MTE500 Ch2 Dynamics PDF

Analytical and Adaptive Dynamics in
Mechatronic Systems
Ch2: Dynamics
Dr. Hassan Diab

Spring 2019/2020
What’s New in Dynamics
• Newton-Euler approach for dynamic
models:
• Newton: Linear Momentum
• Euler: Angular Momentum
• D'Alembert's principle (Virtual
Work):
• Hamilton's principle
• Lagrange Equation
• Kane’s Equation (Virtual Power):
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New Application
• Multibody Problems:
• Mechanisms
• Manipulators
• Wheeled or legged platforms

New Application
• Mechatronics:
• Controlled Machines
• Smart or Intelligent Machine and structures
• Robots
MEMS Mag-Lev

Dynamic Instability
• 𝑢 is the lateral motion of the center of mass
• ∅ is the yaw rotation
• The coupled oscillations are presented in:
• Solving the Eigenvalue problem will result

in two solutions of the form:
𝑆𝑖 = 𝛼𝑖 + 𝑖 𝛽𝑖
• The stability is known from the values of 𝛼𝑖 and 𝛽𝑖

Dynamic Generation of noise

Basic Models in Dynamics
• Motion under a constant force.

• Pendulum.
When the angle is small:
The solution is: Where
The natural frequency is:

• Pendulum.
When the angle is small:
The solution is: Where
The natural frequency is:

• Linear Oscillation.
Where
When damping and forcing are zeros The solution is:
When damping is small

• Linear Oscillation.
Where
When damping and forcing are zeros The solution is:
When damping is small

• Gyroscopic Motion.
The rotation vector is:

Basic Models in Dynamics 𝒅𝒆 𝒚
𝒆𝒚
𝒆′𝒙
𝒆′𝒚 𝒅𝒆𝒙
𝒅ψ
𝒆𝒙
𝒅𝒆𝒙 = 𝒆𝒙 𝒅ψ 𝒆𝒚 = 𝒅ψ 𝒆𝒚 𝒅𝒆𝒚 = 𝒆𝒚 𝒅ψ − 𝒆𝒙 = −𝒅ψ 𝒆𝒙
𝒆𝒙ሶ = ψሶ 𝒆𝒚 𝒆𝒚ሶ = −ψሶ 𝒆𝒙
𝒆ሶ = 𝝮 × 𝒆 𝒆𝒙ሶ = 𝝎 × 𝒆𝒙 𝒆𝒚ሶ = 𝝎 × 𝒆𝒚
= ψሶ 𝒆𝒛 × 𝒆𝒙 = ψሶ 𝒆𝒛 × 𝒆𝒚
𝝎 = ∅ሶ 𝒆𝒙 + ψሶ 𝒆𝒛 𝝮 = ψሶ 𝒆𝒛 = ψሶ 𝒆𝒚 = −ψሶ 𝒆𝒙
𝝮: the rotation vector
that 𝒆𝒙 and 𝒆𝒚 subjected to.
• Gyroscopic Motion.
The rotation vector is:
The moment must have a y component

Coupled Fields

Complex Dynamics

• Cartesian components
• Position
• Velocity
• Acceleration

Cylindrical components
• Position
• Velocity
• Acceleration

Jacobian

Jacobian

Equilibrium
• In dynamics, equilibrium is the absence of acceleration, not the absence of motion.
Vector approach: In the Newtonian view of dynamics, changes of velocity or acceleration are produced by a
vector quantity that we call force.
Scalar approach: work-energy approach can be quite useful in solving many practical problems of both an
equilibrium nature (the method of virtual work) and a dynamic nature (Lagrange's equation and the method
of virtual power).

virtual work
virtual work are most useful in problems in which there are workless constraints.
applied forces
virtual displacement
constraint force
The virtual displacement, is consistent with the constraints ֞ 𝛿𝒓 ∙ 𝒏 = 0

If there is no sticking and no friction between the particle and the surface, we can write ֞ 𝑭𝑪 = 𝐹 𝐶 𝒏
∙ ֜𝑭𝑪 ∙ 𝛿𝒓 = 0

Virtual Work
applied forces
virtual displacement
constraint force
𝑭𝑪 ∙ 𝛿𝒓 = 0
vector form of equilibrium is σ𝑖 𝑭𝑪𝒊 + 𝑭𝒂𝒊 = 0 ֜ σ𝑖 𝑭𝒂𝒊 ∙ 𝛿𝒓 = 0
Since 𝛿𝒓 is arbitrary, it can be resolved into independent variations
֜ … ֜
J is the Jacobian matrix.

