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Introduction to Dynamics
of MBS
Mechanical Systems and Vehicle Engineering Program
Adama Science and Technology University
2018-19 A.Y Semester II
Multibody System
• A system is defined to be a collection of entities that act and interact together
towards the accomplishment of some logical end.
• Multibody system is defined to be a collection of subsystems called bodies,
components, or substructures.
• A multibody dynamic (MBD) system is made of two or more rigid or flexible body,
joined together through kinematic pairs, which allow relative movement between
adjacent bodies
• The study of MBD is the analysis of how mechanism systems move under the
influence of forces
• The motion of bodies is described by their kinematic behavior. The dynamic behavior
results from the equilibrium of applied forces and the rate of change of momentum
• Many mechanical and structural systems such as vehicles, space structures, robotics,
mechanisms and aircraft consist of interconnected components that undergo large
translational and rotational displacements.
Dynamic System
• Definition
• A physical system undergoing a time varying interchange or dissipation of energy among or within its
elementary storage or dissipative device.
• Composition of dynamic system
Mathematical
Input Output Interpretation
Model
Differential Method X
Example Applying laws of nature
Force F(t) Laplace method
Vibration Newton-Euler Equ. State space
Xሶ
Excitations
System ODE or PDE Numerical Xሷ
Dynamic System Classification
System
Experiment with Experiment with a
The actual system model of a system
Physical
Mathematical
Model
Model
Analytical Simulation
Solution
Distributed Variable
Stochastic Non-Linear Continuous
Parameter Coefficient
Approaches to Solve MBD System
• Multibody system analysis has been developed based on the achievements of classical mechanics,
which is generally divided into two branches
• Vector Mechanics (Direct Approach to Dynamics)
• Consider the individual particles on the system
• Connecting force and motion on vectors
• Force and momentum are considered as the primary parameters in differential equations of motion.
• can be directly derived by employing the approach of Newton and Euler 2nd law of motion
• Analytical (Lagrangean) Mechanics (Indirect Approach to Dynamics)
