Solutions Manual

c
to accompany
System Dynamics, First Edition
by
William J. Palm III
University of Rhode Island
Solutions to Problems in Chapter Seven
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preparing for the classes using the af f iliated textbook. No other use or distribution of
this Manual is permitted. This Manual may not be sold and may not be distributed to
or used by any student or other third party. No part of this Manual may be reproduced,
displayed or distributed in any form or by any means, electronic or otherwise, without the
prior written permission of McGraw-Hill.
c
Solutions Manual Copyright 2005 by The McGraw-Hill Companies, Inc.
7-1


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7.1 Note that f
1
= pA
1
and f
2
= pA
2
. Thus f
1
= (A
1
/A
2
)f
2
= (10/30)60 = 20 lb.
Also, A
1
x
1
= A
2
x
2
from conservation of uid mass. Thus x
1
= (A
2
/A
1
)x
2
= (30/10)6 =
18 in.
The work done is f
2
x
2
= 60(6) = 360 lb-in.
7-2


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7.2 The cross-sectional area is A = (11/2)
2
= 95.033 ft
2
. The net inow rate is
(1000 800)(0.13368) = 26.736 ft
3
/min
The initial volume is 5A = 475.166 ft
3
, and the volume after 5 hrs (300 minutes) is
475.166 + 26.736(300) = 8495.97 ft
3
Thus the height after 5 hrs is
h =
8495.97
A
=
8495.97
95.033
= 89.4 ft
7-3


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7.3 Summing forces in the horizontal direction and assuming zero acceleration, we obtain
mg = A(p
1
p
2
)
or
A =
mg
p
1
p
2
=
0.6(1000)
(3 1) 10
5
= 0.003 m
2
This corresponds to a radius of 30 mm.
7-4


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7.4 Let f
t
be the tangential force of the surface acting on the cylinder (positive to the left).
Summing moments in the clockwise direction about the mass center of the cylinder gives
I = Rf
t
(1)
From kinematics, if there is no slipping, x = R and thus x = R .
Summing horizontal forces on the cylinder gives
m x = f f
t
Thus f
t
= f m x. Substituting this into (1) gives
I = Rf mR x = Rf mR(R )
or
(I +mR
2
) = Rf = R(p
1
p
2
)A
With the given values, this becomes
_
7 + 100(0.4)
2
_
= 0.4(3 10
5
)0.005 = 600
or
= 26.087
Thus
(t) = 26.087t
7-5


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7.5 Assuming no friction and summing horizontal forces, we obtain
m x = A(p
1
p
2
)
or
600
32.2
x =
3
144
(10)144 = 10
or
x = 0.537 ft/sec
2
Thus
x = 0.537t
and
x =
0.537
2
t
2
= 0.268t
2
The volume is
V = Ax =
3
144
0.067 = 0.001396 ft
3
or 2.412 in
3
.
7-6


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7.6 From conservation of water mass, q
o
= 10 + 2 = 12 m
3
/s.
From conservation of salt mass,
d
dt
(300s
o
) = 2s
i
q
o
s
o
or
300
ds
o
dt
= 2s
i
12s
o
7-7


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7.7 From conservation of water mass, q
o
= 10 + 2 = 12 m
3
/s.
From conservation of salt mass,
d
dt
(V s
o
) = 2s
i
q
o
s
o
or
V
ds
o
dt
= 2s
i
12s
o
The time constant is = V/12. Taking the lag time to be four time constants, we have
4 = 4
V
12
= 20 s
which gives
V =
20(12)
4
= 60 m
3
7-8


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7.8 The capacitance can be computed from (7.2.3).
C =
A(h)
g
The liquid surface area is
A(h) = 2L
_
Dh h
2
Thus
C =
2L
g
_
Dh h
2
7-9


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7.9 The capacitance can be computed from (7.2.3).
C =
A(h)
g
The liquid surface area is A = D
1
L if h < D
2
and
A =
2L(h D
2
)
tan
+D
1
L h D
2
Thus
C =
_
D
1
L
g
h < D
2
2L(hD
2
)
g tan
+
D
1
L
g
h D
2
7-10


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7.10 From (7.2.5),
A(h)
dh
dt
= q
mi
q
mo
where q
mo
= 0 and q
m
= q
mi
here. From Problem 7.8,
A(h) = 2L
_
Dh h
2
Thus
2L
_
Dh h
2
dh
dt
= q
m
7-11


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7.11 From (7.2.5),
A(h)
dh
dt
= q
mi
q
mo
where q
mo
= 0 here. From Problem 7.9,
A(h) =
_
D
1
L h < D
2
2L(hD
2
)
tan
+D
1
L h D
2
Thus the model is
D
1
L
dh
dt
= q
mi
h < D
2

_
2L(h D
2
)
tan
+D
1
L
_
dh
dt
= q
mi
h D
2
7-12


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7.12 For the laminar resistance
R =
128L
D
4
where L = 1 m, D = 10
3
m. Thus
R =
128(1.58 10
5
)1
(0.12885)(10
3
)
4
= 4.996 10
8
m
1
s
1
The mass ow rate is
q
m
=
p
R
=
1.0133 10
4
4.996 10
8
= 2.028 10
5
kg/s
The average velocity is found from
v =
q
m
A
=
2.028 10
5
(10
3
/2)
2
(1.2885)
= 20 m/s
The Reynolds number is
N
e
=
vD

=
1.2885(20)10
3
1.58 10
5
= 1634
which is less than 2300, so the ow is laminar.
The maximum entrance length L
e
is found from
N
e
= 0.06DN
e
= 0.06(10
3
)1634 = 0.098 m
Since this length is much less than the pipe length of 1 m, most of the pipe has laminar
ow.
7-13


