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Mechanical accelerometer A mechanical accelerometer is used to measure the acceleration of a levitated test sled, as shown in Figure 2.41. The test sled is magnetically levitated above a guide rail a small distance 6. The accelerometer provides a measurement of the acceleration a(t) of the sled, since the position y of the mass M, with respect to the accelerometer case, is proportional to the acceleration of the case (and the sled). The goal is to design an accelerometer with an appropriate dynamic respon- siveness. + x = Case position Accelerometer An accelerometer mounted on a jet engine test sled. Jet engine Levitated test sled M, b q “Mei diesen a Obtain the differential equations describing the system. P21 An electric circuit is shown in Figure P2.1. Obtain a set of simultaneous integrodifferential equations rep- resenting the network. Cy \t JI aa ‘) wo ~ Rp FIGURE P2.1 Electric circuit. R Ry P2.2__A dynamic vibration absorber is shown in Figure P2.2, This system is representative of many situations involving the vibration of machines containing unbal- anced components. The parameters Mz and ky may be chosen so that the main mass M, does not vibrate in the steady state when F(t) = a sin(«y ¢). Obtain the differential equations describing the system. | y(t) My | ran FIGURE P2.2 Vibration absorber. 2.3 A coupled spring-mass system is shown in Figure P2,3, The masses and springs are assumed to be equal. Obtain the differential equations describing the system. Force 1 { fe bts ea YY WY at FE k kK bye “ FIGURE P2.3 Two-mass system. P2.6 Obtain the differential equations for the two-mass system given in Figure P2.6, FIGURE P2.6 Two-mass system. P28 A bridged-T network is often used in AC control systems as a filter network [8]. The circuit of one bridged-T network is shown in Figure P2,8. Determine the differential equations of the network FIGURE P2.8 Bridged-T network. P2.17 A mechanical system is shown in Figure P2.17, which is subjected to a known displacement x3(1) with respect to the reference. Determine the two inde- pendent equations of motion. Friction Ee > S P2.13 An electromechanical open-loop control system is shown in Figure P2.13. The generator, driven at a con- stant speed, provides the field voltage for the motor.'The motor has an inertia J,, and bearing friction b,,. Generator FIGURE P2.13 Motor and generator. Obtain the differential equations for the system P2.15 Consider the spring-mass system depicted in Figure P2,15. Determine a differential equation to describe the motion of the mass m. a Sheniosomiat = FIGURE P2.15 Suspended spring-mass system. P2,18 Obtain the differential equations describing the system. FIGURE P2.18 LC ladder network. 2.26 A robot includes significant flexibility in the arm members with a heavy load in the gripper [6, 21]. A two-mass model of the robot is shown in Figure. P2.26. Obtain the differential equations describing the system. ex [—+y ne u Fi) —>| Mw m I FIGURE P2.26 The spring-mass-damper model of a robot arm. P2.43 In many applications, such as reading product codes in supermarkets and in printing and manufac- turing, an optical scanner is utilized to read codes, as shown in Figure P2.43, As the mirror rotates, a friction force is developed that is proportional to its angular speed. The friction constant is equal to 0.06 N sirad, and the moment of inertia is equal to 0.1 kg m*. The output variable is the velocity w(t). Obtain the dif- ferential equation for the motor. Mirror Bar code oli) Laser Motor Reflected light Lens Detector Microcomputer FIGURE P2.43 Optical scanner. P2.45 An ideal set of gears is connected to a solid cylin- der load as shown in Figure P2.45. The inertia of the motor shaft and gear Gis Jn. | Determine the dif- ferential equations . Assume the friction at the load is b; and the fric- tion at the motor shaft is b,,. FIGURE P2.45 Motor, gears, and load. AP2.5 For the three-cart system illustrated in Figure AP2.5, obtain the equations of motion. The system has three inputs 1,1, and 1 and three outputs 24,2, and x5. Obtain three second-order ordinary differen- tial equations with constant coefficients. FIGURE AP2.5 Three-cart system with Three inputs and three outputs. P2.35 The suspension system for one wheel of an old- fashioned pickup truck is illustrated in Figure P2.35. ‘The mass of the vehicle is m, and the mass of the wheel is mz. The suspension spring has a spring constant ky and the tire has a spring constant ks. The damping con- stant of the shock absorber is b. Shock FIGURE P2.35 Pickup truck suspension. Obtain the equations of motion. 2.23 The small-signal circuit equivalent to a common- emitter transistor amplifier is shown in Figure P2.23. Ry iy vm) Ye Tntee Br Sle ee — BR FIGURE P2.23 CE amplifier. The transistor amplifier includes a feedback resistor Ry. Obtain the equations of the circuit. CP2.7 For the simple pendulum shown in Figure CP2.7, the nonlinear equation of motion is given by ate) + sino = 0, where L = 0.5 m,m = 1kg, and g = 9.8 m/s*. When the nonlinear equation is linearized about the equi- librium point @ = 0, obtain the linear time-invariant model FIGURE CP2.7 Simple pendulum. P2.22 Figure P2.22 shows two pendulums suspended from frictionless pivots and connected at their mid- points byaspring, Assume that each pendulum can be represented by a mass M at the end of a massless bar of length L. Also assume that the displacement is small and linear approximations can be used for sin 6 and cos 8. The spring located in the middle of the bars is unstretched when 0, = 03. The input force is repre- sented by fli), which influences the left-hand bar only. Obtain the equations of motion. FIGURE P2.22 The bars are each of lenath L and the spring is located at L/2. Obtain the equations of motion. P2.47 A load added to a truck results in a force F on the support spring, and the tire flexes as shown in Figure 2.47 Force of material placed in truck bed m, ‘Truck vehicle mass ky P Shock absorber Le $ ky Tire FIGURE P2.47 Truck support model, @) (b) P2.47 The model for the tire movement is shown in Figure P2.47(b), obtain the equations of motion,

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