• Treats the system as a whole.
• Deals with scalar quantities such as K.E & P.E
• Introducing the concept of virtual work.
• In order to make the concept mathematically consistent, Lagrange utilized the results of D’Alembert, making
possible the systematic analysis of a constrained particle system.
Elements of MBD system
• Mass Spring Damper
a
X1 x2
F V1 V2
fc fc
• The required force fm to move a mass m is • If k is constant then, the value of stored P.E • 3 form of Damping : Viscous,
is equal to the work done by the spring Coulomb & Hysteretic
proportional to its acceleration a=𝑥ሷ
(element relating force to acceleration) force fk f =Cv (fs)max=µsN if Vrel=0
𝑥2 c rel
1
𝑉 = − න 𝑓𝑘 𝑑𝑥 = න 𝑘𝑥𝑑𝑥 = 𝑘𝑥 2 fk=µkN, if Vrel>0
2
Elements of MBD System
• Example
x x
k
kx
F t − cxሶ − kx = mxሷ
F(t)
m F(t) m
C𝑥ሶ
C mxሷ + cx+
ሶ kx=F t
C𝒙ሶ kx
C k
F t + 𝑚𝑔 − cxሶ − kx = mxሷ
m x
m
x mxሷ + cx+
ሶ kx-mg=F t
F(t) F(t) mg
Vector Mechanics- Kinematics of Rigid Bodies
• Kinematics of Rigid Bodies y
• The position of a particle P on a rigid body at any instant in time can be P(x,y,z)
referred to a fixed rectangular or Cartesian coordinate system j
rP/A
Position Velocity Acceleration rP A
𝑟𝑝 = 𝑥𝑖 + 𝑦𝑗 + 𝑧𝑘 𝑉 = 𝑥𝑖ሶ + 𝑦𝑗ሶ + 𝑧𝑘
ሶ 𝑎 = 𝑥𝑖ሷ + 𝑦𝑗ሷ + 𝑧𝑘
ሷ rA
O
• The position, Velocity & Acceleration. of particle P can be give k i x
Position Velocity Acceleration
𝑟𝑝 = 𝑟𝐴 + 𝑟𝑃/𝐴 𝑉𝑝 = 𝑉𝐴 + 𝑉𝑃/𝐴 𝑎𝑝 = 𝑎𝐴 + 𝑎𝑃/𝐴
• If a rigid body is rotating about an axis . The angular Velocity and acceleration
given
Angular Velocity Angular Acceleration
𝜔 = 𝜔𝑘 𝛼 = 𝑑𝜔Τ𝑑𝑡
• Assuming particle P and A are fixed to a rigid body, the relative velocity of particle P w. r. t. A
Relative Velocity Relative Acceleration
𝑉𝑃/𝐴 = 𝜔 × 𝑟𝑃/𝐴 𝑎𝑃/𝐴 = 𝛼 × 𝑟𝑃/𝐴
Vector Mechanics- Linear & Angular Momentum
• Linear momentum
• the resultant of the forces acting on the particle is equal to the rate of change of linear momentum of
the particle mv
∑F=0
dv d d
∑𝐹Ԧ = m = (m𝑉) ∑F = 𝑃 = Pሶ m
dt dt dt
• The vector P = mv is called the Linear Momentum
• Angular Momentum or Moment of Momentum v
• The moment about O of the vector mv y
V
𝐿 = r × 𝑃 = rm𝑉 sinϕ Ho φ
• Differentiating w.r.t time
=0, Coz, Cross Product of 2 parallel vector is zero r m
𝐿ሶ = 𝑟ሶ × 𝑃 + r × 𝑃ሶ = 𝑟 × σ 𝐹 = σ 𝑀 = σ 𝜏Ԧ O i
x
• The sum of the moments (Torque) about O of the forces acting on the particle is equal to the rate of change of
