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CHAPTER 2
B-2-1.
Note that
&rtj =
+S
Note t h a t
3 sin (5t
-+ 3
cos
5t sin 45'
--3 So we have
Jz
s i n 5t + 3 cos 5t
fl
Note that
B-24.
f(t) =
t <U
=cos2Wtros3LLIt
t 1 0
Noting that
cos 2 W t cos 3wt = + ( m s 5 d t + c Q s & J t )
w e have
F(S)
L [ f ( t= ~ )
[%ms 5
~ + r tn s r ~ t ) ]
B-2-5.
f(t) = (h
The Laplace transform of f(t) is
~ ( s= )
- a)
l(t
- a)
~ ( - a)] = t
[~(t)] =
J [(t - a )
+
-as
6
B-2-6. -
f[t) = c l[t
- a)
- c I(t
- b)
T e Laplace transform oE f ( t ) is h
~ ( a =c )
B-2-7.
As
10
- 12.5
e-(a/5)s
a 2s
2 5 =-as
= lim
da
( 2 . 5 e-(a/5)s
2 . 5 .-as)
= lirn a+O
- . s e-(a/5)s 05
2
2 . 5 s e-as
B-2-8.
- as
e* -=
a3s2
3-2-11.
Define
y = x
y(O+) = $(O+)
Thw
The i n i t i a l value of y can be obtained by use of the initial value theorem as follows:
Since
y(s1
= J'+[y!t)l
= d;rGct,1
= sX(S)
- x((U)
we obtain
B-2-12.
Note that
we have
B-2-14.
f ( t ~emst dt =
e-st at = 1
0-
we obtain
where
Cbl
where
(bl
where
is
i p ) = -3 . t
B t .2 -t
.
-
3 .2 -t
2 -2+-+----2- 5 s + l s
5 s + L
3 s + l
+- 5
transform of F(S) is
f { t )=
S ( t ) 'F
4-
4t
Hence
f(t) = e-t cos 3t
1 - - e-t
sin 3t
Hence
Hence
1 1 -(t - - sin
L L J ~ ~
ld2
B-2-23.
~ ( s= )
C - (1 - e-as) , b e-as s2 S
a >O
- c(t - a)f(t - a) - b
l(t - a)
3-2-24.
- -0.25 2s2
s4 + 333 +
+
s + l
-0.75
+-
05 .
s2
0.75 + 0.5t
A possible MATLIE! program to obtain partial-fraction expansions B-2-25. of the given function F(s:l is given b l o w .
I
f
P=
0
L
f(tl = 0.7322 e092758t m s 1.9082t + 0.9762 e00275Bt sin 1.9081 t - 0.7322 e-1-2758t cos 1.0309t
2t
- -
B-2-27,
..
X+LJ
2x=t,
X(O)
= 0,
;(a)
= o
x(0) = 0,
B-2-28
d ; + & + x = l ,
20 = 2 1)
sx(0) -
1 G(o)] + 2[sx(s) - ~ ( 0 )+ x ( s ) = ) s
-e
-
cos 0 5 .t
= l + 3 e-0*5t sin 0 5 .2
a s 0.5t
2[sZ~(s) sxIO)
31 + 3XCs) = 0
- 0.6
e-3t
B-2-30,
.. * x = sin 3t,
x(0) = 0,
k(0) = 0
x(t) =
-'3
sin t
- -s i n I 8
3t
CHAPTER 3
B-3-2. Assume that the W y of known mmnt of i n e r t i a J through a small angle @ akrout the v e r t i c a l axis and then equation of motion far the oscillation is
' is turned
released.
The
y of unknown mmnt of inertia 9 and measure The equation for the perid T is
By eliminating the trimown torsional spring constant Ir from Equations (1) and ( 2 ) , we obtain
T e unknown moment of inertia J can therefore be determined hy measuring t h e h perid af oscillation T and s u b s t i t t t t i n g it i n t o Equation ( 3 ) .
B-3-3. of t h e b l l as x ( with x(0) = 0. - Define the vertical displacement equation aof motiont )for the system The positive direction is downward. The
is
with initial conditimsx(O) = O m a n d G ( 0 ) = 2 0 m / s .
Sowe have
Then
B-3-4. Define the torque applied to tfie flywheel as Tmotion for the system is
The equation of
f o which we obtain rm
Thus
T = 1256 N-III
**
JQ=-T
Integrating this equation,
(T = braking torque)
B-3-6.
Then
is given by
-3-7,
@3
is then o b b i n e d as
similar.
So we have
K(OB +
--
+ OR) = -- - 4 El OA(OB
B-3-8,
(a)
(b)
where z is t h e displacemnt of a point &tween damper bl and damper (Note t h a t the same force is transmitted through the shaft.) b2. From Equation (I), w have e
k tforce f
- );
Hence,
B-3-9.
1 1 ) ~ we
have
8-3-10.
$+
(lc
+ k +Ic ) x = O 2 3
B-3-ll.
?'he density
p of
the l i q u i d is
The
B-3-12.
system is
- k(TI
x)a
or
A modified diagram for the systim s h m in Figure 3-55 is -3-14. given below.
= -,, ke
- k2(e1 - 82)
- 82)
J$32 = k2(91
B-3-15. The following t w a equations describe the nation of the system and they are a mathematical model of the system.
mlx = - ~ ( x ~3
I .
m2$ = -kzy
Rewriting, we obtain
B-3-15.
B-3-17.
Noting that x = 2 y , R8 = x - y = y r and J = the three equations can b rewritten as " 1 - I R @2= - @ = M 2 2 ( T - T~)R ~
*. a = -
~ j * icy = TI + T* ;
Eliminating T2 f m t h e preceding equations gives
1 -M~+N?+]CY
2
m l
T2
I - 2nrj;
By changing y into xt
XE mass m is pullecl down a distance xo and released with zero i n i t i a l velmity, the motion of mass rn is
B-3-18.
