Farid Golnaraghi

Simon Fraser University

Vancouver, Canada

ISBN-13: 978-1259643835
ISBN-10: 1259643832

1
Learning Outcomes

After successful completion of this chapter, you will be able to

1. Model the differential equations of basic mechanical systems.

2. Model the differential equations of basic electrical systems.

3. Model the differential equations of basic thermal systems.

4. Model the differential equations of basic fluid systems.

5. Linearize nonlinear ordinary differential equations.

6. Discuss analogies and relate mechanical, thermal, and fluid

systems to their electrical equivalents.
2-1 Modeling of Simple Mechanical Systems

2-1-1 Translational Motion d 2 y (t )

f ( t ) − Fs − Fd = Ma ( t ) = M
dt 2

d 2 y (t ) dy ( t )
M 2
+B + Ky ( t ) =
f (t )
dt dt

B K K
y (t ) +
 y ( t ) + y (t ) = r (t )
M M M

y ( t ) + 2ζωn y ( t ) + ωn2 y ( t ) =
 ωn2 r ( t )
Figure 2-2 Force applied to a cantilever beam,
where ωn and ζ are the natural frequency and the
modeled as a spring-mass-damper system.

damping ratio of the system, respectively.

The above equation is also known as the
prototype second order system.
We define y(t) as the output and r(t) as the input
of the system.
 Example 2-1-1

∑
External
forces = M 1 
y1 (t )

− Ky1 (t ) + B ( y 2 (t ) − y1 (t ) ) =
M 1 
y1 (t )

∑
External
forces = M 2 
y2 (t )

− B ( y 2 (t ) − y1 (t ) ) + f (t ) = M 2 
y2 (t )

Figure 2-5 A two degree of freedom

mechanical system with spring and damper
elements.
y1 (t ) + B ( y1 (t ) − y 2 (t ) ) + Ky1 (t ) =
M 1  0

y2 (t ) + B ( y1 (t ) − y 2 (t ) ) =
M 2  f (t )
2-1-2 Rotational Motion

d 2θ ( t ) dθ ( t )
J +B + Kθ ( t ) =
T (t )
dt 2 dt

B  K K
θ (t ) + θ (t ) + θ (t ) =
 r (t )
J J J

Figure 2-9 Torque torsional spring system.

θ( t ) + 2ζωnθ ( t ) + ωn2θ ( t ) =
ωn2 r ( t )

where ωn and ζ are the natural frequency and the

damping ratio of the system, respectively. The
above equation is also known as the prototype
second order system. We define θ(t) as the
output and r(t) as the input of the system. Notice
that this system is analogous to the translational
system in Fig. 2-2.
Example 2-1-4

Figure 2-10 (a) Motor–load system. (b) Free-body diagram.

d 2θ m ( t ) Bm dθ m ( t ) K 1
= − − θ ( t ) − θ ( t )  J Tm ( t )
 +
Jm 
m L
dt 2 J m dt m

d 2θ L ( t )
K θ m ( t ) − θ L ( t )  = J L
dt 2

If the motor shaft d 2θ m ( t ) Bm dθ m ( t ) 1

+ = Tm ( t )
is rigid: θ m = θ L dt 2 J m + J L dt Jm + JL
2-2 Introduction to Modeling of Simple Electrical Systems

2-2-1 Modeling of Passive Electrical Elements

Figure 2-20 Basic passive electrical

elements. (a) A resistor. (b) An inductor. (c) A
capacitor.

di ( t ) i (t )
eR ( t ) = i ( t ) R eL ( t ) = L ec ( t ) = ∫ dt
dt C
Example 2-2-1

eR = Voltage across the resistor R

eL = Voltage across the inductor L
ec = Voltage across the capacitor C

Figure 2-21 RLC network. Electrical schematics.

e ( t ) = eR + eL + ec
ec ( t ) + 2ζωn ec ( t ) + ωn2 ec ( t ) =
ωn2 e ( t )
di ( t )
e ( t ) = +ec ( t ) + Ri ( t ) + L
dt
where ωn and ζ are the natural frequency
and the damping ratio of the system,
d 2 ec ( t ) dec ( t )
LC + RC + ec ( t ) = e ( t ) respectively. The above equation is also
dt 2 dt known as the prototype second order
system. We define ec(t) as the output and
e(t) as the input of the system, where both
R 1 1
ec ( t ) + ec ( t ) + ec ( t ) = e (t ) terms have same units. Notice that this
L LC LC system is also analogous to the translational
Mechanical system in Fig. 2-2.
Example 2-2-2
Example 2-2-4

ein ( t ) = ec ( t ) + eR ( t )

Figure 2-24 Simple electrical RC circuit.

eo ( t )
ein ( t ) = + eo ( t )
1 RC
ein ( t ) = ∫ idt + iR
C

∫ e ( t ) dt
(t ) = + e (t )
o
ein o
RC
τ = RC is the time constant of the system.
2-5 Analogies

Figure 2-40 Analogy of a spring-mass-damper system to a series RLC network.

e(t ) analogous f (t )
i ( t ) analogous v ( t )

dv ( t ) di ( t ) 1
M + Bv ( t ) + K ∫ v ( t ) dt =
f (t ) analogous to L + Ri ( t ) + ∫ i ( t ) dt = e ( t )
dt dt C
Example 2-3-1

Figure 2-29 Heat transfer problem between a fluid and an

insulated solid object.

The rate of heat storage in the solid from Eq. (2-95) is

 dT 
q = ρcA    (2-104)
 dt 
Also, the convection rate of heat transferred from the fluid is

(
q = hA T f − T ) (2-105)

The energy balance equation for the system dictates q to be the same in Eqs. (2-104) and (2-105).

Hence, upon introducing thermal capacitance C from Eq. (2-95) and the convective thermal resistance R from Eq.
(2-99) and substituting the right-hand sides of Eq. (2-104) into Eq. (2-105), we get

RCT + T =
Tf (2-106)

RC = τ is time constant of the system. Notice that Eq. (2-106) is analogous to the electrical system modeled by Eq. (2-84).
Example 2-3-4

Figure 2-35 A single-tank liquid-level system.

dm d ( ρV )
= = ρ qi − ρ qo (2-134)
dt dt

d (V ) d ( Ah )
= = qi − qo (2-135)
dt dt

V Ah A ∆P Resistance ∆P = Po − Patm

C= = = Capacitance R=
P ρ gh ρ g qo

dh R
RC +h= q (2-140)
dt ρg i

RCqo + qo = qi (2-141)
Time constant is τ = RC. This system is analogous to the electrical system represented by Eq. (2-85).