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7.13 From (7.3.1)
R =
_
dp
dq
m
_
r
(1)
The ow rate is
q
m
=
_
p
R
o
where
R
o
=
1
2C
2
d
A
2
o
Thus
p = R
o
q
2
m
and from (1),
R = 2R
o
q
mr
= 2R
o
_
p
r
R
o
But p
r
= gh
r
, so
R = 2R
o

gh
r
R
o
=
1
C
d
A
o
_
2gh
r
7-14


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7.14 a) From (7.3.12),
C
dp
dt
= q
mi
q
mo
where
C =
A
g
and
q
mo
=
_
p
R
1
Thus
A
g
dp
dt
= q
mi

_
p
R
1
b) From conservation of mass,
A
dh
dt
= q
mi
q
mo
= q
mi

_
p
R
1
But p = gh, so
A
dh
dt
= q
mi

gh
R
1
7-15


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7.15 a) The model is
A
dh
dt
=
g
R
h
where A = 20. The time constant is = RA/g. Taking the time to empty to be 4, we
obtain = 200/4 = 50 s. Thus
R =
g
A
= 24.525 m
1
s
1
b) The model is
A
dh
dt
= 3
g
R
h
Thus
h
ss
=
3R
g
=
3(24.525)
9.81
= 7.5 m
7-16


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7.16 a) The model is
A
dh
dt
=
g
R
h
The time constant is
=
RA
g
=
150(2)
32.2
= 93.168 sec
The time to empty is approximately 4, regardless of the initial height, and is 4 = 372.671
sec.
b) The model is
A
dh
dt
= 0.1
g
R
h
The time constant is = 93.168 and the steady-state height is h
ss
= 0.1R/g = 0.466 ft.
The response is
h(t) = 0.466
_
1 e
t/93.168
_
(1)
Setting h(t) = h
ss
/3 = 0.466/3 in (1) gives
1
3
= 1 e
t/93.168
or
t = 93.168 ln
2
3
= 37.776 sec
7-17


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7.17 The model is
A
dh
dt
= q
vi
C
d
A
o
_
2gh
At steady state,
q
vi
= C
d
A
o
_
2gh
so that
C
d
A
o
=
q
vi

2gh
(1)
Note that 1 cm is 10
2
m and that
1 liter/min =
10
3
60
= 1.667 10
5
m
3
/s
So (1) in consistent units becomes
C
d
A
o
=
q
vi
(1.667 10
5
)
_
2(9.81)h(10
2
)
= 3.763 10
5
q
vi

h
(2)
where q
vi
is in liters/min and h is in cm. We will compute C
d
A
o
from (2) for each data pair
in the table, and then average the results. The answers are
C
d
A
o
=
(6.7329 6.7350 6.9899 7.0619 7.1843 7.2870 7.3867 7.9023 8.6029 10.6456) 10
4
The mean of the C
d
A
o
values is 7.6528 10
4
, and the standard deviation is 1.1936 10
4
,
which is 16% of the mean.
7-18


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7.18 Let p
1
p
3
denote the pressure drop from the bottom of the tank to the outlet of
pipe 3. Denote the pressure drop over the length of pipe 1 by p
1
, that across pipe 3 by
p
3
, and that across the component by p
2
. The turbulent resistance relation (7.3.3) is
Rq
2
m
= p
1
p
3
. Thus, because the mass ow rate q
m
is the same through each element,
R
1
q
2
m
= p
1
, R
2
q
2
m
= p
2
, and R
3
q
2
m
= p
3
. The total pressure drop across all three
elements is the sum of the drops across each element. Thus
p
1
p
3
= p
1
+p
2
+p
3
= R
1
q
2
m
+R
2
q
2
m
+R
3
q
2
m
or
p
1
p
3
= (R
1
+R
2
+R
3
) q
2
m
and thus the total resistance is R = R
1
+ R
2
+ R
3
, which shows that turbulent resistance
obeys the series law.
b) From conservation of mass,
A
dh
dt
= q
mi
q
mo
= q
mi

_
p
1
p
3
R
Because p
1
p
3
= gh, the model becomes
A
dh
dt
= q
mi

gh
R
7-19


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7.19 From (7.3.3),
A
dh
dt
= q
mi

gh
R
1
where p = gh.
7-20


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7.20 If h < D,
A
dh
dt
=
1
R
1
p
s
+q
mi
If h D,
A
dh
dt
=
1
R
1
p
s
+q
mi

1
R
2
g(h D)
7-21


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7.21 a) The model is
A
dh
dt
= q
mi

g
R
h
If there is no inow,
A
dh
dt
=
g
R
h
The time constant is = RA/g and the response is
h(t) = h(0)e
t/
Take the log of both sides:
ln h(t) = ln h(0)
1

t (1)
Equation (1) has the form of the equation of a straight line:
ln h(t) = mt +b
where m = 1/ and b = ln h(0). Use the least-squares method to nd m and b. The
MATLAB code is
t = [0:300:2400];
h = [20.2, 17.26, 14.6, 12.4, 10.4, 9, 7.6, 6.4, 5.4];
lnh = log(h);
coeff = polyfit(t,lnh,1)
where m is given by coeff(1) and b is given by coeff(2). The results are m = 5.48868
10
4
and b = 3.01. Thus, = 1.822 10
3
and
R =
g
A
= 9.778 10
3
ft
1
sec
1
b) If h(0) is known to be exactly 20.2 ft, then (1) becomes
ln h(t) 3.006 =
1

t = mt (2)
Using (1.6.3) from Chapter 1, we have
m
9

i=1
t
2
i
=
9

i=1
t
i
ln h(t
i
)
Continue the code above as follows
m = sum(t.*(lnh-log(20.2)))/sum(t.^2)
This gives m = 5.463 10
4
. Thus, R = 9.824 10
3
.
7-22