(Note that since x is m a s u r d where T is the tension i n the wire. from the static equilibrium position, the term mq does not enter the equation.) For the rotational motion of the pulleyr WE have
Ill
3-3-19.
wherex(0) = 0 1 and ?(o) = 0 . . The respofise ta the given initial condition can be o b t a i n e d by taking the Laplace transform of t h i s equation, solving the resulting equation for ~ ( s ) , a n d finding the inverse Laplace transform o f The LapPaee transform of Equation ( 1 ) is X(s)
x ( t ) = 0.1(J--
e-t s i n 3t + e l t
3t)
---
. -. -
.-.
B-3-20.
where Fk = &(mg
-F
s i n 30').
~ewrittingthis equation,
= 0.066 F
- 0.3(mg - 0.5 F)
mg
- 0.3
=b
or
m%
3-3-21,
.. Mx=T0.
rx
kMs
m=mgl-T
By substituting M = 2, m = I, and
JLK= 0.2
Noting t h a t z ( 0 ) = 0, w e have
P s s w e that a t t = t
?hen
Thus, the velocity of the block when it has maved 0.5 m can be found as
B-3-22.
where x = R8 and J = $ mR 2
So we obkain
B-3-23. Assume that the direction of the static friction force F is to S the left as shown in t h e diagram below. The equations for the system are
where J = $ . ' ~ m Since the cylinder rolls without sliding, we have x = I?@. Consequently,
By eliminating
Since is found to be equal to -(1/3)F, the magnitude of Fs is one third of F and its direction is opposite to that assumed in the solution.
<
B-3-24.
ntx = F
**
-q
sin 3 0 -
-pg p
cos 30,
x(0) = 0,
;(o)
= 0
x =F
- 1 x 9.81
x 0.5
- 0.2
x 1 x 9.81 x 0.866
or
and
i(tl) =
5 ds.
Tx?n -
6 = (F
- 6.604)
1 - tI2 2
Tfieref ore,
Work done by force F = F x 6 = 8.69 x 6 = 52.14 N-m
Work done by the grav3btional force =-mg
s i n 30mx 6
- =
9 8 x 05 x 6 = .1 .
29-43 N-m
- 0.2 x mg m s 30'
x 6
8-3-26.
' 2 T = 1 ~ H2 e~ +'
The p t m t i a l energy U i s
U =t@f(1
d~
= + ( M + + ) I ~ ~ ~
- cos 0 ) +
- m s B)
- m s 0) dJ
- (M+-+)gj?(l
= constant
Noting that d(T + U)/dt = 0, we obtain
[(M
12;
+ (M +
!gl+
sin 81
j= )
Rewriting,
"
8 +
M m + 3
B-3-27.
= 'j
r1R1
+ % k p l
- e2) 2
+ )i k2o2Z
Since
61 and
B-3-28. A t t = 0 (the instant the mss M is released' to m e ) t h e kinet energy T and the potential energy U of the system are I 1
&re
v2 is t h e velocity of the hanging mass m and G2 is the angle of rotakion of the pulley both at the instant the mass hits t h e f l o o r ; re2 - v2, and J = % mpr 2
~2
E-3-29.
The p o w e r P is given by
where tJ = m~fx.
So w obtain e
-3-30.
To keep the bar AB horizontal when prlling the weight n g , t h e rnament a b u t p i n t P must balance. Thus,
B-3-31.
Note that
where
Gear ratio = 1/30
B-3-32. Assume that the stiffness of the shafts of the gear nite, t h a t there is neither backTash nor elastic defamation, nt.mber of teeth on each gear is proportional to the radius of the angular displacement of slraf t 1 and shaft 2.as 0 and Q2, I By applying Newton's second law to 'the system, we obtain shaft (shaft 1 )
where Tm is the torque developed by the motor and TI is the laad torque an 5@ar 1 due to the rest of the gear t r a i n .
For s h a f t 2 , we have
Sin-
e2/Q1
= n /n
, Equation
( 2 ) can be written as
is very ttntch smaller than unity, then the 1 2 is negligible. effect of J2 an t h e equivalent mwnent of inertia J eq
&-3-33. The equivalent mament of inertia J of mass m referred to the motor m s h a f t axis can be obtained frcm
where oE is the angular acceleration of the motor shaft and 5 is the linear acceleration of mass rn. Since d r = 2, we have
S i n c e there is no slippage b e t w e e n the belt and the pulleys, the work: done by the belt and the right-side pulley ( ~ ~ and ~ ) by the belt and t h e 0 that
where T is the load torque on the motor shaft and T is the torque trans1 2 rnitted to the left-side p u l l e y s h a f t , is t h e angular d i s p l a c m n t of the motor s h a f t , and G2 is the amy~lardisplacement of the left-side pulley shaft. Since the two pulleys are of t h e same size, we have BI = B2. Hence
Since TI =
5' we ham
to the mtoi
CHAPTER 4
So we obtain
B-4-3.
h below-
+ 20(i 1
- i3) = E
+ i 1 = ZO(i
3
20
i2 + 10(i2 + ig) = E
2
I
100 i, + 1O(i
- i31
whi&
yield
So w e obtain
Figure ( a )
Figure (b)
Figure I c )
set
So R
is obtained as
So we haw
Cansequently ,
R = 25.R
M6 - . -
3-4-7.
Fran Figure
4-55,
* R2[%(s) - T(s)I'
where i -) ' ( o
2
is g i m by
t = 0
F m Equation ( 3 ) we have
Referring to Equation 15 1
W E have
B-4-8, -
A t steady stake (t
< 0) we haw
and
Rl[al(s)
- i(O)]
LI ( s ) = 0 C
where
Hence
or
B-4-9.
where Jeq is the equi~lentmoment of inertia of the system referred to the motor rotor axis and is the equivalent viscous friction coefficient of
the system referred
(R, + L s I ( ) ,),s
+ l(bsB1(5) = E , ( s )
shl(s) + b SB
eq
(5)
= KIa(s)
Hence
The numerical values of the equivalent moment of inertia Jq viscous friction coefficient b are, respectively, eq
and equivalent
fallows:
R-4-10.
t h e sight, we obtain
Since
we have
X S O ,since
w obtain e
Upla-
Lapla-
By substituting Equation ( 4 )
334-11.
