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Dynamics Applications:
Dynamics of 1-DOF Systems
Dynamics Applications: 1-DOF Systems
( )
( )
1 Dynamics of an intermittent-motion drive
is the production time, since, as the table dwells, some production operations
are performed over the workstations located around the table.
The number of workstations determines the rise angle :
2 2
= =
rotary table
1 Dynamics of an intermittent-motion drive
However, as decreases, the table velocity and acceleration become larger, thus
increasing the dynamical stress on the transmission, in particular on the indexer.
The indexer motion law ( ) must be chosen so as to both meet the application
specifications and optimize the dynamic performances.
1 Dynamics of an intermittent-motion drive
The displacement of the indexer follower is only a function of the driver rotation ,
and it may thus be represented in the plane:
= = =
Hence, the indexer transmission ratio is:
= =
Since only depends on the geometrical design of the indexer, so does
, which is thus also called geometric velocity.
Notice that the time-velocity of the follower depends not only on the
indexer design, through , but also on the speed of the driver link
(and on its possible fluctuations).
1 Dynamics of an intermittent-motion drive
= = = + = + = +
If the motor rotates with constant speed, so does the indexer driving link, and
the follower motion is unambiguously determined by the indexer geometry:
= =
= . = = .
= =
= , = +
due to the system compliance, the risk of triggering mechanical vibrations boosts,
further decreasing motion accuracy and hindering the overall performances.
1 Dynamics of an intermittent-motion drive
, ,
= =
,
where:
, + ,
,
2
1 Dynamics of an intermittent-motion drive
Energy flow
Energy required by the rotary tables intermittent motion
The inertia torque acting on the rotary table is:
where is the mass moment of inertia of all components that are coupled
with the indexer follower, including the shafts and the rotary table.
The corresponding power of inertia forces is:
= =
1 Dynamics of an intermittent-motion drive
Assuming, for the time being, that no energy loss occurs within the indexer,
the driving link must supply enough power so as to counteract the inertia torque
acting on the follower:
+ = 0 = =
( )
( )
1 Dynamics of an intermittent-motion drive
Since the elementary work performed by the tables inertia forces is the opposite
of the elementary variation of the table kinetic energy, namely:
= =
the energy supplied by the driving link equals the followers kinetic energy:
( ) ( )
1
= = =
2
In fact:
1
= = = = =
2
1 Dynamics of an intermittent-motion drive
The maximum energy fed into the indexer matches to highest kinetic energy
attained by the table:
1
, = = = ,
2
= = , = = ,
1
1
2
2
= =
1 Dynamics of an intermittent-motion drive
Since the followers kinetic energy at the end of the cycle is zero, the net energy
supplied by the driving link over a cycle is zero too, namely:
= = + =0
=
,
,
1 Dynamics of an intermittent-motion drive
If no energy dissipation occurs, the energy that the table receives while it accelerates
from a dwell to its maximum velocity is returned back when the table decelerates
from its maximum kinetic energy to the next dwell.
The system steady-state motion, then, may be sustained by any device that is able to
store energy and exchange it with the indexer, i.e.:
to receive and store energy when the table decelerates;
to give energy back to the table when it accelerates.
The aforementioned device is, typically:
an electric motor;
a flywheel (working as an kinetic spring).
1 Dynamics of an intermittent-motion drive
Eectric motor
The electric motor has several roles, namely:
it brings the system to a periodic steady-state;
it compensates energy losses;
it exchanges energy with the rotary table.
If energy losses are disregarded and only the speed oscillation of the rotary table
is considered, the power provided by the motor at the steady state equals the
power received by the indexer:
MOTOR REDUCER DRIVER FOLLOWER/TABLE
= = = =
1 Dynamics of an intermittent-motion drive
,
ACCELERATION: MOTOR FOLLOWER/TABLE = ,
When the table decelerates, i.e. < 0, it provides energy to the electric machine,
which works as a generator, i.e. < 0 and < 0:
,
DECELERATION: GENERATOR FOLLOWER/TABLE = ,
1 Dynamics of an intermittent-motion drive
An ideal electric machine has a vertical mechanical characteristic ( ),
thus being able to provide any required positive or negative torque at a
constant speed .