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7.22 Applying conservation of mass to each tank gives
A
1
dh
1
dt
= q
mi

g
R
1
h
1
A
2
dh
2
dt
=
g
R
1
h
1

g
R
2
h
2
Note that cancels out in the second equation.
7-23


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7.23 a) Applying conservation of mass to each tank gives
A
1
dh
1
dt
= q
mi

g
R
1
(h
1
h
2
)
A
2
dh
2
dt
=
g
R
1
(h
1
h
2
)
g
R
2
h
2
Note that cancels out in the second equation.
b) Substituting the given values we obtain
A
dh
1
dt
= q
mi

g
R
(h
1
h
2
)
4A
dh
2
dt
=
g
R
(h
1
h
2
)
g
3R
h
2
Applying the Laplace transform with zero initial conditions, we obtain
_
As +
g
R
_
H
1
(s)
g
R
H
2
(s) =
Q
mi
(s)

g
R
H
1
(s) +
_
4As +
4g
3R
_
H
2
(s) = 0
Let b = g/RA. After dividing both equations by A, they can be expressed as
(s +b) H
1
(s) bH
2
(s) =
Q
mi
(s)

bH
1
(s) +
_
4s +
4
3
b
_
H
2
(s) = 0
Using Cramers method to solve these equations, we obtain
H
2
(s) =

s +b Q
mi
(s)/
b 0

/D =
bQ
mi
(s)
D
where
D =

s +b b
b 4s + 4b/3

= (s +b)(4s +
4
3
b) b
2
= 4s
2
+
16
3
bs +
1
3
b
2
Thus
H
2
(s)
Q
mi
(s)
=
b/
4s
2
+ (16/3)bs + (1/3)b
2
7-24


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7.24 Applying conservation of mass to each tank gives
A
dh
1
dt
=
g
R
(h
1
h
2
)
2A
dh
2
dt
= q
mi
+
g
R
(h
1
h
2
)
g
3R
h
2
If we divide both equations by A and let b = g/RA, these equations can be expressed as
dh
1
dt
= b(h
1
h
2
)
2
dh
2
dt
=
q
mi

+b(h
1
h
2
)
b
3R
h
2
Applying the Laplace transform with zero initial conditions, we obtain
(s +b) H
1
(s) bH
2
(s) = 0
bH
1
(s) +
_
2s +
4
3
b
_
H
2
(s) =
Q
mi
(s)

Using Cramers method to solve these equations, we obtain

H
1
(s) =

0 b
Q
mi
(s)/ 2s + 4b/3

/D =
bQ
mi
(s)
D
where
D =

s +b b
b 2s + 4b/3

= (s +b)
_
2s +
4
3
b
_
b
2
= 2s
2
+
10
3
bs +
1
3
b
2
Thus
H
2
(s)
Q
mi
(s)
=
b/
2s
2
+ (10/3)bs + (1/3)b
2
The characteristic roots are
s =
10b/3
_
100b
2
/9 8b
2
/3
4
=
_

5
6

1
6

19
_
b = 1.56b, 0.1069b
7-25


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7.25 From Example 7.4.4 the damping constant is given by
c =
128LA
2
D
4
Substituting the given and desired values, we obtain
2000 =
128(0.9)LA
2
D
4
which gives
LA
2
D
4
=
2000
0.9(128)
= 54.5415 (1)
So we have three parameters to select: L, A, and D.
Let n be the ratio of the piston area A to the area A
o
of the hole through the piston.
n =
A
A
o
(2)
But
A
o
=
_
D
2
_
2
and thus
A =
nD
2
4
From (1),
LA
2
D
4
= L
n
2

2
16
= 54.5416
so
L =
16(54.5415)
n
2

2
=
88.419
n
2
Now we try various values for n to see if we obtain a reasonable value for the piston
length L. Using n = 50 gives L = 0.035 m, which is 1.38 in., which is a reasonable length.
Now we pick the piston area A. A cylinder diameter of 0.05 m (1.96 in.) gives
A =
_
0.05
2
_
2
= 1.963 10
3
m
2
So from (2),
A
o
=
A
n
=
1.963 10
3
50
= 3.9 10
5
=
_
D
2
_
2
Thus the hole diameter is
D = 7.1 10
3
m
which is about 0.3 in.
So one of many possible designs is
piston diameter = 0.05 m
piston length, L = 0.035 m
piston hole diameter, D = 7.1 10
3
m
7-26


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7.26 (a) If m
1
= 0, a force balance on the spool valve gives
f(t) = k
1
x +c
1
x (1)
Considering the masses m
2
and m
3
to constitute a single rigid body, Newtons law gives
(m
2
+m
3
) y +c
2
y +k
2
y = A(p
1
p
2
) (2)
where A is the piston area and (p
1
p
2
) is the pressure dierence across the piston (refer
to Figure 7.4.8).
From equation (5) in Example 7.4.9,
p
1
p
2
= p
s
2p (3)
In this problem, unlike Example 7.4.9, we cannot make the assumption that (m
2
+
m
3
)

(y) = 0 because the load inertia and the forces k

2
y and c
2
y are not negligible. Thus
p
1
= p
2
here.
Assuming that x, y, and p are small deviations from equilibrium, then the deviation
p
s
will be 0 if the supply pressure is constant, and (3) becomes
p
1
p
2
= 2p (4)
and (2) becomes
(m
2
+m
3
) y +c
2
y +k
2
y = 2Ap (5)
In addition, we can linearize the relation q
v
= f(x, p) for the volume ow rate through
the spool valve, as follows:
q
v
= B
1
x +B
2
p
From conservation of mass,
A y = q
v
= B
1
x +B
2
p
This gives
p =
A y B
1
x
B
2
Substitute this into (5) to obtain
(m
2
+m
3
) y +c
2
y +k
2
y = 2A
A y B
1
x
B
2
Collect terms:
(m
2
+m
3
) y +
_
c
2
+
2A
2
B
2
_
y +k
2
y =
2AB
1
B
2
x (6)
The system model is given by equations (1) and (6).
(b) The total mass of the spool valve (considered to be rigid) is 2m
1
. Newtons law
applied to the spool valve gives
2m
1
x = f(t) k
1
x c
1
x
7-27


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or
2m
1
x +c
1
x +k
1
x = f(t) (7)
The rest of the problem proceeeds as in part (a). The system model is given by equations
(6) and (7).
7-28


