MM326 SYSTEM DYNAMICS Homework 3 Prepared by Nurdan Bilgin QUESTIONS: Question 1: (Adapted from System Dynamics, 3 ed.

Karnopp,Margolis and Rosenberg Problems 5.8). Consider the simple model of a vehicle shown below, where the suspended mass is M; the main suspension stiffnes is K; the damper coefficient is B; the tire mass is m; the tire spring stiffness is k; and the velocity input from the roadway is V(t). Write the state equation according to the method given at your lesson notes.

Figure 1

Solution 1: Step1: Draw system Graph, normal tree and tree links. (4 points)

Step 2: Determine the primary, secondary and state variables. (3 points) Primary Variables: Secondary Variables: State Variables: Step 3: Write the elemantal equations for passive elements as B-S. Be careful about that Primary variable must be on the left side alone.B-S=8-3=5 (3 points) ( ) ( )

( ) ( ) ( ) Step 4: Write the continuity equations as N-1-SA. Be careful about that Secondary through-variable must be on the left side alone. You have to choose appropriate nodes because there must be only one secondary through-variable and primary variables in each equation. N-1-SA=4-1-1=2(3 points) ( ) ( ) ( ) ( )

Step 5: Write the compatibility equations as B-N+1-ST. Be careful about that Secondary acrossvariable must be on the left side alone. You have to choose appropriate loops because there must be only one secondary across-variable and primary variables in each equation. B-N+1-ST=8-4+1-2=3 (3 points) ( ) ( ) ( ) ( ) Step 6: Eliminate the secondary variables in elemental equations using continuity and compatibility equations. (4 points) ( ) ( ) ( ) ( )

( ( ) ) ( ) ( ) ( ) ( ) ( ) Step 7: Eliminate the variables which are not state variables; (5 points) ( ) ( ) ( ) ( ) ) )

( ( ) ) ( ( ) ( Let write the matrix form and remember that [ ] [ ] [

( )

and

( )

][

( ) ]

Question 2: (Adapted From Mhendislik Sistemlerinin Modellenmesi ve Dinamii, Extended 2. Ed. Ycel Ercan page:306) According to the method given at chapter 9, Obtain state equations.

Figure 2

Solution 2: Step1: Draw system Graph, normal tree and tree links. (4 points)

Step 2: Determine the primary, secondary and state variables. (3 points) Primary Variables: Secondary Variables: State Variables: Step 3: Write the elemantal equations for passive elements as B-S. Be careful about that Primary variable must be on the left side alone.B-S=7-1=6 (3 points) ( ) ( ) ( ) ( ) ( ) ( ) Step 4: Write the continuity equations as N-1-SA. Be careful about that Secondary through-variable must be on the left side alone. You have to choose appropriate nodes because there must be only one secondary through-variable and primary variables in each equation. N-1-SA=6-1-1=4(3 points) ( ) ( ) ( ) ( ) Step 5: Write the compatibility equations as B-N+1-ST. Be careful about that Secondary acrossvariable must be on the left side alone. You have to choose appropriate loops because there must be only one secondary across-variable and primary variables in each equation. B-N+1-ST=7-6+1-0=2 (3 points) ( ) ( ) ( ) Step 6: Eliminate the secondary variables in elemental equations using continuity and compatibility equations. (4 points) ( ( ( ( ( ) ) ) ) )

( ( ) ) ( ) Step 7: Eliminate the variables which are not state variables; (5 points) ( ( ) ) ( ( ( ) ) ) Let write the matrix form [ ] [ ] [ ] [ ] [ ( )]

Question 3: (From System Dynamics:An Introduction, Rowell and Wormley,1997 Problems 6.3 page 198) A ball screw linear actuator is shown in Figure 3. The actuator a DC electric motor, with an electromotive coupling constant ,armature resistance R, and inductance L, and driven by a voltage source ( ). The motor drives a threaded shaft with N threads/cm on which the ball-nut moves linearly.The mechanical load is a mass m which slides on a surface with viscous damping coefficient B.

Figure 3

Construct a model for a ball-screw that relates the shaft torque and angular velocity to the nut linear velocity and force. Write the equations for the transduction process and show that they are energy conserving. Is this a transforming or gyrating relationship? b. Generate a set of state equations that describe the dynamics of the system!!. Solution 3: Step1: Draw system Graph, normal tree and tree links. (4 points)
a.

Step 2: Determine the primary, secondary and state variables. (3 points) Primary Variables: Secondary Variables: State Variables: Step 3: Write the elemental equations for passive elements as B-S. Be careful about that Primary variable must be on the left side alone. B-S=9-1=8 (3 points)

Step 4: Write the continuity equations as N-1-SA. Be careful about that Secondary through-variable must be on the left side alone. You have to choose appropriate nodes because there must be only one secondary through-variable and primary variables in each equation. N-1-SA=6-1-1=4(3 points)

Step 5: Write the compatibility equations as B-N+1-ST. Be careful about that Secondary acrossvariable must be on the left side alone. You have to choose appropriate loops because there must be only one secondary across-variable and primary variables in each equation. B-N+1-ST=9-6+1-0=4 (3 points) ( )

Step 6: Eliminate the secondary variables in elemental equations using continuity and compatibility equations. (4 points)

( )

Step 7: Eliminate the variables which are not state variables; (5 points)

( ) Let write the matrix form [ ] [ ] [ ] [ ] ( )

Question 4: (From System Dynamics:An Introduction, Rowell and Wormley,1997 Problems 6.7 page 199) A permanent magnet dc motor may be modeled by the lumped system shown in Fig. 4, where Ra and La are the electrical resistance and inductance of the field winding, eb is the backemf, and J and B are the inertia and viscous damping of the rotor and its bearings. The motor performance has been specified by the manufacturer in terms of the relationships T=K mi and Vb=Kv.

Figure 4

a. Draw the linear graph and normal tree for the system, assuming that the motor is driven from a voltage source. b. Drive a set of state equations. Solution 4: Step1: Draw system Graph, normal tree and tree links. (4 points)

Step 2: Determine the primary, secondary and state variables. (3 points) Primary Variables: Secondary Variables: State Variables: Step 3: Write the elemental equations for passive elements as B-S. Be careful about that Primary variable must be on the left side alone. B-S=7-1=6 (3 points)

Step 4: Write the continuity equations as N-1-SA. Be careful about that Secondary through-variable must be on the left side alone. You have to choose appropriate nodes because there must be only one secondary through-variable and primary variables in each equation. N-1-SA=5-1-1=3(3 points)

Step 5: Write the compatibility equations as B-N+1-ST. Be careful about that Secondary acrossvariable must be on the left side alone. You have to choose appropriate loops because there must be only one secondary across-variable and primary variables in each equation. B-N+1-ST=7-5+1-0=3 (3 points) ( )

Step 6: Eliminate the secondary variables in elemental equations using continuity and compatibility equations. (4 points)

( )

Step 7: Eliminate the variables which are not state variables; (5 points) ( ) Let write the matrix form [ ] [ ] [ ] [ ] ( )