Since
we have
Also, since
i3 = 14
we get
Thus,
(2)
3-4-12.
E,(s)/E~(s)
where
Hence
-14.
ZL = Ls,
-I z
2
RCs + 1
Hence
Hence
Note that
Similarly,
B-4-17. Then
as ek.
eg.
Noting that
and K 3 1, we must have > EA(s) =
EB(s)
Hence
frm w h i c h we obtain
8-4-18.
@Dl
or
Since
Define the displacenent of midpoint between kg and b as x3. W-19. Then the equations for the system are
1 dt
ti, +
R(i2 ~
i2)dt +
C3
(il
)dt = e(t)
di2
L 2
i3) +
( i 2 - il)dt = 0
R(ig
- i2)
(i,
- ig)dt
B-s-20. Define the cyclic current in the left loop as il and that in t h e r l g n t Loop as i2. Then t h e equations for the circuit are
Using the force-voltage analogy, we can convert the last two equations as follows:
From these equations an analogous mechanical system can be obtained as shuwn to the r i g h t .
////i=~/////
CHAPTER 5
B-5-1.
WE!
obtain
R-5-2. l solve t h i by using ttm different approaches: - We st hhea lexact methods problem other based on the use of an average one based on and the
resistance.
(1)
k t
fi = x.
So we
have
A s -
that at t = t
Then, t
*,
dk
is obtained as
=\
* -&
Jfi
I
.1
1
= - ZM)xly+1WO
=
dx 5-Zx
- 200( 6- 1) t moo
'5 " (
- 2x)l
/
Since Q = 0 0 .2
5, the
~ e f i n e h = H -1.
system,
lhenqi
= a i - 0.02
and qo=h/R.
and qi = 0.05
- 0.02
3 = 0.03 m / s i n t o
258[sH(s)
- h(O)]
3. B 7 + H(s) = 5
or
Solving t h i s q u a t i o n for H ( s ) ,
Assume that at t = t
1 '
h ( t ) = 15 ..
Rewriting,
So
we have
1 1
(6 + q - 6 - q,)dt
Since Rl = hl/ql
can be rewritten as
R2 d t
RL d t
(RICI + R C
2 2
&2 dt
+h 2
=liZq
R C R C 1 1 2 2
R C ) -dq2 + q 2 = 4 2 2 dt
E-5-4.
Thus, we have
ClsHl(s) =
2 [H2(s1 R1
H~(s) 1
By adding Equatfons (I), (21, and (31, and taking the Laplace transform of the resulting equation, we obtain
Since H3(s)
can tR written as
21-5-5.
For t h i s system
Hence
(+=27c
Q1
= -0.005Jii dt
Assume that .the head moves d m frm H = 2m to x for the 60 sewrid m d o. Then
5:
~ . ' H
dR = 4.005
as
x = 1.652 m
B-5-6.
Using the e1ect;rical-liquid-1-1 analogy given below, e q a t i d n s for an analogous electrical system can be obtained.
C (capacitance)
R (resistance)
Based on Equations ( 5 ) through (81, we obtain the analogous electrical system shuwn below,
B-5-7.
Using t h e table of electrical-liquid-level analogy shown in the s~lutian of Problem B-5-6, we can obtain an analogous electrical system. The
analogous electrical equations are
B-5-8. -
pv = mR,irT
In this problem
p = 7 X 205
+ 1.0133 x 105
= 8.0133 x
lo5 ~
/ m ~ abs
If ttre temperature of canpressed air is raised to 4bec, then T = 273 + 40 = 313 K and the pressure p beccanes
= 109.4 1bf/in.*
gage
B-5-9.
mte t h a t
Hence
PJs)
1
RCS + 1
Pil s )
For t h e bell-
Ap,
= lot
B-5-10.
Note t h a t
P1
= 0.5 x 105 NJm 2 gage = 1.5133 x 105 N/m 2 abs
= 0 N/m 2 gage = 1.0133 x 105 N/m 2 a b s P2 If p2 3 0.528pl, the speed of air flaw is subsonic. So the flaw throughout the system is subsonic. T e flow rate through the inlet wive is h
Since bokh valves have identical flow characteristics, w have TT = K = R. e 1 2 The equation for the system is
B-5-11.
Hence
Neglecting the Mgher-clrder terms, a linearized equatlcm for the system can $e written as
where
- f(E) = a(H - A)
C
f(E1 =
f ( 4 ) = 0,2
- z = a ( x - 2)
A linearized mathematical d e l is
where Z = 11,
= 5, z
- = 356, and
Define the radius and angle of rotation of the pinion as s and 8, respectively, Then, relative displacement between rack C and pinion B is re.
5
Relative displacement between rack A and rack C is 2re and this m s ut q u a 1 displacement x, Therefore, we have
Since x = r0 + y, we obtain
B-5-17.
c1 1 = ae
(U
- ,)at
(1
(2)
C2dG2 = (q,
- s,)dt
Noting t h a t
f o which w get rm e
E b Z ( s ) f l l ( s ) can be given by
B-6-1. &fine the current in the circuit as i (t) where t q u a t i a n for t h e circuit f o r t 9 0 i s
2 0.
The
< 0, the
Since
we obtain
gives
B-6-2. -
Since q(0) = 0 and i10) = {(o) = 0, the Laplace transform o this la* -af tion gives
LS~Q(S)+ RsQ(s) + - Q ( s ) = E 1
C
or
equation
Then
Then
Its) = E
(S
+ b)
N o t i e that
Hence
-E
L b-a
1=
Z1
Z1 = R1
Hence
"
= R
4.