moment of momentum, or angular momentum of the particle about O.
Vector Mechanics- Equation of Motion
• Equations of Motion for a Rigid Body
• The motion of the mass center G of the body w.r.t the Newtonian frame of Y’ F4
F1
reference Oxyz is given by the rate of change of linear momentum y F3
∑F= ma = 𝑃ሶ Newton’s Equation of Motion
• The motion of the body relative to the centroidal frame of reference j Δmi
Gx’y’z’ is given by the rate change of angular momentum Go X’
F2
• Let 𝑞𝑗 is the generalized coordinates and 𝑄𝑗 is the generalized non conservative force
𝑑 𝜕𝑇 𝜕𝑇 𝜕𝑉
• Equation of Motion for conservative Forces − + =0
𝑑𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗 𝜕𝑞𝑗
• Example- Consider a mass of particle fall from y distance above the ground
m
• Let the generalize coordinate 𝑞𝑗 = 𝑦 = 𝑥 and 𝑞ሶ 𝑗 = 𝑉 = 𝑥ሶ
1 1 y V
• Kinetic Energy 𝐾. 𝐸 = 𝑇 = 𝑚𝑉 2 = 𝑚𝑥ሶ 2 Potential Energy 𝑃. 𝐸 = 𝑉 = 𝑚𝑔𝑥 = ∆𝑈
2 2
1
𝐿 = 𝐾. 𝐸 − 𝑃. 𝐸 = 𝑚𝑉 2 − 𝑚𝑔𝑥
2
𝜕𝐿 𝜕 𝜕 1
For conservative forces 𝑄𝑗 =0
= 𝑚𝑔𝑥 = 𝑚𝑔 but 𝑚𝑥ሶ 2 =0
𝜕𝑥 𝜕𝑥 𝜕𝑥 2
𝜕𝐿 𝜕 1 2 𝜕 𝑑 𝜕𝑇 𝜕𝑉
= 𝜕𝑥ሶ 𝑚 𝑥ሶ = 𝑚𝑥ሶ but −𝑚𝑔𝑥 = 0 − =0
𝜕𝑥ሶ 2 𝜕𝑥ሶ 𝑚𝑥ሷ = −𝑚𝑔
𝑑𝑡 𝜕 𝑥ሶ 𝜕𝑥
𝑑 𝜕𝐿 𝑑
= 𝑚𝑥ሶ = 𝑚𝑥ሷ 𝑚𝑥ሷ + 𝑚𝑔 = 0 𝐹 = 𝑚𝑥ሷ = 𝑚𝑔
𝑑𝑡 𝜕𝑥ሶ 𝑑𝑡
Lagrangian Mechanics x
k
• Example-2 Find Equation of Motion Using Lagrangian Method
m F(t)
𝑑 𝜕𝐿 𝜕𝐿
− = 𝑄𝑗 For Non Conservative Forces
𝑑𝑡 𝜕𝑞ሶ 𝑗 𝜕𝑞𝑗
C
• 𝑥ሶ 1 = 𝑥ሶ =1 𝒙𝟐
𝟏 𝒌 𝑪
𝑭 𝒕 − 𝒌𝒙 − 𝑪𝒙ሶ = 𝒎𝒙ሷ
• 𝑥ሶ 2 = 𝒙ሷ = 𝒖 − 𝒙 − 𝒙
𝒎 𝟏 𝒎 𝟏 𝒎 𝟐
𝑼 𝒕 − 𝒙𝟏 𝒌 − 𝒙𝟐 𝑪 = 𝒙ሶ 𝟐 𝒎
State Space Approach
• State Equation becomes
𝑥ሶ 1 0 1 𝑥1 0
= + 𝑢1 𝑥ሶ = 𝐴𝑥 + 𝐵𝑢
𝑘 𝐶 1
𝑥ሶ 2 − − 𝑥2
𝑚 𝑚 𝑚
𝑥1 𝑥1
𝑦 = 1 0 𝑥 + 0 𝑢1 𝑦 = 0 1 𝑥 + 0 𝑢1
2 2
State Space to Transfer Function
• State Equation 𝑥ሶ = 𝐴𝑥 + 𝐵𝑢 Output Equation 𝑦 = 𝐶𝑥 + 𝐷𝑢
𝑦(𝑠)
• Transfer Function 𝐺𝑝 𝑆 =
𝑢(𝑠)
• ℒ 𝑦 = 𝑦 𝑠 = 𝐶𝑋 𝑠 + 𝐷𝑈(𝑠) 𝑦 𝑠 = 𝐶 𝐼𝑠 − 𝐴 −1 𝐵𝑈 𝑠 + 𝐷𝑈(𝑠)
• Transfer Function
y(s) −1
Gp S = = C Is − A B+D
u(s)
State Space to Transfer Function
• For Spring- Mass System Previous Problem
𝐶
1 𝑆+ 1 0
0 1 0 𝑚 1
𝑘 𝐶 Gp S = 1 0
𝐴= 𝐵= 1 C= 1 0 𝐷= 0 𝑐 𝑘 𝑘
− − 𝑆 𝑠+𝑚 +𝑚 − 𝑆 𝑚
𝑚 𝑚 𝑚 𝑚
• Transfer Function
1
1 𝑚
y(s) Gp S = 1 0
Gp S = = C Is − A −1
B+D 𝑐 𝑘 𝑠
𝑆2 + 𝑆 𝑚 + 𝑚
u(s) 𝑚
−1 1 1
𝑠 −1 0
Gp S = 1 0 𝑘 𝐶 1 +0 Gp S = +0
𝑆+𝑚 2 𝑐 𝑘 𝑚
𝑚 𝑚 𝑆 +𝑆 +
𝑚 𝑚
• Inverse of a matrix 1
Gp S =
𝑎 𝑏 1 𝑚𝑆 2 + 𝑆𝑐 + 𝑘
𝐸= 𝑑 −𝑏
𝑐 𝑑 𝐸 −1 =
𝑑𝑒𝑡 𝐸 −𝑐 𝑎
Advanced Vehicle Dynamics (AUE 8306)
End of Lecture-2