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Problem 24P: Chapter: CH8 Problem: 24P

Find the transfer function of the mechanical system modeled in Example 5.12, which has both translational and rotational
elements, when the output is z.

EXAMPLE 5.12

Modeling and Analysis
of Dynamic Systems
(3rd Edition) Edit edition
Problem 24P from Chapter 8:
Find the transfer function of the
mechanical system modeled
in…
In the system shown in Figure 5.29, the mass and spring are connected to the disk by a exible cable. Actually, the spring
might be used to represent the stretching of the cable. The mass M is subjected to the external force fa(t) in addition to
the gravitational force. Let θ and x be measured from references corresponding to the position where the shaft K1 is not
twisted and the spring K2 is not stretched. Find the state-variable model, treating fa(t) and the weight of the mass as
inputs and the angular displacement θ and the tensile force in the cable as outputs.
SOLUTION
The free-body diagrams for the disk and the mass are shown in Figure 5.30. where f2 denotes the force exerted by the
spring. The downward displacement of the top end of the spring is Rθ, so
Because of the four energy-storing elements corresponding to the parameters K1, J, K2, and M, we select θ, ω, x, and v as
the state variables. From the free-body diagrams and with (64), we can write

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Note that the reaction force f2 = K2(x − Rθ) of the cable on the mass is not the same as the total external force fa(t)+ Mg
on the mass. As indicated by (65b), the difference is the inertial force . Only if the mass were negligible would the
external force be transmitted directly through the spring. From (65) and the identities and , we can write the
state-variable equations

The only output that is not a state variable is the tensile force in the cable, for which the output equation is given by (64).

In order to emphasize the effect of the weight Mg, suppose that fa(t) = 0 and that the mass and disk are not moving. Let
θ0 denote the constant angular displacement of the disk and x0 the constant displacement of the mass under these
conditions. Then (65) becomes

from which

These expressions represent the constant displacements caused by the gravitational force Mg.

Now reconsider the case where fa(t) is nonzero and where the system is in motion. Let

so that ϕ and z represent the additional angular and vertical displacements caused by the input fa(t). Note that
and . Substituting (69) into (65) gives

Using (67) to cancel those terms involving θ0, x0, and Mg, we are left with

so the corresponding state-variable equations are

We see that (66) and (70) have the same form, except that in the latter case the term Mg is missing and θ and x have been
replaced by ϕ and z. As long as the stiffness elements are linear, we can ignore the gravitational force Mg if we measure
all displacements from the static-equilibrium positions corresponding to no inputs except gravity. This agrees with the
conclusion reached in Examples 2.5 and 2.6. Note that if one of the desired outputs is the total tensile force in the cable,
we must substitute (69) into (64) to get

where x0 and θ0 are given by (68). The rst of the two terms in (71) is the constant tensile force resulting only from the
weight of the mass. The second term is the additional tensile force caused by the input fa(t).

Figure 5.29 System for Example 5.12 with translational and rotational elements.

Figure 5.30 Free-body diagrams for Example 5.12. (a) Disk, (b) Mass.

EXAMPLE 2.5

Draw the free-body diagram, including the effect of gravity, and nd the differential equation describing the motion of the
mass shown in Figure 2.16(a).

SOLUTION

Assume that x is the displacement from the position corresponding to a spring that is neither stretched nor compressed.
The gravitational force on the mass is Mg, and we include it in the free-body diagram shown in Figure 2.16(b) because the
mass moves vertically. By summing the forces on the free-body diagram, we obtain

Figure 2.16 (a) Translational system with vertical motion. (b) Free-body diagram.

Suppose that the applied force fa(t) is zero and that the mass is not moving. Then x = x0, where x0 is the constant
displacement caused by the gravitational force. Because , the foregoing differential equation reduces to the
algebraic equation

We also can see this directly from the free-body diagram by noting that all but two of the ve forces vanish under these
conditions.