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7.27 The equivalent mass of the cylinder is
m
e
= m+
I
R
2
Use this instead of m in equation (9) of Example 7.4.6 to obtain
_
m+
I
R
2
_
x = (R
1
+R
2
)A
2
x = A(p
1
p
2
)
7-29


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. 2005 The McGraw-Hill Companies, Inc. All rights reserved. No part of this
7.28 Let q
v1
and q
v2
be the volume ow ow rates into and out of the center section where
the pressure is p. If the pressure drop gh in going up a height h from this point to the
plate is small compared to the pressure p, then the pressure at the plate is approximately
the same as p. From Newtons law applied to the plate,
m x = pAkx (1)
where the force pA is that due to the liquid pressure p acting on the plate. Assuming that
m x of the plate is small, then the above equation shows that the pressure force equals the
spring force.
pA = kx (2)
Thus x = pA/k. Dierentiate this with respect to time to obtain.
dx
dt
=
A
k
dp
dt
(3)
From conservation of volume,
d
dt
(Ax) = A
dx
dt
= q
v1
q
v2
(4)
The model for the dynamic behavior of the pressure as a function of the ow rates is
obtained by substituting this expression for dx/dt into (3). The result is
A
2
k
dp
dt
= q
v1
q
v2
(5)
Using the resistances upstream and downstream, the ow rates q
v1
and q
v2
can be
expressed as functions of the upstream and downstream pressures. The mass ow rates in
the sections are
q
v1
=
1
R
(p
1
p)
q
v2
=
1
R
(p p
2
)
and (5) becomes

A
2
k
dp
dt
=
1
R
(p
1
p)
1
R
(p p
2
)
or
R
2
A
2
k
dp
dt
+p =
p
1
+p
2
2
This equation can be solved for p as a functions of time if we are given p
1
and p
2
as time
functions.
7-30


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7.29 A force balance on the plate gives kx = Ap. The volume swept out by the plate is
V = Ax. With V = 30 in
3
and p = 1.5 psi, we have that
x =
30
A
and k =
Ap
x
=
1.5A
2
30
We were given no indication of any size limits or available spring constants, so we are free to
choose a reasonable value for A. For example, using a plate 6 inches in diameter, A = 9,
and this gives k = 40 lb/in. This gives a plate displacement of x = 3.75 in.
7-31


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7.30 a) For the two resistances in series:
q
m2
=
1
R
1
+R
2
p
From the straight line on the graph,
30 =
1
R
1
+R
2
3 10
4
Since R
2
= 400, we obtain
R
1
= 600 N s/kg m
2
From equation (4) of Example 7.4.10,
gh =
R
2
R
1
+R
2
p
Thus
h =
_
400
100
3 10
4
_
/9.81 = 1223/
where , in kg/m
3
, is the mass density of the liquid (which was not specied).
b)
q
m1
=
1
r
(p)
where 1/r is the slope of the straight line. Thus r = 700.
We have
d
dt
h = bh
where
b =
_
1
r
R
1
+R
2
R
2
+
1
R
2
_
g
A
=
_
1
700
1000
400
+
1
400
_
9.81
2
= 0.02978
Thus
d
dt
h = 0.02978h
The time constant is 1/0.02978 = 33.58 s.
7-32


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7.31 From (7.2.5),
A(h)
dh
dt
= q
mi
q
mo
where
A(h) = (2L tan ) h
and
q
mo
=
1
R
gh
Thus
(2L tan ) h
dh
dt
= q
mi

1
R
gh
7-33


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7.32 From (7.2.5),
A(h)
dh
dt
= q
mi
q
mo
where
A(h) = (2L tan ) h
and
q
mo
=

gh
R
o
R
o
=
1
2C
2
d
A
2
o
Thus
q
mo
= C
d
A
o
_
2gh
and
(2L tan ) h
dh
dt
= q
mi
C
d
A
o
_
2gh
7-34


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7.33 From (7.2.5),
A(h)
dh
dt
= q
mi
q
mo
where, from Problem 7.8,
A(h) = 2L
_
Dh h
2
and
q
mo
=
_
p
R
=

gh
R
Thus
2L
_
Dh h
2
dh
dt
= q
mi

gh
R
7-35


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7.34 (a) From conservation of mass and (7.3.9):
A

h = q
v
C
d
A
o
_
2p = q
v
C
d
A
o
_
2gh
Thus cancels out of the equation, and we obtain
100

h = q
v
0.5

64.4h = q
v

16.1h (1)
(b) At steady state,

h = 0 and q
v
=

16.1h. With q
v
= 5, this gives
h =
q
2
v
16.1
= 1.55 ft
(c) At h = 1.55,

16.1h
_
16.1(1.55) +
1
2
(16.1h)
1/2

h=1.55
(h 1.55) = 5 +
1
10
(h 1.55)
Then (1) becomes
100

h = q
v
5 +
1
10
(h 1.55)
Let x = h 1.55 and u = q
v
5 to obtain the linearized model:
100 x = u 0.1x
whose time constant is 100(0.1) = 10 sec.
7-36


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. 2005 The McGraw-Hill Companies, Inc. All rights reserved. No part of this
7.35 a) The capacitance can be obtained from
C =
A(h)
g
where
A(h) =
_
h
tan
_
2
Thus
C =

g
_
h
tan
_
2
b) From (7.2.5),
A(h)
dh
dt
= q
mi
q
mo
where, from part (a),
A(h) =
_
h
tan
_
2
and
q
mo
=
gh
R
Thus

_
h
tan
_
2
dh
dt
= q
mi

gh
R
7-37


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. 2005 The McGraw-Hill Companies, Inc. All rights reserved. No part of this
7.36 For an isothermal process, n = 1, and from (7.5.6),
C =
V
nR
g
T
=
20
1(1715)(70 + 460)
= 2.2 10
5
slug ft
2
/lb
7-38


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. 2005 The McGraw-Hill Companies, Inc. All rights reserved. No part of this
7.37 If p
i
p < 0, the ow will be out of the tank (and will be negative). Thus,
C
dp
dt
= f(|p
i
p|)
7-39


