the system is:
kx
x
C
x
M
F
Taking the Laplace Transform of both sides and ignoring
Initial conditions we get
)
(
)
(
)
(
)
( s
kX
s
CsX
s
X
Ms
s
F
2
k
Cs
Ms
s
F
s
X
2
1
)
(
)
(
24. Example-4
• Consider the following system
24
• Free Body Diagram (same as example-3)
M
F
k
f
M
f
B
f
B
M
k f
f
f
F
k
Bs
Ms
s
F
s
X
2
1
)
(
)
(
25. Example-5
• Consider the following system
25
• Mechanical Network
k
F
2
x
M
1
x B
↑ M
k
B
F
1
x 2
x
39. Example-10
• Find the transfer function of the mechanical translational
system given in Figure-1.
39
Free Body Diagram
Figure-1
M
)
(t
f
k
f
M
f
B
f
B
M
k f
f
f
t
f
)
(
k
Bs
Ms
s
F
s
X
2
1
)
(
)
(
41. Example-12
41
• Find the transfer function X2(s)/F(s) of the following system.
Free Body Diagram
M1
1
k
f
1
M
f
B
f
M2
)
(t
F
1
k
f
2
M
f
B
f
2
k
f
2
k
B
M
k
k f
f
f
f
t
F
2
2
1
)
(
B
M
k f
f
f
1
1
0
45. Automobile Suspension
45
)
.
(
)
(
)
( 1
0 eq
i
o
i
o
o x
x
k
x
x
b
x
m
2
eq.
i
i
o
o
o kx
x
b
kx
x
b
x
m
Taking Laplace Transform of the equation (2)
)
(
)
(
)
(
)
(
)
( s
kX
s
bsX
s
kX
s
bsX
s
X
ms i
i
o
o
o
2
k
bs
ms
k
bs
s
X
s
X
i
o
2
)
(
)
(
57. Gear
• Gear is a toothed machine part, such
as a wheel or cylinder, that meshes
with another toothed part to
transmit motion or to change speed
or direction.
57
60. Fundamental Properties
• The two gears turn in opposite directions: one clockwise and
the other counterclockwise.
• Two gears revolve at different speeds when number of teeth
on each gear are different.
61. Gearing Up and Down
• Gearing up is able to convert torque to
velocity.
• The more velocity gained, the more torque
sacrifice.
• The ratio is exactly the same: if you get three
times your original angular velocity, you
reduce the resulting torque to one third.
• This conversion is symmetric: we can also
convert velocity to torque at the same ratio.
• The price of the conversion is power loss due
to friction.
62. Why Gearing is necessary?
62
• A typical DC motor operates at speeds that are far too
high to be useful, and at torques that are far too low.
• Gear reduction is the standard method by which a
motor is made useful.
64. Gear Ratio
• You can calculate the gear ratio by using
the number of teeth of the driver
divided by the number of teeth of the
follower.
• We gear up when we increase velocity
and decrease torque.
Ratio: 3:1
• We gear down when we increase torque
and reduce velocity.
Ratio: 1:3
Gear Ratio = # teeth input gear / # teeth output gear
= torque in / torque out = speed out / speed in
Follower
Driver
67. Example of Gear Trains
• A most commonly used example of gear trains is the gears of
an automobile.
67
68. Mathematical Modelling of Gear Trains
• Gears increase or reduce angular velocity (while
simultaneously decreasing or increasing torque, such
that energy is conserved).
68
2
2
1
1
N
N
1
N Number of Teeth of Driving Gear
1
Angular Movement of Driving Gear
2
N Number of Teeth of Following Gear
2
Angular Movement of Following Gear
Energy of Driving Gear = Energy of Following Gear
69. Mathematical Modelling of Gear Trains
• In the system below, a torque, τa, is applied to gear 1 (with
number of teeth N1, moment of inertia J1 and a rotational friction
B1).
• It, in turn, is connected to gear 2 (with number of teeth N2,
moment of inertia J2 and a rotational friction B2).
• The angle θ1 is defined positive clockwise, θ2 is defined positive
clockwise. The torque acts in the direction of θ1.
• Assume that TL is the load torque applied by the load connected
to Gear-2.
69
B1
B2
N1
N2
70. Mathematical Modelling of Gear Trains
• For Gear-1
• For Gear-2
• Since
• therefore
70
B1
B2
N1
N2
2
2
1
1
N
N
1
1
1
1
1 T
B
J
a
Eq (1)
L
T
B
J
T
2
2
2
2
2
Eq (2)
1
2
1
2
N
N
Eq (3)
71. Mathematical Modelling of Gear Trains
• Gear Ratio is calculated as
• Put this value in eq (1)
• Put T2 from eq (2)
• Substitute θ2 from eq (3)
71
B1
B2
N1
N2
2
2
1
1
1
2
1
2
T
N
N
T
N
N
T
T
2
2
1
1
1
1
1 T
N
N
B
J
a
)
( L
a T
B
J
N
N
B
J
2
2
2
2
2
1
1
1
1
1
𝜏𝑎 = 𝐽1𝜃1 + 𝐵1𝜃1 +
𝑁1
𝑁2
(𝐽2
𝑁1
𝑁2
𝜃1 + 𝐵2
𝑁1
𝑁2
𝜃1 +
𝑁1
𝑁2
𝑇𝐿)
1
2
1
2
N
N
Eq (3)
72. Mathematical Modelling of Gear Trains
• After simplification
72
𝜏𝑎 = 𝐽1𝜃1 + 𝐵1𝜃1 +
𝑁1
𝑁2
(𝐽2
𝑁1
𝑁2
𝜃1 + 𝐵2
𝑁1
𝑁2
𝜃1 +
𝑁1
𝑁2
𝑇𝐿)
L
a T
N
N
B
N
N
B
J
N
N
J
2
1
1
2
2
2
1
1
1
1
2
2
2
1
1
1
L
a T
N
N
B
N
N
B
J
N
N
J
2
1
1
2
2
2
1
1
1
2
2
2
1
1
2
2
2
1
1 J
N
N
J
Jeq
2
2
2
1
1 B
N
N
B
Beq
L
eq
eq
a T
N
N
B
J
2
1
1
1
73. Mathematical Modelling of Gear Trains
• For three gears connected together
73
3
2
4
3
2
2
1
2
2
2
1
1 J
N
N
N
N
J
N
N
J
Jeq
3
2
4
3
2
2
1
2
2
2
1
1 B
N
N
N
N
B
N
N
B
Beq
74. Home Work
• Drive Jeq and Beq and relation between applied
torque τa and load torque TL for three gears
connected together.
74
J1 J2 J3
1
3
2
τa
1
N
2
N
3
N
1
B
2
B
3
B
L
T