Systems Of Particles
The total mass
Using the first moment of mass, we find the center
are relative position vectors whose first moment of mass

is zero
Linear Momentum

Angular Momentum
The linear momentum is defined with respect to a given reference
frame. The angular momentum is the first moment of linear momentum
with respect to a particular point.
About the origin.
About the center of mass.

Laws of Linear and Angular Momentum
• The forces applied to each mass from outside the system 𝑭𝑖 .
• The internal forces act between pairs of masses 𝒇𝑖𝑗 for 𝑖 ≠ 𝑗.
Newton's law of action and reaction (3rd law):
Newton's 2nd law on particle i:
If we sum these equations of motion
This result tells us that in order to apply Newton's law to an

extended body of particles, we must use the acceleration of
the center of mass and the sum of all the external forces.

Laws of Linear and Angular Momentum
The first moment of gives:
on the left-hand side we can take the time derivative outside

the summation

on the right-hand side
If we assume that the internal forces are central (they are directed
along the line between the masses) the total moment of the internal
forces is zero
where the moment of the external forces M
The strong form of the third law
Don’t confuse between total Mass (M) and force Moment (M)
The weak form of the third law
When the internal forces are not central ( like in some classic force
laws in electromagnetics)
≠0
Taking
and

Energy Principle
Kinetic Energy The energy associated with motion
The equations of motion
can be put into the form of an energy principle:
This means that the rate of change of kinetic energy of the

system is equal to the power of the external and internal forces.

Kinetic Energy could be calculated also from:
(K<3N)

Potential Energy: Conservative forces could be written as
Where
For a system of particles, power is written as

Conservation-of-Energy Principle
• If the system is a rigid body, then we can show that the right-
hand side is zero.
• If the system is non-dissipative and the internal forces can also
be derived from a potential energy 𝑉𝑒 , representing elastic
deformations.

Conservation Laws: There are three fundamental conservation laws for
the dynamics of a system of particles.
• Conservation of Linear Momentum
• Conservation of Angular Momentum
• Conservation of Energy

Rigid Body
Matrix Representation of the Rotation Rate Vector
is a constant-length vector since the body is rigid.
Where 𝝎 is the rotation rate vector.
ഥ
In a matrix form we can define 𝝎

Rigid Body
Angular Momentum and Moments of Inertia
we can write the expression for the angular momentum separating
the mass-distribution measures from the kinematic variables.
Pure rotation about a fixed point:
Triple cross product:
Where
Is a sympatric matrix

Rigid Body
The Moments of Inertia
The moment of inertia about the x-axis (also called the second moment of mass).
The cross product of inertia.

Rigid Body
The Moments of Inertia about Principal Axis

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Analytical and Adaptive Dynamics in

Dr. Hassan Diab

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• Solving the Eigenvalue problem will result

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When the angle is small:

The solution is: Where

The natural frequency is:

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When the angle is small:

The solution is: Where

The natural frequency is:

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When damping and forcing are zeros The solution is:

When damping is small

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When damping and forcing are zeros The solution is:

When damping is small

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The rotation vector is:

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𝒅𝒆𝒙 = 𝒆𝒙 𝒅ψ 𝒆𝒚 = 𝒅ψ 𝒆𝒚 𝒅𝒆𝒚 = 𝒆𝒚 𝒅ψ − 𝒆𝒙 = −𝒅ψ 𝒆𝒙

𝒆𝒙ሶ = ψሶ 𝒆𝒚 𝒆𝒚ሶ = −ψሶ 𝒆𝒙

The rotation vector is:

The moment must have a y component

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The virtual displacement, is consistent with the constraints ֞ 𝛿𝒓 ∙ 𝒏 = 0

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vector form of equilibrium is σ𝑖 𝑭𝑪𝒊 + 𝑭𝒂𝒊 = 0 ֜ σ𝑖 𝑭𝒂𝒊 ∙ 𝛿𝒓 = 0

Since 𝛿𝒓 is arbitrary, it can be resolved into independent variations

J is the Jacobian matrix.

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Using the first moment of mass, we find the center

are relative position vectors whose first moment of mass

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About the origin.

About the center of mass.

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Newton's 2nd law on particle i:

If we sum these equations of motion

This result tells us that in order to apply Newton's law to an

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The first moment of gives:

on the left-hand side we can take the time derivative outside

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on the right-hand side

where the moment of the external forces M

The strong form of the third law

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Kinetic Energy The energy associated with motion

The equations of motion

can be put into the form of an energy principle: