Dynamics and control of mechanical systems

Date Content
Day 1 Review of the basics of mechanics.
(01/08) Kinematics of rigid bodies - coordinate transformation, angular velocity
vector, description of velocity and acceleration in relatively moving frames.
Day 2 Euler angles, Review of methods of momentum and angular
momentum of system of particles, inertia tensor of rigid body.
(03/08)
Dynamics of rigid bodies - Euler equations, application to motion of
symmetric tops and gyroscopes and problems of system of bodies.
Day 3 Kinetic energy of a rigid body, virtual displacement and classification of
constraints.
(05/08)
D Alemberts principle.
Day 4 Introduction to generalized coordinates, derivation of Lagrange's equation
from D Alemberts principle.
(07/08)
Small oscillations, matrix formulation, Eigen value problem and numerical
solutions.
Day 5 Modelling mechanical systems, Introduction to MATLAB, computer
generation and solution of equations of motion.
(09/08)
Introduction to complex analytic functions, Laplace and Fourier transform.
JU 2017/HL

Day 6 PID controllers, Phase lag and Phase lead compensation.

(11/08) Analysis of Control systems in state space, pole placement, computer
simulation through MATLAB.

DMS6021 - Dynamics and Control of Mechanical Systems 1

Contents

Focuses on
4 Derivation of Euler angles
4 Review of principle of impulse and angular momentum
4 Angular moments in 3D and inertia tensors
4 Examples
JU 2017/HL

DMS6021 - Dynamics and Control of Mechanical Systems 2

 Euler angles
Application areas - Aircraft and aerospace simulation
- Robot simulation

RR - Computer graphics
- Orientation of mobile phones
JU 2017/HL

ROV built by UiS

students 2016

DMS6021 - Dynamics and Control of Mechanical Systems 3

Euler angles
Introduction
4 Euler angles are the three angles used to represent a rigid body in 3D
rotations.
Using Euler angles any rotation can be described by 3 successive
rotations about a linearly independent angles
Specially in multibody dynamics, Euler angles are useful to
express the motion of rotating bodies
Euler angles relate any rotating frame (non-inertial frame) fixed to
a rigid body with the fixed inertial frame through the successive
rotations
Note: The "inertial frame" is an Earth-fixed set of axes that is used
as an unmoving reference.
JU 2017/HL

4 Many different types of Euler angles can be driven depending on

the sequence of rotations
DMS6021 - Dynamics and Control of Mechanical Systems 4
 Euler angles
Lets consider the following sequence of rotation: b g, for
rotation about x, Y and Z ( 1-2-3 sequence)
JU 2017/HL

Determine R = RgRbR

DMS6021 - Dynamics and Control of Mechanical Systems 5

Euler angles
Multibody dyanamics for robotics and simulation software in
ADAMS uses the 3-1-3 sequence
Show that the following are correct for the 3-1-3 sequence, i.e.
Rotation about z by (Rz) rotation about x by b (Rxb)
rotation about z by g (Rzg)
Ca - Sa 0 1 0 0

Rza = Sa Ca 0; Rx 'b = 0 Cb - Sb

0 0 1 0 Sb Cb

Cg - Sg 0
Rz ''g = Sg Cg 0
0 0 1 Resultant Eulerian rotation matrix
( + )


+ +
JU 2017/HL

S = Sin
C = Cos
DMS6021 - Dynamics and Control of Mechanical Systems 6
 Review of momentum and angular momentum
4 Principle of impulse and momentum
dv
Newotn' s Second Law : F = ma = m ; Integrating :
dt

$!
t2 v2
L= F dt = mdv = mv2 - mv1
#!
t1
" v1 $!#!"
Linear momentum
Linear impulse

4 The principle says:

impulse applied to an object during a time interval ( t1 t2) is equal
to the change in the objects linear momentum

4 Note: Impulse force is a force of large

magnitude acting over a short period of time
JU 2017/HL

1 t2
Average force : F av =
t 2 - t1 t1
Fdt
DMS6021 - Dynamics and Control of Mechanical Systems 7

Review of momentum .
4 Principle of impulse and momentum
The linear momentum (L) of a rigid body is
defined as
L = m vc where vc is velocity of the mass center
The linear momentum vector L has a magnitude
equal to (mvc) and a direction defined by vc.

The angular momentum (Hc) of a rigid body rotating with angular

velocity about its mass center (c) is defined as
Hc = Ic
JU 2017/HL

Where the direction of Hc is perpendicular to the plane of rotation, and Ic

is mass moment of inertia about its mass center.
DMS6021 - Dynamics and Control of Mechanical Systems 8
 Review of momentum
4 Principle of impulse and momentum ...

When a rigid body undergoes rectilinear or

curvilinear translation, its angular momentum is
zero because = 0

L = m vc and Hc = 0
For a rigid body motion about a fixed axis passing
through point O:
- Linear momentum: L = mvc
- Angular momentum about C: Hc = Ic
- Angular momentum about the center of rotation O.
HO = ( rc mvc) + Ic = IO
JU 2017/HL

where Io is calculated about O

Moment of linear
momentum
DMS6021 - Dynamics and Control of Mechanical Systems 9

Review of momentum
4 Angular momentum
dv
r x F = r x ma = r x m
dt
Angular momentum
d about O
where (r x m v ) = dr x m v + r x m dv Ho = r x mv
dt dt
! dt
%v
"$" #
m ( v xv ) = 0 Moment of linear
momentum
Rate of change of angular momentum
dH o d dv
= (r x mv) = r x m = r x F
dt dt dt $!#! "
Rate of change of the moment
of momentum about point o

Rate of change of angular momentum

JU 2017/HL

= r x F (r x F )dt = dH o = H o 2 - H o1
dH o t2 H2 Principle of
dt $t1
!!#!! " H1 angular impulse
Angular impulse and momentum

DMS6021 - Dynamics and Control of Mechanical Systems 10

 Review of momentum
4 Angular momentum in matrix form
Where r = xi + yj + zk
and v = (vx, vy, vz)

Exercise:
Show that the following components of the angular momentum are correct
JU 2017/HL

DMS6021 - Dynamics and Control of Mechanical Systems 11

Review of momentum .
4 Consrevation of angular momentum

and

The angular momentum is conserved when

i.e.
If the resultant moment about a fixed point O
is zero, then angular momentum remains constant,
or it is said to be conserved.
JU 2017/HL

Note: Angular momentum may be conserved in one coordinate

(e.g., x), but not necessarily in others (e.g., y or z)
DMS6021 - Dynamics and Control of Mechanical Systems 12
 Review of momentum
4 Angular momentum of a rigid body in 3D
- Lets define an arbitrary angular velocity vector
as w = (wx wy wz)
- Equation of angular momentum:
H = r x mv = r x m(r x w) = m(r x (r x w)),
where r = (x, y, z)
4 Using equation for double cross product: A x (B x C) = B(A.C) C(A.B)
r x (r x w) =
( )
(r r) - r(r ) = y 2 + z 2 w x - (x y )w y - (x z )w z Hx = m( y + z )w - m ( x. y )w - m( x.z )w
$!!#!!
2 2
x
" $!#!" $!#!"
I xx I xy
y
I xz
z

( )
- ( y x )w x + z 2 + x 2 w y - ( y z )w z $!#!" $!!#!!
(
" $!#!"
)
H y = - m( y.x)w x + m z 2 + x 2 w y - m( y.z )w z

( )
I yx I yy I yz

- (z x )w x - (z y )w y + x 2 + y 2 w z (
H z = - m( z.x)w x - m( z. y )w y + m x 2 + y 2 w z )
$!#!" $!#!" $!!#!! "
I zx I zy I zz
JU 2017/HL

DMS6021 - Dynamics and Control of Mechanical Systems 13

Review of momentum
4 Inertia Tensors of rigid bodies
- Expressed in matrix form Note:
The term tensor refers to a higher-order vector.
H x I xx I xy I xz wx A vector is written as a column, while a tensor is
written as a matrix.
H y = I yx I yy I yz wy The inertial tensor has the property that
H I I I w Iij = Iji it is a symmetirc tensor of 2nd order
z zx zy zz z and I = IT

Angular Angular speed

Inertia Tensor
momentum
of the body Inertia Tensors transform the vector w into the vector Hc
about its mass
center
H1 I11 I12 I13 w1
Alternatively:
H = I I I w
Letting Ixx = I11 , Iyy = I22 , Izz = I33 , Ixy = I12 , etc. 21 22 23
2 2
JU 2017/HL

H 3 I31 I32 I33 w3

H ij = I ij w j
DMS6021 - Dynamics and Control of Mechanical Systems 14
 Review of momentum
4 Inertia Tensors of rigid bodies in 3D
- Inertia tensor is calculated through a point independent of the axis of
rotation, and once that is established, the angular momentum about
any axis through that point can be determined.
If a new system of axes is used
- a new inertia tensor is obtained
- the angular momentum Hc = f(w) remain the same because it is
independent of the choice of coordinate system
- If the coordinate system coincides with the principal axes (axes where
the angular momentum and the angular speed coincide), calculation of
inertia tensors is especially simple.
I x 0 0 Where Ix , Iy and Iz are principal centroidal moments

JU 2017/HL

I = 0 I y 0 If Ix = Iy = Iz, Hc and w are collinear, otherwise (in general) the

0 0 I principal moments are different and hence Hc and w are in different
z directions
DMS6021 - Dynamics and Control of Mechanical Systems 15

Review of momentum
4 Example:
Consider that the cube of dimension a has a uniform
distribution of mass with density r = m/a3.
(1) Find the inertia tensor for rotation about one of the corners
as given in the figure.
(2) Assume that the cube rotates about x-axis and find the
angular momentum
JU 2017/HL

DMS6021 - Dynamics and Control of Mechanical Systems 16

 Example, Inertia Tensor for Cube
4 The mass of the cube is evenly distributed the summation can be
converted to integration For example, the upper-left
element becomes:

a a a
I xx = dx dy dzr%( y 2 + z 2 ),
0 0 0

where r%= M / a3 denotes the mass density.