We now reconsider the case where fa(t) is nonzero and where the mass is moving. Let

This equation de nes z as the displacement caused by the input fa(t), namely the additional displacement beyond that
resulting from the constant weight Mg. Substituting (23) into (21) and again noting that , we have

or, by using (22),

Comparison of (21) and (24) indicates that we can ignore the gravitational force Mg when drawing the free-body diagram
and when writing the system equation, provided that the displacement is de ned to be the displacement from the static
position corresponding to no inputs except gravity.

This conclusion is valid only when masses are suspended vertically by one or more linear springs. Under static-equilibrium
conditions, there are no inertial or friction forces, and the force exerted by the spring has the form

which is just the superposition of the static force caused by gravity and the force caused by additional inputs. For
nonlinear springs, however, this conclusion is not valid because superposition does not hold.

Normally, a new symbol such as z is not introduced in problems involving gravitational forces. Instead, the symbol x can
be rede ned to be the additional displacement from the static position.

EXAMPLE 2.6

For the system shown in Figure 2.17(a), x1 and x2 denote the elongations of K1 and K2. respectively. Note that x1 is the
displacement of mass Μ1 with respect to a xed reference but that x2 is the relative displacement of M2 with respect to
M1. When x1 = x2 = 0, all three springs shown in the gure are neither stretched nor compressed. Draw the free-body
diagram for each mass, including the effect of gravity, and nd the differential equations describing the system’s behavior.
Determine the values of x1 and x2 that correspond to the static-equilibrium position, when fa(t) = 0 and when the masses
are motionless.

SOLUTION

The free-body diagrams are shown in parts (b) and (c) of the gure. Many of the comments made in Example 2.4 also
apply to this problem. If x1 and x2 are positive, then K1 and K2 are stretched and K3 is compressed. Under these
circumstances, K1 exerts an upward force on M1, and K2 and K3 exert downward forces on M1. The relative velocity of M2
with respect to M1 is , so frictional forces of are exerted downward on M1 and upward on M2. The inertial force on
M2 is proportional to its absolute acceleration, which is . Summing the forces on each of the free-body diagrams
gives

This pair of coupled equations has two unknown variables. If the element values and fa(t) are known, and if the necessary
initial conditions are given, then (25) can be solved for x1 and x2 as functions of time by the methods discussed in later
chapters. Because x2 is a relative displacement, the total displacement of M2 is x1 + x2.

To nd the displacements and that correspond to the static-equilibrium position, we replace fa(t) and all the
displacement derivatives by zero. Then (25) reduces to

from which

If we want the differential equations in terms of displacements z1 and z2 measured with respect to the equilibrium
conditions given by (27), then we can write and . Substituting these expressions into (25)
and using (26), we nd that

As expected, these equations are similar to (25) except for the absence of the gravitational forces.

Figure 2.17 (a) Translational system for Example 2.6 (b), (c) Free-body diagrams.
EXAMPLE 2.4
For the two-mass system shown in Figure 2.15(a), x denotes the position of mass M1 with respect to a xed reference, and
z denotes the relative displacement of mass M2 with respect to M1. The positive direction for both displacements is to the
right. Assume that the two springs are neither stretched nor compressed when x = z = 0. Find the equations describing
the system.

SOLUTION

The free-body diagrams for the two masses are shown in parts (b) and (c) of Figure 2.15. The force on mass M1 through
the viscous friction element B2 is proportional to the relative velocity of the two masses. If M2 is moving to the right
faster than M1, so that is positive, then the force on M1 through B2 tends to pull the mass to the right, as indicated in
Figure 2.15(b).

To draw the free-body diagram for M2, we note that the elongation of the spring K2 is x + z. Furthermore, the inertial
force is always proportional to the absolute acceleration , not to the relative acceleration with respect to some
other moving body. Thus only the force exerted through the friction element B2 is expressed in terms of the relative
motion of the two masses. Summing the forces on each of the free-body diagrams gives

or, after we rearrange the terms,

The comments made after Example 2.2 about the signs in the force equations for M1 and M2 still apply when a relative
displacement variable is used. In the force equation (19a) for M1, all the terms with the displacement x of the mass M1 and
its derivatives have the same sign. Similarly in (19b), all the terms involving the relative displacement z of M2 with respect
to M1 have the same sign.