C2s
Eo(s 1
Ei(5)
1'
Z2
+
KP2s + 1
( E + R ~ ) C ~ S1 ~ +
2 '
Next, w shall find the response eo(t ) when the input e . (t) is the unit step e Z function of magnitude E. Since
1
i'
b; -
transform of these
Simplifying ,
or
?he response
as fellows:
m.
xo) = b (&
2
- y)
Hence
we have
Since
we have
Hence
B-6-6. -
Since R2 = 1 5 Rlr C = C .
2
, and
R C = 1, we obtain
1 1
becomes
=0
w have e
elsewhere
Since
- 0.4
e- (L/3)t
1)
lqarithmic d e c r e n t = In
'to l -= -I
X l
xa
Xn
5C.dnT
Solving for
5,
By
Noting t h a t Wn =@
and 2
5% =
b/m. w e find
and
E-6-8.
(rn+ 2 ) G + & + ) ~ = p
Substituting the given ntm#rical val~es = 20 kg and p = 29 = 2 x 9 8 N m .1 into this l a s t equation, w e obtain
2 2 2 + b j t + h =2~9.81
At steady state
l a S S = 2 x 9.81
, x
= 0.08 m.
'Thus
Xss
Solving for k, w obtain e
Since
R
=&
=@=
3.34 r a d / s ,
b 2 2 U n -3
we obtain
E-5-9. -
+ r (cos 0 n g
Simplifying,
x +
. *
9.e
+
+
coseb3-
m2
+
sin 8
b2 +
" 1
2k
x=O
;+ ;
mz
1
m2
0.
cosQ0-
m21
+
sin O
i + 2k 2
+
" 1
m2
" 1
=a .
1 kg, k = 100 ~ / m ,p ( t ) = 10 &(t) N, x(0-1 = 01 m, and G(0-) = 1 . By substituting the given n m ~ i c a v a l v e s into the system equation, l we obtain
rn =
m/s.
Taking the
a- transfarm of
x(t1
sin =lo
L e t us d e f i n e another impulse force to stop the nmtion as A 8 (t T , *ere ) A is the undetermined magnitude o the impulse force and t = T is the unf 'fhm, determined i n s t a n t that this impulse is to be given t t h e system. o
ml
m2
ml
m2
m2
x = O
m2
tkfo
The
L- transform of
If the mation of mass m is to be stopped at t = T, then x ( t ) mst be identically zero for t k T . Note t h a t x ( t ) can be made i d e n t i c a l l y zero for t > T if we choose
2 + b;t
The
d(t),
X(O-)
= 0,
G(o-I
&-
transform 0 5 this q u a t i o n is
(ms2 + bs)X(s) = 1
I $(t) = - e-(b/m)t m
The initial velocity can also be obtainl;d by use of the initial value thwrm.
' Z c nwrnenL u1 itjestla of t . 1 ~wndulum about 1l The a n g l e o f rotation of the the pivot is J = m i 2 . pendulum is 8 rad. D e f i n e the force t h a t a c t s on the pendulum a t the time of sudden stop as F(t ) Then, k h e torque that a c t s on the pendulum due to the force F(t) is F ( t ) K cos 8. The equation for the pendulum system can be given by
JJ-6-13.
We shall linearize this nonlinear ajvaiirn 4 erruning angle 9 is small. (Although @ = 20" is not quite small, the resulting linearized q u a t i m i will give an approximate solution.) By approximating cos Cl f 1 and s i n 0 f 8, Equation (1) can be written as
F(f)
3
p9
Since the velocity of the car at t = 0- is 10 m / s and the car stops i n 0 3 s, the deceleration is 33.3 rn/s2, . By a s d n g a constant acceleration of magnitude 33.3 m/s2 to act on the mass for 03 seconds, F ( t ) may & g i m by .
Since
1 = 0.05
Tbenbytent a t i w l y assuming t h a t tl occurs before t = 0.3, we solm the following equation for tl:
<
(4)
which can
3 simplified to x
T e result is h
Since tl = 0.0327 < 0 3 our aasrenptim was correct. . The terms involving l(t - 0 - 3 ) i n E q u a t i o n ( 4 ) d o n o t a f f e c t t h e v a l u e o f tl. It takes approximately 33 ms for the pendulum to swing ZOO.
B-6-14.
By taking the Laplace transform of t h i s l a s t equation assuming zero initial conditions, we obtain
e-l-666fit s i n 5.5277t)
Now d e f i n e
nm=[Q 0
1.5351
*****
num = [O O 1.6351; den = [ I 3.3333 33.33331; step(num,den) grid title('Respoase ~(t)') Idabel('t sec')
ylabel('x(t)')
R-6-15.
By substituting the numerical values of m, kl, k2, and bl i n t o this equation, we obtain
sx(0) +
s2
$10)
+ 4x(O)
4
+ 4s
16
x ( t ) = 0.05 e-2t m s 2
6t
+ 0.3175
e-2t sin 2. f- t 3
This equation gives the time xespQme x(t) The response m m e x(t1 versus t can be obtained easily by use of NATLAE. Noting t h a t X(s) can be written as
X(s) = 0.05~2 + 1.2s s2+4s+16
we may define
2
s
den = [I
163
and use a step camand. "ke following MRTLAB program will generate the reqmnse x(t) versus t as s h m below.
% ***** PvlATltA3 pro_nfam to solve Problem B-6-15*****
In this system F is the input and x2 is the output. B-6-17. Figure 6-57, we obtain the following equations:
From
By eliminating XI(s3
By substituting numerical ~ l u e s ka, k2, blr and b2 into this l a s t for equation, we obtain
Since the input F is a step formof ZM, we have ~ ( s = 21s. ) be obtained from
x2(s) can
The response curve x 2 ( t ) versus t can be obtained with MATLAB as follows: F i r s t note t h a t
Then, define
and use a step comnand. The following MATLAB program will yield the response curve x 2 ( t ) - T e resulting response curve is shown i the h n
figure below.
