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Problem 1
For the mechanical system described in Figure 1,
b
M
k
x
derivatives of the displacement, namely, velocity and acceleration), x(t), is the output.
(b)
kx
M
bx
(1)
m
x + bx + kx = F
(2)
or
(c)
Since the transfer function is the ratio of the output over the
input, we obtain,
X(s)
F (s)
G(s) =
=
(d)
ms2
(4)
1
+ bs + k
(5)
and |G(j)| = p
6
(7)
ms2
(8)
(k m 2 )2 + (b)2
b
1
G(j) = tan
k m 2
(9)
(10)
Solution:
when = 1, the amplitude of the output, x(t), is
3
p
(k m)2 + b2
(11)
Derive the differential equation that best describes the relationship between the input and output displacements of the system.
Also derive a differential equation for the force transmitted to
the vehicle by the road.
Solution:
The independent input to the problem is the displacement of the
vehicle due to the surface of the road, i.e., y(t). This displacement is also the same displacement at the base of the spring and
damper in parallel in Figure 3. The force transmitted by the road
to the vehicle, i.e., P (t), is the sum of the forces in the spring
and damper. The forces and displcements that are to be calculated are derived based on the steady state equilibrium values.
Therefore,
the force transmitted to the vehicle by the road is:
P = k(y x) + b(y x)
(13)
x
M
road surface
Figure 3: Problem 2
and applying Newtons second law of motion on the vehicle mass,
we obtain:
m
x = P
= k(y x) + b(y x)
or m
x + bx + kx = by + ky
(b)
(14)
(15)
(c)
Hence derive the transfer function of the system that relates the
output displacement, x(t), to the input displacement, y(t).
Solution:
Based on Equation 15 and assuming zero initial conditions,
m
x + bx + kx = by + ky
ms + bs + k X(s) = (bs + k) Y (s)
X(s)
therefore, G(s) =
Y (s)
bs + k
=
2
ms + bs + k
2
(d)
(16)
Calculate the amplitude and phase angle of x(t) when y(t) has
an amplitude of 0.05m at an angular frequency of 100rad s1 .
Solution:
bs + k
+ bs + k
k + jb
or G(j) =
(k m 2 ) + jb
q
k 2 + (b)2
therefore |G(j)| = q
(k m 2 )2 + (b)2
since G(s) =
ms2
b
b
tan1
k
k m 2
(17)
30(s + 8)
s(s + 2)(s + 4)
G(s) =
30
j
or |G(j)|
30
.
1
s
1
1+
1
G3 (s) =
1+
G2 (s) =
G4 (s) = 1 +
s
2
s
4
s
8
G5 (s) = 30
or 6 G(j) = 90
G(j) =
1
1+ 2s
1
s
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
phase, degrees
1
s
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
1
1+ 2s
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
(b)
G5 (s) and also added to the composite phase plot at which point
this will be the phase plot of G(s).
The composite phase plot of G1 (s) and G2 (s) is shown in Figure
18.
We shall next add the phase plot of G3 (s) to the composite phase
plots of G1 (s) and G2 (s). This plot is shown in Figure 19.
We shall next add the phase plot of G4 (s) to the composite phase
plots of G1 (s), G2 (s) and G3 (s). This plot is shown in Figure 20
Finally, since G5 (s) is only a gain, it will have no phase contributions, i.e., its phase is zero for all frequencies. Hence the
composite phase plot for G(s) is also the composite plot of Figure 20.
Using Matlab, Octave or Scilab, generate the actual Bode plots
of the above transfer function. Compare the plots and comment
on the divergence between the asymptotic and actual Bode plots.
Solution:
The actual Bode magnitude plot is compared to the asymptotic
sketch that we had obtained previously is in Figure 21. Clearly,
12
1
1+ 2s
phase, degrees
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
13
1
1+ 4s
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
102
103
1
1+ 4s
phase, degrees
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
14
s
8
60
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
s
8
100
phase, degrees
80
60
40
20
0
20
101
100
101
Frequency, , (rad/s)
102
15
103
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
Phase, degrees
100
101
Frequency, , (rad/s)
102
16
103
1 1
s 1+ 2s
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
1 1
1
s 1+ 2s 1+ 4s
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
1 1
1
s 1+ 2s 1+ 4s
1+
s
8
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
30 1
1
s 1+ 2s 1+ 4s
1+
s
8
40
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
1 1
s 1+ 2s
45
Phase, degrees
45
90
135
180
225
101
100
101
102
Frequency, , (rad/s)
Figure 18: Phase plot for G1 G2 (s)
19
103
1 1
1
s 1+ 2s 1+ 4s
15
30
Phase, degrees
75
120
165
210
255
300
101
100
101
102
Frequency, , (rad/s)
Figure 19: Phase plot for G1 G2 G3 (s)
20
103
1 1
1
s 1+ 2s 1+ 4s
1+
s
8
60
15
30
Phase, degrees
75
120
165
210
255
300
101
100
101
102
Frequency, , (rad/s)
Figure 20: Phase plot for G1 G2 G3 G4 (s)
21
103
Gain, dB
20
0
20
40
60
80
100
101
100
101
Frequency, , (rad/s)
102
103
Phase, degrees
90
135
180
225
101
100
101
Frequency, , (rad/s)
102
103