Next Two Slides Assignment Due Next Week Wednesday (3-Feb 10)

Total Questions = 4

Question:1 A vibrating machine is shown in figure below. Write down the differential equations of the system.

Question:2 Consider the given system which is the temperature control system. Suppose that the the physical plant (GP) is a large chamber used to test devices under various thermal stress. The thermal chamber required temperature is 100 0C. What reference input R(s); is needed to get the required output temperature (1000C)? [ The sensor transfer function is 0.05 Volts/0C]

100

Where: GP(s) = Plant transfer function Gc(s)=Compensator transfer function H(s)= Sensor transfer function

?
100

Question:3 The system given in figure is the temperature control system. Suppose that the physical plant (GP) is a large chamber used to test devices under various thermal stress. The thermal chamber required temperature is 100 0C. What reference input R(s); is needed to get the required output temperature (1000C)? [ The sensor transfer function is 0.05 Volts/0C]

? ?

100

100

Automobile
Question:4 A simplified automobile suspension system is given in the figure. Write its differential equations.

M1 X1(t)

Suspension System Wheel Tire

K1

B M1 X2(t) K2

f(t)

Tire

1.5 Electrical Components (page10) System Modeling

1.6 (page 25) Translational Mechanical Components

f ma ; New tons Law

dv(t ) dx(t ) f (t ) M ; v dt dt
Mass (M)

f (t) M
x(t) displacement f(t) applied force

dx ( t ) dt 2

F(s) MS 2 X Laplase d w here S dt

1.6 (page 25) Translational Mechanical Components

f(t)

dx1(t ) f (t ) B one dislpaceme nt dt

x2(t) B

dx1(t ) dx 2 (t ) f (t ) B B tw o dis.. dt dt d f (t ) B x1(t ) x 2 (t ) dt

x1(t) f(t) Damping (Friction) (Shock observer)

d F(s) B S ( X1 X2 ) w here s dt

Dampers (Friction) Shock Observer

x(t)
f(t)

dx1(t ) f (t ) B one dislpaceme nt : one side is fixed dt

F(s) = BSX

1.6 (page 25) Translational Mechanical Components

f(t)

f (t ) K x1(t ) one dislpaceme nt

x2(t) K

f (t) Kx1(t) x 2 (t) tw o dis..

Hooks Law

x1(t) f(t) Spring

F(s) K ( X1 X2 )

1.6 Translational Mechanical Components (page 25)

- Mass has only one displacement in one direction. - Damper (B) & Spring (K) may have displacement in one or both directions.

x F F

K B

New tons Law dx 2 w here m M; a dt dx 2 ( t ) fm ( t ) M time domain dt

LL domain

f ma

Fm (s) MS 2 X
F

FB (s) BSX one displaceme nt( X) FK (s) KX one displaceme nt( X)

F(s) FM FB FK
F(s) MS 2 X B S X K X differential equation

X(s) 1 m / sec Transfer Function N F(s) MS 2 BS K

Example

How many displacements ?? ONE

How many equations ?? B

K Number of displacements

ONE

=
Mass (M) Number of differential equations

f (t) M
x(t) f(t)

dx 2 ( t ) dt

dx( t ) B K dt

F(s) M S 2 X B S X K X

X(s) 1 m / sec Transfer Function N F(s) MS 2 BS K

x1
F
M1 K

x2
M2

F(s)

FM1 M1S 2 X1
FK K( X1 X2 )

0 M2 S 2 X 2
0 K( X2 X1 )

F(s) FM1 FK

0 FM2 FK

F(s) M1Sx1(s) K s ( x1 x 2 )
0 M2Sx 2 (s) K s ( x 2 x1 )
Differential equations

Example (figure D1.16 (page 29)

x1 & x2 hence ; equations =2 x1 x2 4 2 3 6 f2=8sin7t

f1=10
2 x1 4 3 x2 f2=8sint 6

f1=10

F1 = 2S2X1+5X1+ 4S(x1-x2) F2 = 3S2X2+6X2 + 4S(x2-x1)

10 2

2 dx1 (t )

dt

4S( x1 x 2 ) 5x1

Try Figure D1.17 (page 31)

dx 2 2 (t ) 8 sin 7t 3 4S( x 2 x1 ) 6x1 dt

Example (figure 1.17 (page 26) x1 7 2

x2 f(t)=sint

Displacements(x1 & x2) =2; number of differential equations =2 2 x1 x2 6 7 4 5

f(t)=sint
Try Figure 1.18 (page 28)

0 = 4S2X1+7SX1 +6S(x1-x2)+2(x1-x2)
sin t 1 s 1
2

F(s) F(s)

= 5S2X2+3SX2+6S(x2-x1)+2(x2-x1)

Try Figure 1.18 (page 28)

The force is acting on the cylinder, resulting in the velocities given below. What is the applied force?

Drill problem: Find the required forces on the damper

ans. F = 0.02N

Next Few slides Drill problem Find the differential equations

Drill problem

Drill problem Write the deferential equation describing the motion of the following system.

Motion of a Mass on a Spring with Damping

Drill problem

A simplified automobile suspension system is given in the figure. Write its differential equations.

Drill problem

Write the differential equations for the translating system below.

Drill problem

Write the differential equations for the translating system below.

Drill problem Develop the equation relating the input force to the motion (in terms of x) of the left hand cart for the problem below.

Drill problem

Write the differential equations for the translating system below.

Drill problem Write set of deferential equations describing motion of the system

Mass spring system with two masses.

Drill problem Write the differential equations for the system below.

sin t

1 s2 1

2 dx1 (t ) f ( t ) M1 K s ( x1 x 2 ) dt

2 K s ( x 2 x1 ) M2 x
dx 2 2 (t) 0 M2 K s ( x 2 x1 ) dt
6 x2(t)

f (t ) M

dx 2 ( t ) dt

dx( t ) B K s time domain dt

Review Questions
What do u understand from title of this course? Examples of open loop systems?

Examples of closed loop systems?

Why system modeling is important? Examples of time variant systems?