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7.38 For the left-hand tank,
C
1
d(p
1
)
dt
=
1
R
1
(p
i
p
1
)
1
R
2
(p
1
p
2
)
For the right-hand tank,
C
2
d(p
2
)
dt
=
1
R
2
(p
1
p
2
)
7-40


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7.39 a)
C = V c
p
= 1000(250 10
6
)4.18 10
3
= 1045 J/

C
b)
E = C(T T
o
) = 1045(99 20) = 8.256 10
4
J
7-41


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7.40 a)
V = 15(10)(8) = 1200 ft
3
C = V c
p
= 0.0023(6.012 10
3
)1200 = 1.659 10
4
ft lb/

F
b)
E = C(T T
o
) = 1.659 10
4
(72 68) = 6.636 10
4
ft lb
7-42


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7.41 See Example 7.6.1, which with T(0) = 20, q
v
= 0.5, and V = 12 gives
T(t) = 20e
t/24
+
_
1 e
t/24
_
80
7-43


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7.42 a) For conduction, the thermal resistance is given by
R =
L
kA
Thus
R
1
=
10 10
3
400(10
3
)
2
= 7.958

C/W
R
2
=
5 10
3
400((1.5/2) 10
3
)
2
= 7.074

C/W
The total resistance is
R = R
1
+R
2
= 15.032

C/W
b) The heat ow rate is
q =
30
R
=
30
15.032
= 1.995 W
7-44


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7.43 The total resistance is
R =
1
h
1
A
+
L
kA
+
1
h
2
A
R =
_
1
85
+
3/[16(12)]
47
+
1
15
_
1
A
=
0.0788
A
7-45


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7.44 The resistances are in series and thus they add. Using R = L/kA for conduction and
R = 1/hA for convection, and letting x be the required thickness of the middle layer, we
have
R =
1
30
_
1
30
+
10 10
3
0.2
+
x
0.04
+
20 10
3
0.1
_
=
1
30
_
0.047634 +
x
0.04
_
where
q =
1
R
T
With q = 400 and T = 40, we have
R =
40
400
=
1
30
_
0.047634 +
x
0.04
_
This gives x = 3.54 m, which is rather large.
7-46


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7.45 a) The resistance formula is
R =
L
kA
For the brick,
R
brick
=
4/12
0.086(12)
2
/144
= 3.876
For the concrete,
R
concrete
=
4/12
0.02(36)
2
/144
= 1.852
The segments are in parallel because they have the same temperature dierence, so the
total resistance is given by
1
R
=
1
R
brick
+
1
R
concrete
which gives
R = 1.253

F sec/lb ft
b) The heat ow rate is given by q = T/R. For the brick,
q
brick
=
40
R
brick
= 10.32
For the concrete,
q
concrete
=
40
R
concrete
= 21.6
The total heat ow rate is
q = q
brick
+q
concrete
= 31.92 ft lb/sec
7-47


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7.46 The solution procedure follows that of Example 7.7.4.
a) Assuming that the temperature inside the pipe wall does not change with time, then
the same heat ow rate occurs in the inner and outer convection layers and in the pipe wall.
Thus the three resistances are in series and we can add them to obtain the total resistance.
The inner and outer surface areas are
A
i
= 2r
i
L = 2
_
1
2
__
1
12
_
10 = 2.618 ft
2
A
o
= 2r
o
L = 2
_
3
4
__
1
12
_
10 = 3.927 ft
2
The inner convective resistance is
R
i
=
1
h
i
A
i
=
1
16(2.618)
= 0.0239
sec

F
ft lb
R
o
=
1
h
o
A
o
=
1
1.1(3.927)
= 0.2315
sec

F
ft lb
The conductive resistance of the pipe wall is
R
c
=
ln
_
ro
r
i
_
2Lk
=
ln
_
3/4
1/2
_
2(10)(10.1)
= 6.389 10
4
sec

F
ft lb
Thus the total resistance is
R = R
i
+R
c
+R
o
= 0.0239 + 6.389 10
4
+ 0.2315 = 0.256
sec

F
ft lb
The heat loss from the pipe, assuming that the water temperature is a constant 120

along
the length of the pipe, is
q
h
=
1
R
T =
1
0.256
(120 70) = 195
ft lb
sec
To investigate the assumption that the water temperature is constant, compute the
thermal energy E of the water in the pipe, using the mass density = 1.94 slug/ft
3
and
c
p
= 25, 000 ft-lb/slug-

F:
E = mc
p
T
i
= (r
2
i
L)c
p
T
i
= 3.1743 10
5
ft lb
Assuming that the water ows at 1 ft/sec, a slug of water will be in the pipe for 20 sec. Dur-
ing that time it will lose 195(20) = 3900 ft-lb of heat. Because this amount is approximately
only 1% of E, our assumption that the water temperature is constant is conrmed.
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7.47 The thermal energy E of the water in the pipe is
E = mc
p
T
i
= (r
2
i
L)c
p
T
i
=
_
1
48
_
2
6(1.94)(2.5 10
4
)T
i
= 396.8T
i
From conservation of heat energy,
dE
dt
=
1
R
(T
i
70)
or
mc
p
dT
i
dt
=
1
R
(T
i
70)
The resistance of the inside surface is
R
i
=
1
6(0.785)
= 0.2123
and the total resistance is
R = R
i
+R
v
+R
o
= 0.2123 + 2.15 10
4
+ 0.77 = 0.925
Thus
396.8
dT
i
dt
= 1.081 (T
i
70)
or
367
dT
i
dt
+T
i
= 70
For T
i
(0) = 120, the solution is
T
i
(t) = 50e
t/367
+ 70
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7.48 a)
C
1
= mc
p
= V c
p
= 1.94(1000)2.5 10
4
= 4.85 10
7
ft lb/

F
b) From conservation of heat energy,
d
dt
(C
1
T
1
) =
1
R
1
(T
1
T
o
)
or
4.85 10
7
R
1
dT
1
dt
+T
1
= T
o
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7.49 The steady-state temperature dierence is 90 70 = 20