4 Thus,
( a a a a a a
I xx = r% dx y 2 dy dz + dx dy z 2 dz = 23 r%a5 = 23 Ma 2 .
0 0 0 0 0 0 )
4 Symmetry condition give that Ixx = Iyy = Izz, and similarly for the off-
JU 2017/HL

diagonal elements.

DMS6021 - Dynamics and Control of Mechanical Systems

Example, Contd
4 The off-diagonal elements have the form
a a a a a a
I xy = - dx dy dzr%xy, = - r% xdx ydy dz = - 14 r%a 5 = - 14 Ma 2 .
0 0 0 0 0 0
4 By symmetry, all the off-diagonal elements have the same value. Thus, the
moment of inertia tensor is
23 Ma 2 - 14 Ma 2 - 14 Ma 2 8 -3 -3
1 2 Ma 2
I = - 4 Ma 2
3 Ma
2 2
- 4 Ma =
1
-3 8 -3 . [about a corner]
12
- 14 Ma 2 - 14 Ma 2 32 Ma 2 -3 -3 8

4 The angular momentum for rotation about any axis through this corner.
Examples:
L not in same
4 Rotation about x axis (w = (w, 0, 0)): L = Iw = Ma2/12 (8w, -3w, -3w) direction as
= Ma2w (2/3, -1/4, -1/4). rotation axis

4 Rotation about diagonal through O ( = w / 3 (1, 1, 1) ): L is in same

direction as
8 -3 -3 1 2 rotation axis
JU 2017/HL

Ma 2 w Ma 2 w Ma 2
L = I = -3 8 -3 1 = 2 = .
12 3 12 3 6
-3 -3 8 1 2
DMS6021 - Dynamics and Control of Mechanical Systems
 Example, Contd
4 If the origin is shifted to the center of the cube, the diagonal element
integrals are just as easy, simply change the limits, e.g.

(
I xx = r%
a /2

- a /2
dx
a /2

- a /2
y 2 dy
a /2

- a /2
dz +
a /2

- a /2
dx
a /2

- a /2
dy
a /2

- a /2 )
z 2 dz = 2 23 r%a 2 (a / 2)3 = 16 Ma 2 .

but the off-diagonals are all odd functions, so the change the limits leads
them to go to zero, e.g.
a /2 a /2 a /2 a /2 a /2 a /2
I xy = - dx dy dzr%xy, = - r% xdx ydy dz = 0.
- a /2 - a /2 - a /2 - a /2 - a /2 - a /2

4 The inertia tensor is then diagonal, i.e.

1 0 0
Ma 2 2
= Ma 1.
I= 0 1 0
6 6
0 0 1

4 Note that, no matter what direction w is, L is always parallel to it:

JU 2017/HL

Ma 2
L = I = .
6
DMS6021 - Dynamics and Control of Mechanical Systems

Summary and questions

In this lecture, the following are covered
4 Euler angles: Example applications and derivations

4 Review of the principle of angular impulse and moment

4 Review of angular momentum and its conservation

4 Angular moments in 3D and inertia tensors

?
JU 2017/HL

Next: Dynamics of rigid bodies - Euler equations, application to

motion of symmetric tops and gyroscopes
DMS6021 - Dynamics and Control of Mechanical Systems
 Example
4 Example 1
D Two masses A and B of 0,4 kg each with initial velocity of 2
m/s experience a moment M = 0,6 Nm.
M Find the speeds of the masses when time t = 4 s.
B
A

Sol: Applying the principle of angular impulse and momentum

C

dt = Change of angular momentum of mass A and B
= 2(r.m(v2 v1)) = 2(0,3)(0,4) (v2 2 m/s)
= 0,24v2 0,48

Where dt = 0,6 (4-0) = 2,4
JU 2017/HL

2,4 = 0,24v2 0,48

v2 = 12 m/s
DMS6021 - Dynamics and Control of Mechanical Systems

Example, Contd
4 Example 2
A rod assembly rotates around its z-axis. The mass C is 10
kg and its initial velocity is 2 m/s. A moment and force both
act as shown, where M = 8t2 + 5 Nm and F = 60 N.

Find the velocity of mass C after 2 seconds.

Sol: Applying the principle of angular impulse and momentum
about z-axis (the axis of rotation)
45 45
Angular impulse: 46 dt + 46 ( ) dt
5 5 A
= = (8 5 + 5dt) + = (0,75 60) dt
B
= 85,33 nm.s
Change of angular momentum:
Hz2 Hz1 = r.m(v2 v1) = 0,75(10)(v2 2) = 7,5v2 + 15
JU 2017/HL

By the principle of angular impulse and momentum

7,5v2 + 15 = 85,33 v2 = 13,4 m/s
DMS6021 - Dynamics and Control of Mechanical Systems