Figure 2.15 (a) Translational system for Example 2.4. (b), (c) Free-body diagrams.

The reader is encouraged to repeat this example when the displacement of each mass is expressed with respect to its
own xed reference position. If x1 and x2 denote the displacements of M1 and M2, respectively, with the positive senses
to the right, we nd that
When x1 is replaced by x, and x2 is replaced by x + z, this pair of equations reduces to those in (19). However, it is useful to
be able to obtain (19) directly from the free-body diagrams in Figure 2.15.

EXAMPLE 2.2

Draw the free-body diagrams and use D’Alembert’s law to write the two modeling equations for the two-mass system
shown in Figure 2.13(a).

SOLUTION

Because there are two masses that can move with different unknown velocities, a separate free-body diagram is drawn
for each one. This is done in Figure 2.13(b) and Figure 2.13(c). In Figure 2.13(b), the forces K1x1 and , are similar to
those in Example 2.1. As indicated in our earlier discussion of displacements, the net elongation of the spring and dashpot
connecting the two masses is x2 − x1. Hence a positive value of x2 − x1 results in a reaction force by the spring to the right
on M1 and to the left on M2, as indicated in Figure 2.13. Of course, the force on either free-body diagram could be labeled
K2(x1 − x2), provided that the corresponding reference arrow were reversed. For a positive value of , the reaction
force of the middle dashpot is to the right on M1 and to the left on M2. As always, the inertial forces and are
opposite to the positive directions of the accelerations.
Summing the forces on each free-body diagram separately and taking into account the directions of the reference arrows
give the following pair of differential equations:

Rearranging, we have

Equations (16a) and (16b) constitute a pair of coupled second-order differential equations. In the next chapter, we shall
discuss two alternative methods of presenting the information contained in such a set of equations.

Figure 2.13 (a) Translational system for Example 2.2. (b), (c) Free-body diagrams.

EXAMPLE 2.1

Draw the free-body diagram and apply D’Alembert’s law to write a modeling equation for the system shown in Figure
2.12(a). The mass is assumed to move horizontally on frictionless bearings, and the spring and dashpot are linear.

SOLUTION
The free-body diagram for the mass is shown in Figure 2.12(b). The vertical forces on the mass (the weight Mg and the
upward forces exerted by the frictionless bearings) have been omitted because these forces are perpendicular to the
direction of motion. The horizontal forces, which are included in the free-body diagram, are

The choice of directions for the arrows representing fK, fB, and fI is arbitrary and does not affect the nal result. However,
the expressions for these individual forces must agree with the choice of arrows. The use of a dashed arrow for the inertial
force fI emphasizes that it is not an external force like the other three.

We next use the element laws to express the forces fK, fB, and fI in terms of the element values K, B, and M and the
system variables x and v. In Figure 2.12(a), the positive direction of x and v is de ned to be to the right, so the spring is
stretched when x is positive, and compressed when x is negative. If the spring undergoes an elongation x, then there
must be a tensile force Kx on the right end of the spring directed to the right and a reaction force fK = Kx on the mass
directed to the left. In other words, if x is positive, the spring is stretched, and it therefore pulls mass M to the left, as seen
in Figure 2.12(c). Because the arrow for fK does point to the left in Figure 2.12(b), we may relabel this force as Kx in Figure
2.12(c). Note that if x is negative at some instant of time, the spring will be compressed and will exert a force to the right
on the mass. Under these conditions, Kx will be negative and the free-body diagram will show a negative force on the
mass to the left, which is equivalent to a positive force to the right. Although the result is the same either way, it is
customary to assume that all displacements are in the assumed positive directions when determining the proper
expressions for the forces.