% ***** MATLAB program to solve Problem B-6-17 *****
num = [O 0 0.83; den=[l 6.4 81, step(num,den) grid titl$Response x(t)3 xlabel('t sect) ylabel('x(t)')
Z2(s) = Rl +
Zl(d
Hence
R2
1 ClS
Zr(s1 =
Thus
R2
R ~ C ~ S1 +
Z~(S= )
RrCls + 1
CIS
By rmbstituting the given nrrmerical wlues for Rl, R 2 , C1, and C2, we obtain
i n t o the mqmter.
R e m e BdU
I Sec
Note that
Notice t h a t the response curve is a sum o two exponential curves and f a step function of magnitude 5 .
CHAPTER 7
B-7-1.
whesex1(0)= 0 and
G(OE = O .
values of
equation, we obtain
Solving for X ( s ) ,
X(s> =
10
- -5
96 s2
5
(s2 + 100)(s2 + 4 )
- -1
4
1 0
s2
+ loo
(sin 2t
- -sin ' 5
I&)
B-7-2. -
+ 2 ; + 2 0 0 ~ 5 sin 6t 4; =
or
+ 1 3 + fOOx = 25 s i n 2; .
t 12s
100)X(s) = 25 .
Solving for ~ ( ) , s
-6t
-1-6
3 -e4t 1856
s i n 8t +
-eat 464
t e x
8t +
sin 6 t
m s 6t
EJS)
1 - s -
Ei(d
Hence
R+-
1 RCs + 1
Cs
*-4.
which can be m i t t e n as
Since we are interested in the steady state behavior of the system, we can assume that all initial conditions are zero. Thus, by assuming zero initial conditions and taking the Izlpkace transforms of the last two equations, we obtain
The transfer function Gl(s) between X1( 3 ) and P(s) can thus b obtained as
Hence
fram M h we obtain c
xl(t) = G ( j w ) P s i n dt + 11
L l
G (jW)
NgXt, referring
between X
(8)
Hence
I ~ , ( j w ) P sin
ktI&+
B-7-5.
tension =
2 mu s = 0.1
X 6.28
1 = 39 M .4
Tne tension in the card is 3.94 N. 'rhe maximum angular speed can be obtained by salving the f o l l d n g q u a t ion for #
?he
maxfrmrm angular speed that can bE? attained without breaking the card is
1.59 Hz-
73-74.
F m the d i a g m shown
centrifuqal force gravitational force
,
klokr, w e
obtain
nUJ2r - 0.15
m9
0.2598
Solving for W
, we
obtain
B-7-7. -
MZ + & + m = m t d r
sinut:
Tf 10 % of the excitation form is to 1 transmitted to the foundation, the s Thus tranmnissibility m s be q u a 1 to 0.1. ut
Solving for
', we find
I
86
velnuat h v ! ae*
= 22.28.
men
k = 1 . x 103 N/m 77
Rewriting
By substituting x
-y
t r
So the acceleration
By taking laplace transforrrrs of Equations (1) and (21, assuming zero i n k t i a l conditions, WF obtain
So
w e have
and
T e farce transmissibility TR is h
B-7-10. Define the d i ~ p l a - ~ k o f the t o p e n d of springk as z . 2 the equations of mtim for the system ape
Then
where p = P s i n w t ,
So
W E motion transmissibility T is R
B-7-11.
Note t b t if/-=#,
then X ( j W ) = 0 .
Since
we have
By substituting
%/m,
Hence
(Y(JW)
I-I
=-"a
ma LrlL
ka
p ka
m,
05 mass
m, is P. &
e2 the
To find the n a t u r a l frequencies of the free yibntionr we assume the motion to be harmonic. That is, w assume e
= A sin W t ,
I2 B =
sinWt
0-
= -A&
sin
t,
e2 =
-B&*
sinwt
Since these equations must be satisfied at all times and s i n d t cannot be zero a t a l l times, the quantities in the brackets must be equal to zero.
Thus
For constants A and B to be nonzero, " determinant of t h e coefficients of , Equations (3) and ( 4 ) must be equal t o zero, or
This determinant equation determines the natural frequencies of the systemEquation (5). can be rewritten as
Thus
The first natural frequency is w l (first W e ) and the second natural frequency is L3 ( second mode) .
2 A t the first natural freqwncy W
=J=,
we obtain from
Equation
[~ote that w e obtain the same .result from Equation ( 4 ) . ] Thus, at the first nrode the amplitude ratio A D k a m e s unity, or A = B . This means that both masses move the same munt in the same direction. This mode is depicted in
Figure ( a ) below.
At
the second natural frequency & = LJ2 we obtain from Equation (3)
ka -
-A E 3
mll
ka*
ka2
- - - m2
m1
m212
[we obtain the same result fran Equation (4). 1 At the second mode, the mis means t h a t amplitude ratio A D becomes - m /m or A = (m2/ml)~. 2 1 masses mave i the opposite direction. This mode is depicted in Figure (b) n shown b e l o w .
3-7-13.
T h e ~ a t i o n s c E m t i m f o rthesystemare
mx =
*.
(x + f l s i n
O)kl
(x
-I2sin Ilk2
1 and the preceding two
+ 8 and cos +3
Notice that if flkl = [2k2t then the coupling terms become zero and equations become independent. However, in this problem
~I?Q
Therefore, mupling exists between Equation (11 and Equation (2). To f i n d the natural frequencies f o r the system, assume the following harmonic motion:
x =A s h u t r
B
= :
T3
sinWt
For amp1itudes A and 3 to be nonzero, the determinant of the coefficients of Equations 13) and ( 4 ) must be equal to zero, or
Notice that this last: equation determines the natural frequencies of the system. By substituting the given numerical values f o r l l , 1 2 , kl, k2, m, and J into Equation (6), we o l ~ t a i n
a4- 1 4 0 W 2 + 3920 = O
Solving this q u a t i o n for W *, w e get
Hence
The first natural frequency is Cdl = 6.2205 rad/s and t h e second natural frequency is u = 10.065 rad/s.
