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
>
SP2.13 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,