32 Chapter 2

As illustrated in the example, the linearized equation must be consistent with phy-
sical units and the user must be informed about what units are required when
implementing.

2.4 NEWTONIAN PHYSICS MODELING METHODS

Newtons laws (physics) are generally taught in most introductory college courses in
the area of dynamics. Along with energy methods, almost all systems can be modeled
using these techniques. The resulting equations may range from simple linear to
nonlinear and highly complex. Regardless of the system modeled, the result is a
dierential equation(s) capable of predicting the physical system response. The com-
plexity of the equation reects the assumptions made and limitations on obtaining
information. In most cases, proper assumptions allow the model to be reduced down
to linear ordinary dierential equations. These equations become increasingly
complex as nonlinearities and multiple systems are modeled.
The cornerstone equation is Newtons law, or force = mass  acceleration. As
we will see, even in electrical systems where voltages are analogous to forces (elec-
tromotive forces), the sum of the forces, or voltages, is zero. Let us rst examine the
contents of Table 2 and see how the basic laws of physics enable us to model virtually
any system. Using the notation of inductance, capacitance, and resistance we see the
commonalities in several dierent physical systems. All systems can be discussed in
terms of these components and the energy stored, power through, and using English
or metric systems of units. The advantage of such an approach, as seen later in bond
graphs, is the recognition that dierent dynamic systems are following the same laws
of physics. This is an important concept as we move to beginning the design of
automatic control systems.

2.4.1 Mechanical-Translational System Example

Let us begin with a basic mechanical-translational system to apply the laws dened
in Table 2. To do so, let us develop a dierential equation that describes system
motion for the mass-spring-damper system in Figure 12. Once the dierential equa-
tion is developed, many options are available for simulating the system response.
These techniques are examined in following sections.
In this case with one mass, the task is to simply sum all the forces acting on the
mass and set it equal to the blocks mass multiplied by the acceleration. Writing the
force equations for systems with multiple masses is easily accomplished using the
lumped mass modeling approach. Simply sum the forces on each mass and set them
equal to that mass multiplied by the acceleration, all with respect to the one mass in
question. The more dicult part is reducing the system of equations down to a single
input-output relationship. Even with only two masses, this can become quite tedious.
Therefore, let us begin by summing all the forces acting on mass m. Remember
to be consistent with signs. What seems to help some learn this is to imagine the
block moving in a positive direction yt and see what each force would be. Imagine
that you are pushing (displacing) the mass and as you push determine the forces
opposing your movement. This results in the following dierential equation.

F Fk  Fb F  mg k y  b y0 F  mg my00