have
By substituting the given numerical values into this last equation, we obtain
For the first mode of vibration ( &J = 6.2205 rad/s) t h e amplitude ratio A h 1 becomes as follows:
Figure ( a )
For the second mode of vibration ( W = 10.065 rad/s) the ampl&ude 2 ratio A/B k c m e s as
Figure (b)
B-7-14. The system shown in ? i p e 7-50 is a p i a l case of the system shown in Figure 7-32 (Problem A-7-14). By defining
kl=k,
k2=2k,
k3=kr
ml=m,
m2=m
Also,
X)ef ine
get
aZZ t o in
Equation ( 2 ) , ]
which means that: in the first mode of vibration (with frequenq dl), the ma5ses mE in the S a m? d i mtion by the s:u n e m In the second mod .brat ion ( w i t 1I E r e qency w 2) r tht2 msse in opposite dir ; by the same amount. Figlures ( i3 ) and l u ) s r i m on next page d e p l c t the first m d of vibration and second mode of vibration, respectoe
ively.
Figure ( a )
B-7-15.
Substituting the given numerical mlues into these two equations and simplifying, we have
To find the natural frequencies of the free vibration, assume that the motion is harmonic, or
Then
. *
x=-A~*sinaIt,
y=-Bw2sindt
. I
a 2
+ II.A
- B) sin
Since these two equations must be satisfied a t all times and s i n u t cannot be zero a t all times, w e must hsve
Rearranging,
For constants A and B to 'b? nonzero, the determinant of the coefficient matrix must be equal t;o zero, or
which yields
t~ 2 -
7.2985)C d2
13.7016) = 0
Hence r
The frequency of the first mode is 2.7016 rad/s and t h e frequency of t h e second mode is 3.7016 rad/s. Frun Equations ( 3 ) and (4!, we obtain
By substituting
uI2 = 7.2985
i n t o A D , we obtain
in the same direction, while a t the second mode of vibration, two masses move i n opposite d i m tions.
Next, we s h a U obtain the vibrations x ( t ) and y(t) subjected to the given initial conditions. Laplace transforming Equations (1) and ( 2 ) ,
To obtain the responses x(t) and y ( t ) to the given initial conditions, as follows:
Possible MATLAB programs to p l o t x ( t ) and y ( t ) , respectively, are given next. The resulting plots x ( t 1 versus t and y ( t ) versus t are shown on next page.
% ***** MATLAB pro_mrnto obtain vibration x(t)
num = [0.05 0 0.5 0 01.
*****
d e n = [ l 0 21 0 1001;
t = 0:0.05:30; x = step(num,den,t);
plot(t,x) grid title('Vibration x(t) due to initial conditionds') xlabel('t sec') ylabd('x(t)')
,
I
B-7-16. All necessary derivations of quatians for the system are given in Problem A-7-16. The e q u a t i ~ n s for the system are
Case ( a ) :
G(o)
OI
y ( O ) = I,
~ C O = 0 )
By substituting
obtain
y(S)
numl = [0.2807 0 01; n u d = [I 0 0 ; 1 d e n = [ l 0 7.19221; step(num I ,den) hold Current plot held step(num2,den)
text(2,-0.5,'x(t)') trn(3,0.3>'flt)')
I
title(Responses x(t) and y ( t ] ~ to initial conditions (a)') due xlabel (It sec') ylabel (k(t) and y(t33
Case (b):
;(o)
= 0
k MATMI3 pragram for obtaining plots of x( t ) versus t and y(t) v;ersus t is 5 below. T e resulting p l o t s are shown in Figure (b) below. h
* * * **
Case
(c]:
~ { o = 0.5, r
WE
;f(o)
= O,
y(o) =
-as,
+(o) = o
s h u n below.
MATLAB program to obtain plots of x ( t ) versus t and y(t) versus t is The resulting plots are shown in fiqure (c]
*****
x = stq(mm 1,den,t);
text(l.1,-0.3,'y(t)3 title('Responses x(l) and y(t) due to initial conditions (c)? xlabel ('E sm') yfabel ('x(t) and y(t)')
CHAPTER 8
B-8-1. diagrms -h m Simplified b l w k The are s to the right,
transfer function ~ ( s ) / R ( sis )
B-8-2.
Define the i n p u t impedance and feedback impedance as Z and Z B-8-3, respxtively, as shown in the figure bel,>w. 1 2
Then
Since el
E ~ ( s ) = ZII(s) = R I(s)
3.
Hence
USO r
Therefore,
-108
B-8-5.
klow
Since in such a systm ~ a / o (a + b) 1 is designed to be very large -red [ to I, ~(s)/B1sI may be simplified to
see that the piston displa-nt y is proportional to d e f l e i o n angle 9 of the control lever. Also, from the system diagram w see t h a t fox each e m L l Mlue o y , t h e r e is a corresponding value of angle dm Therefore, for f each -12 angle e of the control lever, there is a mrresponding steady-state elevator angle 8.
We
B-8-6
moves upward. This movement acts as the input to the hydraulic tontroller. A positive error signal (upward motion of the sleeve) causes the power p i s t a to move dawnward, reduces the fuel mlve apeningc and decreases the engine Referring to Figure ( a ) shorn below, a block diagram for t h e system speed. can be dram as shown i n figure (b) on n e e page.
Figure ( a )
Figure Cb)
From Figure (b3 the transfer function Y(s)/E(s) is obtafned as
K 8
al
a2
I+-
R
s
al
aI t a2 bs
bs
+k
E-8-7.
the step response curve is an q n e n t i a l 50 the the constant T can k determined from such an exponential m ily. Erom Figure 8-99 the time c o n s t a n t T is 2 s . If this thermometer is placed in a bath, the temperature of f i c h is increasing at a rate of 10C/rnin = 1/6 "C/s, or
where a is a constant, then the steady-state error can be determined as follows? Noting that
we obtain
where
Therefere,
A typical response c u m , when this thermwneter is p l a d in a bath held at a constant temperature, is shown below.
