MECHATRONICS IN

TEXTILE ENGINEERING
CHAPTER 3

MACHINE ANALYSIS

Dr. Vo Tuong Quan

HCMUT - 2015

Machine Analysis
Goals:
About the mechanical structure:
-The specifications of the machine.
-The operation principle of the machine.
-The mechanical design and the important parts of the machine.
-Draw the operation principle of the machine via block diagram.
About the electrical/electronics module and controller of the machine:
-The power of the machine.
-The elements of the machines controller.
-The important parts of the controller of machine.
-The main controller of the machine.
-The control algorithm of the machine.

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Machine Analysis
Lets consider the following machines:

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Machine Analysis
Lets consider the following machines:

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2015 TS. Vo Tuong Quan

Machine Analysis
Lets consider the following machines:

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2015 TS. Vo Tuong Quan

Machine Analysis
Lets consider the following machines:

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2015 TS. Vo Tuong Quan

Machine Analysis
Lets consider the following machines:

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2015 TS. Vo Tuong Quan

Machine Analysis
Lets consider the following machines:

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2015 TS. Vo Tuong Quan

Machine Analysis
Lets consider the following machines:

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2015 TS. Vo Tuong Quan

Machine Analysis
Lets consider the following machines:

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Machine Analysis
Lets consider the following machines:

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Machine Analysis
Lets consider the following machines:

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Modelling of the machine

Goals:
About the mechanical structure:
-Express the mechanical structure and other related thing by mathematic
equation.
-This equation should have the relationship between input and output.
-One machine can have quite many different modules and different subequations
About the controller structure:
-Express the controller by mathematic equation
Merits:
-Know the advantages and disadvantage of the mechanical and controller of
the machine.
-Easy to check the feasibility and effectiveness of the design.
-Easy to check the agreement between the controller and the machine.
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Machine Analysis
Lagranges method:
1. Calculate the kinetic energy of system (K or T)

1 2
K mv
2
2. Calculate the rotation kinetic energy of system (K or T)

K Rot

1 2
I
2

3. Calculate the potential energy of the system (P or V or U)

P mgh
Lagrange equation: L = K P
Then: Calculate the equation
(Called Lagranges Equation)
2015 TS. Vo Tuong Quan

d L L

dt q q 14

Machine Analysis
Mass Spring system

1 2
K mx
2
1 2
P kx
2
1 2 1 2
L K P mx kx
2
2

d x
m 2 kx 0
dt

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Multi degree of freedom system

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Simple pendulum

We need to transform the coordinate

Machine Analysis
Simple pendulum

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Double pendulum

Machine Analysis
Double pendulum

Machine Analysis
Double pendulum

Machine Analysis
Double pendulum