,
= ( )
, ,
,
1 Dynamics of an intermittent-motion drive
, , , ,
=
,
where:
,
1 Dynamics of an intermittent-motion drive
Since bigger motors have steeper mechanical characteristics, the cyclic irregularity
may be decreased by choosing more powerful actuators:
, ,
1 Dynamics of an intermittent-motion drive
Flywheel
The flywheel stores kinetic energy, thus working as a kinetic spring:
the kinetic energy of the fly-wheel is transferred to the table when the table
accelerates (as the flywheel, thus, decelerates);
when the table decelerates, its kinetic energy is transferred back to the
flywheel, which thus accelerates.
,
ACCELERATION: FLYWHEEL FOLLOWER/TABLE = , <0
If the flywheel is mounted on the motor shaft, with mass moment of inertia , then:
, + ,
= , , = , ,
2 2
If the flywheel is the only responsible of the energy exchange with the table, then:
,
,
1 Dynamics of an intermittent-motion drive
If a flywheel with mass moment of inertia is mounted on the output shaft of the
gear reducer, then:
= = , ,
2 2
Hence:
,
,
The flywheel mounted on the slow shaft of the reducer has the same effects on the
cyclic irregularity than a flywheel mounted on the motor shaft as long as:
In practice, the motor and the flywheel work together, both exchanging energy
with the indexer.
The cyclic irregularity is mitigated both by the steepness of the motor
characteristic and by the inertia of the flywheel.
When is not constant, all rotating components of the mechanism undergo
periodic variation of their kinetic energy, besides the flywheel and the rotary table,
and the corresponding inertial effects must be taken into account.
There is energy dissipation throughout the cycle: the energy that flows from the
motor to the table in direct motion is higher than the energy that flows back in
inverse motion.
1 Dynamics of an intermittent-motion drive
Lumped-parameter model
, ,
Rotary table
Gearmotor
=
Indexer
1 Dynamics of an intermittent-motion drive
transmission block, where speed variations and energy losses are concentrated:
,
1 Dynamics of an intermittent-motion drive
, ,
Symbols:
, ,
Symbols:
: motor torque.
, : input and output torques of the gearbox.
, : input and output torques of the indexer.
, : transmission ratio and efficiency of the gearbox.
, : transmission ratio and efficiency of the indexer.
1 Dynamics of an intermittent-motion drive
Free-body diagrams
Moment equilibrium of the motor shaft:
=
= =
1 Dynamics of an intermittent-motion drive
Power balance of the gear reducer:
,
= =
0 :
=
0 :
inverse motion:
<0
=
<0
0
in general:
=
where:
, if 0
=
1 , if <0
1 Dynamics of an intermittent-motion drive
Power balance of the gear reducer when dissipations are taken into account:
= = = =
= = =
1 Dynamics of an intermittent-motion drive
where:
, if 0
=
1 , if <0
,
1 Dynamics of an intermittent-motion drive
= = = = +
= = = = +
1 Dynamics of an intermittent-motion drive
, ,
Motion equation:
=
=
=
=
= +
+ + =0
1 Dynamics of an intermittent-motion drive
= = ( ),
+ +
where:
and are functions of ;
angles and are related so as:
= = = + .
1 Dynamics of an intermittent-motion drive
Lagrange equation
The motion equation may be obtained directly by relying on the Lagrange
equation of 1-d.o.f. systems:
1
1
= + = 2
2
where:
= + +
( ) ( )
= = 2 =2
where motion is direct or inverse depending on whether 0 or < 0,
respectively.
1 Dynamics of an intermittent-motion drive
By considering that:
= , =
=
= = ( ), = ( ),
+ +
= ( ),
=
1 Dynamics of an intermittent-motion drive
Simulink model
Numerical integration of the motion equation:
( ),
= = = = ( ),
( )
+ +
= ( ), = + + ( ),
( ),
1 Dynamics of an intermittent-motion drive
Results
[alpha]
Efficiencies
, 1 [w]
s
Integrator tau
[w]
1 0: 2 [alpha]
s
Integrator
1 Dynamics of an intermittent-motion drive
Function ( ), = :
[etai]
[etar] Product
alpha beta2
[alpha] beta2
tau^3*J_b
From8
alpha beta1 Product8
Gain6
beta1 Product5
u2
Product10 ,
[b1] Cm
Math
Goto5 Function
Jm
J_a*tau^2
Constant5
Constant6
[etar]
From3 Product4
( ) [etai]
From4 Product1
Function ( ), = :
( ),
( ),
( )
1 Dynamics of an intermittent-motion drive
Integrations:
1
omega
s
Integrator To Workspace
[w]
tau
Gain1
Goto
lightBlue
1
alpha alpha2pi alpha
s
Integrator1 [0:2pi] To Workspace3
[alpha]
Goto1
Function 0: 2 bounds such that [0,2 ].
