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SimpleLinearModel:
Thesimplestanalyticalmodelforastandardpendulumcanbederivedbyassumingno
drag force and small variations in the angle of the pendulum. Assume that the entire
mass of the pendulum is concentrated in the bob and that the length from the pivot
pointtothecenterofgravityofthebobisgivenby .
FindthesumofthemomentsaroundthepointOtakingthecounterclockwisedirection
aspositive.Notethatthetension, ,inthethinroddoesnotcontributetothemoment
aboutthepointO.
0
0
Themassmomentofinertiaofthependulum, ,isgivenby:
Theangularaccelerationofthependulum, ,isthesecondderivativeoftheangle .
Thedifferentialequationgoverningthedynamicsofthependulumbecomes:
Dividing through by
differentialequation:
Although this equation appears simple enough, it is nonlinear in nature due to the
presence of a transcendental function. This nonlinear equation can, however, be
linearizedbyassumingsmallvariationsintheangleofthependulum, .
Forsmallangles(expressedinradians),
isapproximatelyequalto .Forexample:
22.5
0.3927
0.3827
Therefore for small variations in angle, the linear differential equation describing the
dynamicsofasimplependulumcanbeapproximatedby:
ThisequationcanbesolvedanalyticallybyconsideringthebasicpropertiesofLaplace
transforms. Recall that the second derivative of a function can be expressed in the
Laplacedomainasfollows:
Thedifferentialequationdescribingthedynamicsofthependulumbecomes:
, no initial velocity
Solvingfor yields:
ThiscaneasilybeputintotheformofthefollowingbasicLaplacetransform:
The angle of the pendulum, , as a function of time based on a simple, linear model
becomes:
SimpleNonLinearModel:
Althoughfindingananalyticalsolutiontothesimplenonlinearmodelisnotevident,it
canbesolvednumericallywiththeaidofMatlabSimulink.Startbyisolatingthehighest
orderderivativefromthelinearmodel:
TheMatlabSimulinkmodelthatsolvesthisequationisgivenby:
NonLinearModelIncludingaConstantAerodynamicDragForce:
Assumethattheaerodynamicdragactsonlyonthebob;i.e.,thedragonthethinrodis
negligible.Thedragforce, ,imposesanadditionalmomentaboutthepointO.
Thedifferentialequationgoverningthedynamicsofthependulumbecomes:
Isolatingthehighestorderderivativeof yields:
TheMatlabSimulinkmodelthatsolvesthisequationisgivenby:
Note that the drag force must change sign based on the angular velocity of the
pendulum.Inotherwords,althoughthedragforceistakenasconstant,itmustalways
actoppositetothedirectionofmotion.
NonLinearModelIncludingAerodynamicDragForcethatisafunctionofVelocity:
Theaerodynamicdragforincompressibleflowoveranybodyisgivenby:
RecallthattheReynoldsnumberisgivenby:
The MatlabSSimulink mo
odel for thependulumw
with variablee aerodynam
mic drag isggiven
by:
NonLinearModelIncludingVariableAerodynamicDragandFrictionatthePivot:
Therecouldpotentiallybeasignificantamountoffrictionatthepivotpoint.
The MatlabSimulink model including aerodynamic drag and Coulomb friction at the
pivotpointisgivenby:
Theresponseofthesystembasedonaninitialpendulumangleof22.5degreesis
illustratedbelow.
Thefollowingtablesummarizestheparametersusedinthesimulation:
T0 = 22.5*pi/180;
L = 0.6;
g = 9.81;
M = 0.06;
FD = 0.0007;
DB = 0.0333;
HB = 0.0508;
A = DB*HB;
RHO = 1.23;
MEW = 1.79E-5;
CD = 1;
KD = 0.5*CD*A*RHO;
TFF = 0.0005;