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Mid-term exam 1
Summary
You are expected to know:
1. Derive differential equation from mass-spring-damper system.
Free Body diagram
Newtons second law
2. Solve first order and second order DE.
3. For first order system, understand the meaning of time constants as
- t-intercept of tangent at initial point
- Time for the initial value to decrease to 37%
4. For second order system, understand the meanings of damping ratio and natural frequency.
b
c
f
2
ax bx cx f
x
x
x
x 2 nx
n x
a
a
a
Compare the coefficients of x and x to obtain and n
5. Non-homogeneous DE particular solutions.
Please read pages 255 259 of textbook.
6. Particular solution depends:
Primarily on the form of non-homogeneous force term on RHS.
Secondarily on the homogeneous solution or the characteristic equations.
7. Concept of state equation
Derive state equation from differential equation.
Transfer function from state equation.
x'
y
Ax
Cx
Bu
Du
(sI
C (sI
A) 1 Bu
A) 1 B
Du
char . eqn
char . root
time
constant
t
x(t )
ce
Typical graphs
Ct mert
ax '' bx ' cx
t s (Kmt m
xp (t)
Km 1t m
K1t
K 0 )ert
with
s 0 if r is NOT a root of the characteristic equation;
s 1 if r is a SIMPLE root of the characteristic equation; and
s 2 if r is a DOUBLE root of the characteristic equation;
2
(Ct m
OR
ax '' bx ' cx
OR
more
generally
Ct e sin t
(Ct
OR
Ct m e t cos t
for
)e t cos t
)e t sin t
OR
Dt m e t sin t
(Ct m
)e t cos t
(Dt m
)e t sin t
xp (t )
t s (Amt m
Am 1t m
A1t
A0 )e t cos t
t s (Bmt m
Bm 1t m
B1t
B0 )e t cos t
with
s 0 if
1 if
2
n
rad / s
cyclical freq
fn
Hz
rev / s
fn
1
damped freq
rad / s
d
fd
Hz
rev / s
fd
Period
s
Td
2
d
1
fd
Caution:
When
1,
0, fd
0.