, and the temperature dif-

ference has decayed by 98% (to 70.4

) in 4000 sec. So we take 4000 sec to be four time

constants. Thus = 4000/4 = 1000 sec. This value is conrmed by noting from the data
that it took 1000 sec for the temperature dierence to decay by 63% (to 77

). From Problem
7.48, the model is
4.85 10
7
R
1
dT
1
dt
+T
1
= T
o
so
= 4.85 10
7
R
1
= 1000
Thus
R
1
= 2.06 10
5
F sec/ft lb
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7.50 From conservation of heat energy,
d
dt
(C
1
T
1
) = q
i
q
1
d
dt
(C
2
T
2
) = q
1
q
o
where
q
1
=
1
R
1
(T
1
T
2
) q
o
=
1
R
2
(T
2
T
o
)
Thus
C
1
dT
1
dt
= q
i

1
R
1
(T
1
T
2
)
C
2
dT
2
dt
=
1
R
1
(T
1
T
2
)
1
R
2
(T
2
T
o
)
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7.51 a) From conservation of heat energy,
C
1
dT
1
dt
=
1
R
1
(T
1
T
o
) +
1
R
2
(T
2
T
1
) (1)
C
2
dT
2
dt
=
1
R
2
(T
2
T
1
) (2)
b) If C
2
0, (2) shows that T
1
= T
2
, and (1) becomes
C
1
dT
1
dt
=
1
R
1
(T
1
T
o
)
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7.52 a) The sphere model is
c
p
V
dT
dt
=
1
R
(T T
o
)
where R = 1/hA. The time constant is = c
p
V/hA, and the response is
T(t) = 22 + [T(0) 22]e
t/
which has the form
T(t) = T(0)e
t/
where T = T 22. The following MATLAB session computes the answer.
t = [0:15:135,180:60:960];
DeltaT = [95,93,92,90,89,88,87,86,85,84,82,79,...
76,73,71,69,67,65,62,61,59,57,56,54]-22;
p = polyfit(t,log(DeltaT),1)
tau = -1/p(1);
cp = 500; rho = 7920;d = 0.025;r = d/2;
V = (4/3)*pi*r^3;
A = 4*pi*r^2;
h = cp*rho*V/(A*tau)
The regression coecients are p = [-0.0008 4.2533]. The answer is h = 13.69 J/(m
2
s
K).
b) The Biot number is
N
B
=
hL
k
=
hr/3
k
=
13.69(0.025/2)/3
400
= 1.426 10
4
Because N
B
is much less than 0.1, the lumped parameter model can be considered accurate.
c) Radiation heat transfer, which is dependent on T
4
, is thus more signicant at higher
temperatures, and does not give an exponential response. A plot of the data and the
regression curve shows that the curve is a good t. The greatest error occurs when T > 90

and is less than 3

. This indicates that radiation heat transfer is aecting the process, but
only for the rst 30 seconds or so.
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7.53 From conservation of heat energy,
C
dT
dt
=
1
R
(T
o
T)
where
R =
1
hA
C = V c
p
The surface area is
A = 4r
2
= 4(30 10
3
)
2
= 1.131 10
2
and the volume is
V =
4
3
r
3
=
4
3
(30 10
3
)
3
= 1.13 10
4
The resistance is
R =
1
hA
= 0.2947
The capacitance is
C = V c
p
= 8900(1.13 10
4
)385 = 387.5
Thus the model is
387.5
dT
dt
=
1
0.2947
(50 T)
or
114.2
dT
dt
= 50 T
The time constant is = 114.2. The response is
T(t) = T(0)e
t/
+T
o
(1 e
t/
) = 400e
t/
+ 50(1 e
t/
) = 50 + 350e
t/
The time to reach 130

is found from
50 + 350e
t/
= 130
which gives
t = ln(0.2286) = 168.5 s
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7.54 Let T
1
be the sphere tempewrature and T
2
be the bath temperature. From conservation
of heat energy
C
1
dT
1
dt
=
1
R
(T
2
T
1
)
C
2
dT
2
dt
=
1
R
(T
1
T
2
)
where R is the surface convective resistance.
The spheres surface area is
A = 4r
2
= 4(30 10
3
)
2
= 1.131 10
2
and the volume is
V
1
=
4
3
r
3
=
4
3
(30 10
3
)
3
= 1.13 10
4
R =
1
hA
=
1
300(1.131 10
2
)
= 0.2947
C
1
= V
1
c
p
= 8900(1.13 10
4
)385 = 387.5
C
2
= V
2
c
p
= 7900(0.1)400 = 3.16 10
5
So
RC
1
= 114.2 RC
2
= 9.3125 10
4
Thus
114.2
dT
1
dt
= T
2
T
1
9.3125 10
4
dT
2
dt
= T
1
T
2
Let
1
= 114.2 and
2
= 9.3125 10
4
. Applying the Laplace transform to each equation
gives

1
sT
1
(s)
1
T
1
(0) = T
2
(s) T
1
(s)

2
sT
2
(s)
2
T
2
(0) = T
1
(s) T
2
(s)
These have the solution
T
1
(s) =
bs +c
s(s +a)
where
a =

1
+
2

2
0.008767
b = T
1
(0) = 400
c =
T
1
(0)

2
+
T
2
(0)

1
= 0.4421
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The response is
T
1
(t) =
c
a
+
ab c
a
e
at
= 50.43 + 349.6e
0.008767t
The temperature T
1
will reach 130

at
t =
1
0.008767
ln 0.2276 = 168.8 s
Contrast this result with the result of Problem 7.53, which is t = 168.5 s. Thus the
assumption of a constant bath temperature in Problem 7.53 is very justied.
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7.55 The last three equations in Example 7.7-1 are:
(R
1
+R
2
)T
1
R
1
T
2
= R
2
T
i
R
3
T
1
(R
2
+R
3
)T
2
+R
2
T
3
= 0
R
4
T
2
+ (R
3
+R
4
)T
3
= R
3
T
o
In matrix form these are
_