1 Dynamics of an intermittent-motion drive
Results:
Cmot To Workspace1
[Cr1] Goto6
[etar]
From6
Cr2 To Workspace2
Jm
1/tau
Gain2
Constant7
J_a*tau C_a To Workspace5
Gain3
[etai] [C_a] Goto8
From12
[C_a] C_b To Workspace6
From14 [b1]
From13
1 Dynamics of an intermittent-motion drive
Efficiencies:
etar
Constant
[Cr1] [etar]
etai
Constant3
[C_a] [etai]
blocks go to and from are used to pass a signal within the model.
To workspace
alpha
To Workspace3
tau
Gain1
Jm + +
J_a*tau^2
Constant5
Constant6
Product4 Sum
1 Dynamics of an intermittent-motion drive
Integrator:
= , 1
s
Switch:
etar
it passes the 1st or the 3rd input through the block, depending on the value of
the 2nd input (control input);
the condition under which the first input is passed is defined inside the block
(e.g. control input > threshold).
1 Dynamics of an intermittent-motion drive
Subsystem:
1 1
alpha alpha2pi
= 2
2 2*pi
1/(2*pi) floor
= ( )
Rounding Function
1 Dynamics of an intermittent-motion drive
[alpha]
From8
1 1
alpha beta1
Switch
f(u)
>7/8
f(u) 7/8
>1/8 & <7/8
f(u) 1/8
<1/8
1 Dynamics of an intermittent-motion drive
user-defined functions:
km*(w0-u) ( )
memory:
etar
[Cr1] [etar]
2
= = = = 1 1.56 s 1.04 s
2 2 3
[]
2 ( ) ( ) 100
80
1.5 ( )
60
1
40
= 90
0.5 20
0 0
7
-0.5 8 8
-1
-1.5
-2
0 20 40 60 80 100 120 []
1 Dynamics of an intermittent-motion drive
7
1 cos 4 , 0< < ; < <
4+ 8 8
= 4 7
1 3 cos + , < <
4 + 3 3 8 8
0, >
4 7
sin 4 , 0< < ; < <
4+ 8 8
= 4 4 7
sin + , < <
4+ 3 3 8 8
0, >
1 Dynamics of an intermittent-motion drive
= = = 45.6 kg m
1 Dynamics of an intermittent-motion drive
Results 1700
Cyclic irregularity: 1650
no flywheel
slow-shaft flywheel
no flywheel motor-shaft flywheel
1600
= 0.23
[rpm]
1550
= 1.040 s
1500
motor-shaft flywheel
= 0.10 1450
= 1.035 s 1400
-1
-2
-3
-4
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 [ ]
1 Dynamics of an intermittent-motion drive
A flywheel mounted on the gearbox slow shaft reduces the torque on this shaft
too, but its inertia is bigger (!) than inertia of the rotary table:
150
[N ] no flywheel
100 slow-shaft flywheel
motor-shaft flywheel
50
-50
-100
-150
-200
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 [ ]
1 Dynamics of an intermittent-motion drive
The inertia of the flywheel causes the mechanism to reach its steady-state
motion after a longer transient:
1800
[rpm]
1600
1400
1200
1000
800
600 no flywheel
slow-shaft flywheel
400 motor-shaft flywheel
200
0
0 1 2 3 4 5 6 7 [ ]
2 Dynamics of the four-bar linkage
Model
/////
Position analysis
+ = + =
+ = =
**
3
2 Dynamics of the four-bar linkage
Kinematic analysis
Velocity analysis
First-order kinematic coefficients (transmission ratios) of the dependent
configuration variables:
= = =
= = =
= = , = 2,3
2 Dynamics of the four-bar linkage
Acceleration analysis
Second-order kinematic coefficients of the dependent configuration variables:
+
= = =
+
= = =
= + , = 2,3
2 Dynamics of the four-bar linkage
Centres of mass
Position, velocity and acceleration of the centre of mass of the th link ( = 1,2,3):
=
= =
= = +
2 Dynamics of the four-bar linkage
=
= = +
=
=
= =
=
2 Dynamics of the four-bar linkage
Kinetic energy
Kinetic energy of the links:
1 1
= + , = + ,
2 2
1
