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HOMEWORK 4 Solution
Due Date: 02.04.2015 at 17:00
Prepared by
M.Uğur DİLBEROĞLU (B-183)
You should submit your homework on its due time. No extension will be given afterward.
Problem 1:
In the petroleum industry, oil wells with jack pumps are the most commonly used systems for
the extraction of the fossil oil and gasoline. The 3‐D model of an oil well system is illustrated
below in Figure 1:
Figure 1: Oil well system with its Jack pump
In order to simplify the Jack pump system, some basic mechanical components are modelled
as ideal elements and a 2‐D schematic drawing of the system is shown in Figure 2:
Figure 2: Simplified Sketch of the Jack Pump System
In the oil well pumping system, the input is taken to be the displacement of the push rod ,
which is triggered by the cranking mechanism seen in Figure 1. The push rod is considered as
a massless elastic component of stiffness . The geometry of the walking beam is described
by the lengths and . For convenience, its inertia is represented by two balls of masses
and attached to its both ends. The pair of flexible steel ropes is modelled as a spring of
stiffness and attached to the hanging piston of mass . The displacement of the
hanging piston is taken as the output of the system. Note that and are measured
from the stationary reference position of the system, in which 0 and the
walking beam is horizontal. To simplify the problem, assume that the displacements are small
and the resistance encountered by the hanging piston is modeled as viscous friction with
coefficient . Also, assume that the hanging piston is so heavy that the steel ropes remain
always in tension.
a) Draw all the necessary free body diagrams.
b) Write down all the elemental equations together with the connectivity equations, if any
needed.
c) Identify the unknown variables in the system. Check whether the number of the
unknown variables is equal to the number of the equations.
d) The relationship between the input‐output pairs can be written as the following
expression . Determine the transfer functions
and .
SOLUTION:
a) The necessary free body diagrams are drawn as shown below:
Figure 1: Free body diagram of the push rod
Figure 2: Free body diagram of the second mass
Figure 3: Free body diagram of the walking beam
Figure 4: Free body diagram of the first mass
Figure 5: Free body diagram of the steel rope
, ,
Figure 6: Free body diagram of the mass
b) All the elemental equations and the connectivity equations are written as follows:
Elemental equation for the hanging piston:
1
Elemental equation for the viscous friction acting on the hanging piston:
2
Elemental equation for the pair of flexible steel ropes:
3
Two companion elemental equations for the idealized lever:
(2‐port transmission element)
4
5
Elemental equation for the first mass separated from the lever:
6
Elemental equation for the second mass separated from the lever:
7
Elemental equation for the push rod as an elastic element:
8
c) The unknown variables are listed in the following table:
1 2 3 4 5 6 7 8
TABLE 1: Unknown variables of the system
d) To obtain the required transfer functions, one should first of all take the Laplace Transforms
of all the seven equations as follows:
/ 1 ′
2 ′
3 ′
4 ′
5 ′
/ 6 ′
/ 7 ′
8 ′
Substitute eqn. (2)’ and (3)' into eqn. (1)' as follows:
/ 9
For the ease of the derivations, let's define the following polynomial:
Substitute eqn. (3)' into eqn.(6)' so that:
/ 10
Let us define another polynomial as follows:
Substitute eqn. (4)’, (5)' and (8)’ into eqn. (7)’ to get:
/ 11
Define the polynomial as follows:
Put the eqn. (10) into eqn. (11) to get:
/ 12
Finally, substitute eqn. (9) into eqn.(12):
/ 13
where
Hence, one can obtain the following detailed form of the transfer function and
as follows:
14
15
In equations (14) and (15), relevant coefficients are written as
Problem 2:
Figure 3 illustrates an example of a mechanical system that consists of rotational and
translational subsystems connected through a rack and pinion transmission.
Figure 3: A Mechanical System
Consider the system illustrated in Figure 1. All the elements of the system are ideal. The
horizontal bar representing the rack has a mass , but it is lumped as a separate mass block
to its end in order to convert it into an ideal transmission element. The lumped mass is
connected to the wall with a spring of stiffness and also subject to viscous friction of
coefficient . The radius of the pinion is but its moment of inertia is negligible. The motion
of the pinion is conducted to a rotor with moment of inertia through an elastic shaft with
stiffness . The viscous friction coefficient of the lubricant in the bearing of the rotor is .
The input to the system is the driving torque applied on the rotor as shown in the figure.
All the displacements are zero in the initial stationary position of the system.
a) Draw all the necessary free body diagrams.
b) Write down all the elemental equations together with the connectivity equations.
c) Identify the unknown variables in the system and check whether the number of the
unknown variables is equal to the number of the equations.
d) In order to express the input‐output relationship for the selected output ,
determine the transfer function between and the input .
e) Draw a detailed operational block diagram of the system that shows all the elements
and all the variables. Indicate the variables on the relevant branches.
SOLUTION:
a) The necessary free body diagrams are drawn as follows:
Figure 1: Free body diagram of the translational mass
0
Figure 2: Free body diagram of the translational spring
Figure 3: Free body diagram of the rack‐and‐pinion
(as an ideal transmission element)
Figure 4: Free body diagram of the torsional spring
Figure 5: Free body diagram of the rotor
b) All the elemental equations and the connectivity equations can be written as follows.
Elemental equation of the translational mass:
1
Elemental equation for the translational spring:
0 2
Elemental equation of the damping due to the floor friction:
3
Elemental equations for the rack‐and‐pinion as a 2‐port ideal transmission element:
a) Kinematic equation:
4
b) Kinetic equation:
1
5
Elemental equation for the torsional spring:
6
Connectivity equation between the pinion and the spring:
7
Elemental equation of the rotor:
8
Elemental equation for the viscous bearing friction:
9
c) The input is the applied torque . The unknown variables are listed in the following table:
1 2 3 4 5 6 7 8 9
TABLE 1: Unknown variables of the system
Note that the number of equations is the same as the number of unknown variables.
d) To obtain the required transfer functions, one should first of all take the Laplace Transforms
of all the nine equations as follows:
1 ′
2 ′
3 ′
4 ′
1
5 ′
6 ′
7 ′
8 ′
9 ′
Substitute equations (2)' and (3)' into eqn. (1)' to get:
10
For the ease of the derivations, let's define the following polynomial:
Combine equations (5)', (6)', and (7)' as follows:
11
Substitute eqn's (4)' and (10) into eqn. (11) as follows:
12
Substitute eqn's (6)' and (9)' into eqn. (8)' to get:
13
For the ease of the derivations, let's define the following polynomial:
Finally, substitute eqn's (4)' and (12) into eqn. (13) as follows:
14
Therefore, one can state that the transfer function between the input‐output pair is
15
The transfer function can be worked out to the following more detailed expressions.
16
In equation (16), the resultant coefficients can be written as follows:
e) The detailed block diagram of the system is illustrated at the next page. Note that the
detailed block diagram is separated into the rotational and translational subsystems. The
interaction between the two subsystems is accomplished by the rack‐and‐pinion mechanism,
which acts as a 2‐port transmission element. Note also that, in the block diagram, the 2‐port
transmission element appears in the form of two blocks with the transfer functions (1/R),
which represent the force‐torque conversion together with the translational displacement‐
angular displacement conversion.
Rotational Mechanical
Subsystem
1 1 1
Torque-Force Translational-Rotational
1 1
Conversion Displacement Conversion
at the rack-and-pinion at the rack-and-pinion
1 1 1
Translational Mechanical
Subsystem