B-8-B.
B-8-9. -
Since MP is specifimf as 0 0 , we h w .5 a
or
Rewriting,
we
obtain
So we
have
or
Iherefore,
-8-10.
c(s1 -
loo
s3 + 2s2 + 10s + 100
Rls)
T h i s system is unstable m u s e two m l e x-conjuqpte closgd-loop poles are in t h e right half plane. To vi: malize the urtstable r e s p n s e , WE may enter t h e folrmring MATLAB program ilIt0 the c m u.er The resulting D Pt . unstable response olrve is shown in Lh- I CLYU e: UIL next page. ~ r To make the system s t a b l e , i is necessary to reduce the gain o f the t system or add an appropriate -nsator.
am-.I=<-
--
stvInunldqt) ?id t i t l m i t - S t e p Response of Unstable System') AabelCt sec') yla bel('c(t )')
0:o.1 5 ;
t = ,
Since
7t:-B
W d
Wa
we have
$ is obtained
as
B-8-12.
is specified as 0 . 5 , we get
J G
=
1
K 2s + .L
2s
+3 -
-=
S
1 28+f,+mh
3t
S
Hentx,
O<Rh<l
wz gwk
Kh = 0.0198
---------
= lim
?he steady-state
theorem.
B-8-14.
For the systm to be stable, there should be no sign changes in the first column. This requires
30
- H>0,
K > o
8-8-15. Since the system is of higher order (5th order), it is easier to find the range of gain K f o r stability by first plotting the r m t laci and then finding critical p i n t s (for stability) on the soot loci. The open-loop transfer function G(s) can be written as
The MATLAB program given on next page w i l l generate a plot of the root loci for the system. The resulting root-locus plat is s h m also on n
page.
num= [O 0 Q I 2 43;
d e n = [ ! 11.4 39 43.6 24 0 ; 1 rIocus(num,den)
Waning: Divide by zero v = [-8 2 -5 51; axis(v); (wis('squareq) gtid
Based on this plot, it can. be s e m that the system is cbnditianally &able. Pill critical points for stability lie on the j# axis.
To deternine the crossing p i n t s of the r m t laci with the j axis, d substitute s = ju3 i n t o the characteristic equation w h i c h is
Then
~ ) ( j l d ) *I24 +
2R)jkJ
By equating the
we obtain
WE
obtain
The rmt-locus branch in the upper half plane t h a t goes to i n f i n i t y crosses t h e jul axis at MJ = 1.2130, icl = 2.1509, a n d w = 3.7553. The gain values
at these crossing p i n t s are obtainel a s follows:
K =
-1.2130~ + 39 x 1.2130~ - 2 %
2
= 15-61
for hJ = 1.2130
R = -2.1509~ + 39
2
2.1509~ - 24
= 67-51
K
Based
o1 r
-3 . ~ 5 5 3 ~39 x 3 - 7 5 ~ 3 ~ + - 24 2
, 163.56
follows:
13-8-16.
A MATLPlB program
following system
is given b l o w and the result5ng root-locus p l o t is shorn on next pageN o t e t h a t the equation for the asymptotes is
num=[O 0 0 0 I]; d e n = [ l 1.1 10.3 5 01; numa=[O 0 0 0 I]; dena = [I 2.1 0.4538 0.083 0.0057193; 19 r = rlocus(num,den);
rlocus(nurna,ctena);
v' [-5 5 -5 51; axis(v); axis('square7 titlerPlot ofRoot Loci and Asymptotes')
B-8-17.
The fallawing MATLW pragram will generate a r m t - l m s plot. resulting plot is shown on n e page.
The
10&12
3 .
2K)
j U (-7&J2
2 ~ =) 0
By equating the real part and imaginary part of this last equation to zero, respectively, we get
u 4-
L O ~ J ~Z K = 0 +
CI ) .
t ~ 4 lo&
7k12
=0
which yields
5 stability .
Since W = is the crossing frequency vith the j W ads, by substituting w = E i n t o Equation ( 3 ) w obtain the critical value of gain K for e
R-8-18.
- 126' -
120 =
- 6oe
L e t us chwse the zero of the l e a d compensator at s = -1. Then, to obtain phase Lead angle of 60 *, the pole of the cmpensator m u s t he locate3 at s = -4. Thus,
?"he following MATLAB program w i l l generate a root-locus plot. resulting plot is shown on next page.
C
The
Real A*if
5and s = -2.
B-8-19. T e MATUlB program a i m below generates a root-locus p l o t h for the given system. The :ing plot is shorn on next page.
, rlocus(t~urn,den)
v = [-6 4 -5 51; axislv); axis("square") grid tit le('Root-Locus Plot (Problem B-8-T9)y
Note t h a t constant-7 points (0< 5<1) 1 straight line having angle 8 frm the jW axis as shown in the figure k l a w , From the figure we obtain .-
sin
Note also that
= 06 .
8 =
Qn
+ ja
where a is a variable (0 < a (oo ) To find the value of K such that the damping xatio J of the dominant closed-lcxn, mles is 0 6 .can b found . by finding the intersection of the line s = -0.7Sa + j a and root locus, The intersection point can b determined by solving the following sime taneaus equations far a.
~y equating t h e real
Hence
From Equation ( 3 ) we f i n d
K = -1.8281a3 + 2. 1875a2
4
3a = 2.0535
for a = 0.5623
for a = 10.3468
.
-
S i n the K value is positive far a = 0.5623 and negative .for a = 10.3468, ~ we choose a = 0.5623. The requixd gain R is 2,0535. Since the characteristic equation with K = 2.0535 is
T e unit-step response of the systm with K = 2.0535 can be obtained h by entering the following MRTLAE program into the caputer. The resulting unit-step response curve i s h m an next page. s
-
m m = [O 0 0 2.0535]; den= [ I 5 4 2.05351; step(num,den) &rid ticEe(Vnit-Step Response (Problem B-8-19]? xlabelrt Sect) , ylabeE(Uu0utput9
B-8-20.