= + ,
2
1 1
= , = ,
2 2
1
= ,
2
2 Dynamics of the four-bar linkage
1 1
, = = , + + , + , = ( )
2
2
where is the total mass moment of inertia of the linkage:
= , + + , + ,
Derivative of w.r.t. the independent variable:
= =2 +2 , +2 ,
2 Dynamics of the four-bar linkage
Potential energy
The potential energy associated with gravitational forces is:
= = ,
= = = ,
2 Dynamics of the four-bar linkage
DAlembert equations
Inertia forces
Link 1: ,
, = ,
Link 2:
=
,
, = ,
,
Link 3:
=
, = ,
2 Dynamics of the four-bar linkage
Free-body diagrams
3 equilibrium equations may be written for any link, thus obtaining a system of
9 equations in 9 unknowns.
The system comprises:
the external forces applied to the linkage: , and the weights;
the inertia forces;
the 8 components of the reaction forces in the revolute joints:
= , = , = , =
The system is linear in the reaction forces and the external forces.
The 9 unknowns are:
the reaction forces and the driving torque, when solving the inverse problem;
the reaction forces and the input motion, when solving the direct problem.
The system is generally coupled.
2 Dynamics of the four-bar linkage
Method of the open kinematic chain
It allows equilibrium equations to be more effectively formulated, namely in
(partial) echelon form.
Cut the kinematic chain in and replace the removed joint with the corresponding
reaction force :
,
,
2 Dynamics of the four-bar linkage
Impose the moment equilibrium of (i) link 2 about , and (ii) the ensemble of links 2
and 3 about :
+ , =
+ , , + =
, ,
2 Dynamics of the four-bar linkage
This provides two scalar equations that allow the computation of the reaction force
as a function of the external torque , the weight forces and the motion variables
(no other reaction forces nor the driving torque are involved):
= + + ,
= + + + , + ,
, ,
2 Dynamics of the four-bar linkage
= + + ,
= + + + , + ,
+ = ( + ) + ,
+ = + + + , + ,
=
=
2 Dynamics of the four-bar linkage
Explicit computation of (not necessary if a numeric solution is attempted):
+ , =
+ , , + =
+ , =
+ , + =
= ( + )+ ,
= + + + ,
= ( + ) + ,
+ = + + + ,
2 Dynamics of the four-bar linkage
Hence:
= ( + ) + ,
+ = + + + ,
+
=
+
=
where:
= , + + ( + )
= , + + + +
2 Dynamics of the four-bar linkage
Once is known, the moment equilibrium of link 1 about allows the computation
of the driving torque as a function of the external forces and moments acting on
the linkage and the motion variables, i.e. the motion law of the linkage:
+ , =
= + + ,
,
2 Dynamics of the four-bar linkage
= , + + =
+
= , + +
2 Dynamics of the four-bar linkage
The force equilibrium of each link allows the computation of the other reaction forces:
link 1: = + +
link 2: = +
link 3: = + +
,
,
2 Dynamics of the four-bar linkage
Lagrange equation
The Lagrange equation is:
+ =
where:
1
= +
2
= + = +
Thus, immediately:
1
, , = + +
2
2 Dynamics of the four-bar linkage
The reaction forces can be calculated by free-body diagrams, as shown in
the previous section:
moment equilibrium of links 2 and 3:
= + + ,
= + + , + ,
60
40
20
[rad]
3 2 1
0 1 2 3
20
40
60
80
100
120
1
50
40
30
20
10
[s]
0
0 0.1 0.2 0.3 0.4 0.5
2 Dynamics of the four-bar linkage
[Nm]
200
150
100
50
[s]
0