_
(R
1
+R
2
) R
1
0
R
3
(R
2
+R
3
) R
2
0 R
4
(R
3
+R
4
)
_

_
_

_
T
1
T
2
T
3
_

_ =
_

_
R
2
T
i
0
R
3
T
o
)
_

_
Once T
1
is computed, q
h
can be computed from q = (T
1
T
i
)/R
1
.
The script le is:
R = [0.036,4.01,0.408,0.038];Ti = 20;To = -10;
A = [R(1)+R(2),-R(1),0;R(3),-(R(2)+R(3)),R(2);0,-R(4),R(3)+R(4)];
b = [R(2)*Ti;0;R(3)*To];
T = A\b
q = (1/R(1))*(Ti - T(1))
The results are T = [19.7596, 7.0214, 9.7462]

C and q = 6.6785 watts/m
2
. Thus the
total heat loss is 10(6.6785) = 66.785 W.
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7.56 (a)
q
2
=
1
R
2
(p
1
p
b
)
q
3
=
1
R
3
(p
1
p
c
)
b) Rearrange the equations by bringing all the unknowns to the left side.
R
1
q
1
+p
1
= p
a
R
2
q
2
p
1
= p
b
R
3
q
3
p
1
= p
c
q
1
q
2
q
3
= 0
These equations have the form Ax = b where
A =
_

_
R
1
0 0 1
0 R
2
0 1
0 0 R
3
1
1 1 1 0
_

_
b =
_

_
p
a
p
b
p
c
0
_

_
x =
_

_
q
1
q
2
q
3
p
1
_

_
(c) The script le is
pa = 30*144;pb = 25*144; pc = 20*144;
R = [10000,14000,14000];
A = [R(1),0,0,1;0,R(2),0,-1;0,0,R(3),-1;1,-1,-1,0];
b = [pa;-pb;-pc;0];
format long
x = A\b
When this le is run it gives the following output.
x =
1.0e+003 *
0.00006352941176
0.00000605042017
0.00005747899160
3.68470588235294
Thus q
1
= 6.35 10
2
, q
2
= 6.05 10
3
, q
3
= 5.75 10
2
ft
3
/sec, and p
1
= 3685 lb/ft
2
.
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7.57 For the given values
C
d
A = 0.5(2 10
2
)
2
= 2 10
4
and the dierential equation is
(6h h
2
)
dh
dt
= 2 10
4

19.62h
or
dh
dt
=
2 10
4

19.62h
6h h
2
(a) The greatest outow rate occurs when the water level is the highest (h = 5). Thus using
h = 5 in the dierential equation, we can obtain an lower bound on the time required to
drain the tank. When h = 5,
dh
dt
=
2 10
4

19.62h
6h h
2
= 3.9618 10
4
This implies that h(t) = 3.9618 10
4
t +5, and h = 0 at t = 5/(3.9618 10
4
) = 12, 620
s, or 210 minutes. Thus the tank will empty in no less than 210.34 minutes.
Instead of a lower bound on the estimate, we can obtain a higher estimate by using the
mid-point value for h; namely, h = 5/2 = 2.5. This gives
dh
dt
=
2 10
4

19.62h
6h h
2
= 1.6008 10
4
This implies that h(t) = 1.6008 10
4
t +5, and h = 0 at t = 5/(1.6008 10
4
) = 31, 234
s, or 521 minutes.
(b) To use the ode45 solver, solve for the derivative:
dh
dt
=
2 10
4

19.62h
6h h
2
and create the following function le:
function hdot = tank(t,h)
hdot = -(0.0002*sqrt(19.62*h))/(6*h-h^2);
Then use the ode45 solver in the following script le.
[t, h] = ode45(tank, [0, 25200], 5);
plot(t,h),xlabel(t (seconds)),ylabel( h (feet))
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Start with a nal time of something more than 12,620 s, and run the le until the plot
shows the height approaching zero. The time to empty, which is 25,200 s or 420 minutes,
was found this way. The estimate of 521 minutes obtained with the mid-point height is not
much dierent, and establishes condence in the numerical result.
Note that if you choose a nal time somewhat larger than 25,200 s, the denominator in
the expression for dh/dt becomes zero because h = 0, and the expression for dh/dt becomes
undened. This causes diculties for the numerical algorithm. Thus it is best to start with
a small value for the nal time, and increase it. The plot is shown in the gure.
0 0.5 1 1.5 2 2.5 3
x 10
4
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
t (seconds)

h

(
f
e
e
t
)
Figure : for Problem 7.57.
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7.58 (a) Write the equation as
dy
dt
= 4
2y
10 + 2t
Then create the following function le.
function ydot = salt(t,y)
ydot = 4-2*y/(10+2*t);
The following le solves the problem using the ode45 solver.
[t, h] = ode45(salt, [0, 10], 0);
plot(t,h),xlabel(Time t),ylabel(Salt Mass y)
The plot is shown in the gure.
0 1 2 3 4 5 6 7 8 9 10
0
5
10
15
20
25
30
Time t
S
a
l
t

M
a
s
s

y
Figure : for Problem 7.58.
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(b) The variable coecient 2/(10 + 2t) varies from 2/10 to 2/30 as t varies from 0 to
10. Its mid-point value is 4/30. Using this value the model becomes
dy
dt
+
4
30
y = 4
The step response is
y(t) =
4
4/30
_
1 e
30t/4
_
= 30
_
1 e
30t/4
_
This equation predicts that y(10) = 30. The plot shows that the numerical solution gives
y(10) = 27 approximately. Thus we can have condence that the numerical solution is
correct.
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7.59 The relation between height h and the volume inow rate r is
100
dh
dt
= r
Thus
h(t) =
1
100
_
t
0
r dt
The MATLAB m-le is
t = [0:10];
r = [0,80,130,150,150,160,165,170,160,140,120];
for k=2:11
h(k) = (1/100)*trapz(t(1:k),r(1:k));
end
plot(t,h)
The answer for the nal height is given by h(11) and is 13.65 ft. The plot is shown below.
0 1 2 3 4 5 6 7 8 9 10
0
2
4
6
8
10
12
14
t (sec)
h