0.1 0.2 0.3 0.4 0.5
50
3 Dynamics of a vehicle in planar motion
Single-track model
and can be used interchangeably as
the steering variable:
=
tan
, =
sin
=
tan
= = =
3 Dynamics of a vehicle in planar motion
= =
= + = + = ( + )
3 Dynamics of a vehicle in planar motion
Second-order kinematics:
= =
= + = + = + +
= + =
= + + + =
= ( + ) +( + )
3 Dynamics of a vehicle in planar motion
DAlembert equations
Forces acting on the vehicle body in the xy-plane:
tractive force on the rear wheel:
= ,
inertia forces:
= = + +
, =
3 Dynamics of a vehicle in planar motion
Force equilibrium:
+ + + =
sin + =0
+ cos =0 ,
( + )
=
sin
= cos + +
3 Dynamics of a vehicle in planar motion
+ + , =
+ sin + cos =
+ cos =
cos + =0
,
3 Dynamics of a vehicle in planar motion
Substituting for in the moment equilibrium equation yields:
+ cos + + + =0
cos + + =0
( + )
cos = = ( + )
tan
and thus:
+ + + + =0
= + +
3 Dynamics of a vehicle in planar motion
= + +
Since:
= , =
tan sin
tan 1
= , = tan +
cos
one also has
tan tan
= + +
cos
3 Dynamics of a vehicle in planar motion
( + ) +
= = = +
sin sin cos sin
= cos + + = +
tan
1
= sin + + sin
cos cos
1
= sin + + sin
cos cos
3 Dynamics of a vehicle in planar motion
=
tan
tan
= = 0,
1
= tan + =
cos
3 Dynamics of a vehicle in planar motion
Hence, when = 0:
tan tan
= + + =
cos
1
= sin + + sin =
cos cos
1
= sin + + sin =
cos cos
3 Dynamics of a vehicle in planar motion
Energy equation
Kinetic energy of the vehicle:
= + , =
1 1 1 1 1
= + = + + = ( + ) =
2 2 2 2 2
where
= +
= 2
3 Dynamics of a vehicle in planar motion
The vehicles motion law may be obtained by the energy equation as:
= = =
1 1 = +
= = + = +
2 2
3 Dynamics of a vehicle in planar motion
Motor torque
Tricycle model
The tractive force is distributed on the two traction (rear) wheels:
= + = + =
3 Dynamics of a vehicle in planar motion
If the mass moment of inertia of the wheel about its axis is disregarded,
the moment equilibrium of the jth traction wheel yields ( = , ):
= 0 =
where:
is the motor torque of the jth wheel;
is the tractive force of the jth wheel.
= + = + =
3 Dynamics of a vehicle in planar motion
The contribution of the mass moment of inertia of the wheels can be taken into
consideration, in an approximate way, as:
+4 = +4
[m]
80 kmh
20 120 kmh
80 120 kmh
= +
cos sin
= 12,8 kN
15
= +
tan
= + +
10
0 20 kN
0 5 10 15 20 [m]
3 Dynamics of a vehicle in planar motion
2. The same vehicle of the previous example travels a curve with:
variable steer angle: 0 = = 0, 0 = = 0, = 1.13 s,
= 4.91 sin 4 for 0, 2 , = 4.91 sin 4 for 2 , 0 ;
constant acceleration = 9.82 ms , entering the curve at = 80 kmh and
and exiting it at = 120 kmh, thus travelling a distance = = 31.41 m.
1.0
0.25
0.8
0.20 0.6
[rad/s]
[rad]
0.4
0.15
0.2
0.10 0.0
-0.2
0.05 -0.4
-0.6
0.00
-0.8
[s] -1.0 [s]
-0.05 0 0.2 0.4 0.6 0.8 1 1.2
0 0.2 0.4 0.6 0.8 1 1.2
3 Dynamics of a vehicle in planar motion
[m]
20
trajectory
= + forces
cos sin constant
15
= +
tan
10
= + +
5
0 20 kN
0 5 10 15 20 [m]
3 Dynamics of a vehicle in planar motion
16
[kN] 14
12
10
8
= +
6
=
4 = +
2
-2
[s]
-4
0 0.2 0.4 0.6 0.8 1 1.2
Prof. Marco Carricato
DIN
marco.carricato@unibo.it
http://grab.diem.unibo.it/
www.unibo.it/docenti/marco.carricato