(
f
t
)
Figure : for Problem 7.59
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7.60 This problem requires both analytical and numerical methods.
(a) Let
b =
1
3

_
R
H
_
2
=
1
3

_
1.5
4
_
2
=
3
64
Then V = bh
3
. When the cup is full, h = 4 in, and the water volume is V = b(4)
3
= 64b =
3.
Let q be the ow rate (q = 2 cubic in/sec). From mass conservation,
dV
dt
= q
and
V (t) =
_
t
0
q(t) dt =
_
t
0
2 dt = 2t
Equating the two expressions for the water volume gives 2t = 64b, or t = 32b = 3/2 = 4.7
s. So we do not need MATLAB for this part of the problem.
(b) If q(t) = 2(1 e
2t
), then
V (t) =
_
t
0
q(t) dt =
_
t
0
2(1 e
2t
) dt =
_
2t
2e
2t
2
_

t
0
= 2t +e
2t
1
The time to ll is found by equating the two expressions for the volume:
2t +e
2t
1 = 64b = 3
We can solve this for t by using the fzero function. First dene the function cup:
function f = cup(t)
f = 2*t+exp(-2*t)-1 - 3*pi;
Use the fzero function with the answer from part (a) as the starting guess:
fzero(cup,4.7)
ans =
5.2124
Thus it will take about 5.2 sec to ll the cup.
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7.61 a) The model is just like that shown in Figure 7.10.2 except that the two SSR blocks
are not present. Create a subsystem block and save it.
b) Create a Simulink model like that shown in Figure 7.10.3, using the subsystem block
created in part (a).
c) In the MATLAB Command window, type the following parameter values.
A_1 = 2;A_2 = 5;R_1 = 400;R_2 = 600;
rho = 1000; g = 9.81; q_1 = 50;
h10 = 1.5;h20 = 0.5;
Then run the simulation. A Stop time of 2000 s shows the complete response.
7-66


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7.62 Using the values given, the equation can be reduced to
dh
dt
=
C
d
A

2gh
(2rh h
2
)
= 8.8589 10
4

h
(6h h
2
)
The model is shown in the following gure. Set the Initial condition of Integrator to 5. In
the Fcn block type -8.8589*10^(-4)*sqrt(u(1))/(6*u(1)-u(1)^2) for the expression.
You can plot the results by typing
plot(tout,simout),xlabel(

),ylabel(

)
By experimenting with the Stop time, we nd that the height is essentially 0 after 25,230 s.
Figure : for Problem 7.62
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7.63 From conservation of uid mass, 100

h = q, where q is the ow rate. Thus

h(t) =
1
100
_
t
0
q(t) dt
The model is shown in the following gure. We assume that the ow rate remains constant
at the previous value for 1 min. Thus in the Lookup Table block, we select the Look-up
method to be Use Input Below. In this block, the Vector of input values is [0:10] and the
Vector of output values is [0,80,130,150,50,160,165,170,160,140,120]. The height is
approximately 13 ft after 10 min.
Figure : for Problem 7.63
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7.64 From conservation of mass, the rate of change of water mass in the cup is
d(V )
dt
= q
or

dV )
dt
= q
where is the mass density of the water. We see that cancels out of the equation, which
can then be expressed as
dV
dt
=
_
R
H
_
2
h
2
dh
dt
= q
Using the values given for R and H and solving for dh/dt we obtain
dh
dt
=
q

_
R
H
_
2
h
2
=
q

_
9
64
_
h
2
a) With q = 2 the equation becomes
dh
dt
=
2

_
9
64
_
h
2
The model is shown in the following gure. Set the Initial condition of the Integrator
to a small positive number, say 0.01, to avoid a singularity (because h appears in the
denominator of dh/dt. In the Fcn block type 2/pi*(9/64)*u(1)^2) for the expression.
You can plot the results by typing
plot(tout,simout),xlabel(

),ylabel(

)
By experimenting with the Stop time, we nd that the height is essentially equal to 4 in.
after 4.7 sec.
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Figure : for Problem 7.64a
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b) With q a function of time, we must modify the model in part (a). The equation
becomes
dh
dt
=
q(t)

_
9
64
_
h
2
The model is shown in the following gure. Set the Initial condition of the Integrator
to a small positive number, say 0.01, to avoid a singularity (because h appears in the
denominator of dh/dt. In the Fcn block type pi*(9/64)*u(1)^2 for the expression. In the
Fcn1 block type 2*(1-exp(-2*u(1))) for the expression. The Clock block provides the
input time t to compute the expression 2(1 e
2t
). We use the Divide block to divide q(t)
by
_
9
64
_
h
2
. In the Divide block enter the number of inputs as */ (to multiply by q(t) and
to divide by
_
9
64
_
h
2
). You can plot the results by typing
plot(tout,simout),xlabel(

),ylabel(

)
By experimenting with the Stop time, we nd that the height is essentially equal to H = 4
after 5.21 sec.
Figure : for Problem 7.64b
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7.65 Use the model developed in Example 7.10.1 and change the Relay settings.
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7.66 The model is shown in the following gure. In the Relay block, set the Switch on
point to 5.5 and the Switch o point to 4.5. Set the Output when on to 0 and the Output
when o to 50. Set the Initial condition of the Integrator to 1. Set the gain of the Gain
block to 1/A = 1/2000. Set the gain of the other block to g/R. Set the Stop time to
1000. Using a value of R = 400, the height does not reach the desired band of 4.5 to 5.5
ft because the inow cannot compensate for the loss due to the small resistance. However,
for a larger value, say R = 4000, the height oscillates between the desired values. You can
plot the results by typing
plot(tout,simout),xlabel(

),ylabel(

)
Figure : for Problem 7.66
7-73


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of the publisher, or used beyond the limited distribution to teachers and educators permitted by McGraw-Hill for their
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. 2005 The McGraw-Hill Companies, Inc. All rights reserved. No part of this