~ ( s c as + bs + ab) 2
s3 + s
~ ( s 2 as +
bs
+ abl
Since the dominant closed-1pales are located at s = -1 f jl, t h e characteristic equation must he divisib1.e by
Hence
where s = - W is the unknown t h i r d pole. Ey dividing the left side 05 this last equation by s2 + 2s + 2, we obtain
53 + K S + (1 + aK + bR)s ~
4
abK = ( s 2
2s + 2 ) l s + K
2)
2)
+ (aK + bK
2R + 3)s + Kab
Z(K
Hence we set
Kab
2(K
- 23
= 0
I l ) r
we get
2b=1.5X2 - 3 - 0
Thus, t h e controller beccxnes a P'D controller. The open-loop transfer function bxanes
follows:
The root-lacus plat for the designed system can be obtained by enterring the following MATLAB program :.nto the computer.
[-2 1 -1.5
129
CHAPTER 9
8-9-3. -
is shown in Figure (a )
A Bode diagram
F i g u r e (b)
59-5,
Lead ne.t:wor-k
Lag network
B-9-6,
the q s k m is
'Ihe
A_ transfo m
Hence
Notice that t h i s system is a differentfating system. For the unit-step input X ( s ) = l/s, the output 8 ( s ) becomes
e(t)
1 -,-(k/bSt R
Note that if the mlue of l r b is large, the response B( t ) approaches a Fhlle signal as s h m in Figure ( a 3 b l o w Since
'W
we o m i n
" 'I
= 90O
Figure ( a )
/G(jd)
- tan-' Wb
k
is therefore given by
d X
eSS It]= -
tan
-1 W b )
A Bode diagram
of G ( j t d ) is shown below.
Bode Dlaqmn (Problem0 9 ) .6
B-9-7.
Noting that
we have
B-9-8. A possible MATLAB progmn for obtaining a Bode diagram of the given GCS 1 is s h m on next page. T e resul t i n g Bode diagram is ahown h also art next page.
num=[O
den=[l
0 0 320 6401; 9 72 64 0 ; 1
w = logspace(-2,3,IOO);
3-9-9, A possible MBTLF_B program to obtain a Bode diagram of the given The r e s u l t i n g Bode diagram is shown on next page. ~ ( sis sham below. )
num=[O 20 20 lo]; den=[l 11 10 03; w = lo_espace(-2,3,100]; bode(num,den,w) subplat{2,1,1); tit le(Sode Diagram (Problem 3-9-9)')
A pssible WfTI.AB program for obtaining a Nyquist plot of the g i w n ~ ( s is shown bzlow. ) Note Chat to plat G ( j W ) locus only fox e w 0, w use the following command:
'3-9-10.
num = [O
Y = 1-3
23; ~ s ( v ) axis('squate? ;
Since none of the open-loop poles lie in the right-half s plane and the G I j cc) 1 locus encircles the -1 + jO p i n t twice clockwise if G( j ul ) locus i plokted from W = s to d = , the closed-loop system is unstable.
I -
B-9-11. A possible MATLAB program f o r obtaining a Nyquist plot o f the given ~ ( s is sham below- The resulting N y q u i s t plot is shown on next ) Since none of t h e open-loop p l e s l i e in the right-haif s plane page. and frm the Nyquist plot it can be seen that the G { j W ) lorus daes n o t encircle the -1 + jO point, the system is stable.
plot(re,im)
v=[-1.5
1.5
-2.5
0.5]:a~tis(v);axis~square')
A possible EaTLRB prqram for obtaining a Nyquist plot of the B-9-12. me resulting N y q u i s t plot is shown un next given GIs) is s h m below. page
mint
num = [O 1 2 I]; den = [1 0.2 f 1 J; w = 0:0.005: 10; [re,im,w] = nyquist(nuqden,v~); plot(re,im) v = [-3 3 -3 31; aXis(v 1; isfsquare') grid title("Nycluist P o (ProbIem B-9- 12)') It xlabel('Real A x i s ' ) ylabel(7rnag Axis')
Fran the plot, it is seen that the G ( j W ) lozus encircles t h e -1 + jO t w i c e a 8 a 1 f s =rid f r u n W = - w to W = 0 to W = & . Referring to t h e Nyquist stability criterion (see page 497). we hare
N = n m k r of doclnrise encirclmmt of the -1 + jO p i n t = -2
0 . 2 ~ 2+ s + 1
Then
Z =
Thus, there are no closd-loop p l e s in t h e right-half s plane and the closed-loop systan is stable.
B-9-13. function
A closed-loop
K
E(S)H(S) =
s2(~is* 1)
( T >O) ~
113
is tmskable, w h i l e a closed-loop system with the follbwing open-laap transfer function is stable.
Ndte that Nyquist plots of t k s e two systems are shgvnm next page. G ( j w 1 H l j L . d ) laci s t a r t fram negative infinity on the real axis (&r = 0) and approach the origin I w = clo ) The system with the o p n - l o o p transfer function given by Equation (1) encircles the -1 + jO point twice clockwise. The system is unstable. The system with open-loop transfer funckion given by equation ( 2 ) does not encircle the -1 + jO point* Hence, this system is s t a b l e ,
!rT--e
11
(Stable)
B-9-14.
For t h i s system
~y setting K
Note that
The ~ ~ q i i locus crosses t h e negative real axis at CT = -0.442. st for stability, w e require
Hence
Since
=rue o f u r we obtain
~(j2-029) =
K 1 + 2.029~
( m s 2.029
- 2.029
sin 2.029)
The critical value of K for stability ran k obtained by letting G(jZ.029) = -I, or 0.4421 K = L
Thus, t h e range of gain K for stability is
The q u a d n t t e term kn the denominator has the undamped natural frqumcy of 2 raa/s and t h e damping ratio of 0.25. Define the frequency corresponding to the angle OF -130 to be
Solving this last equation for dl, f i n d W 1 = 1.491. we n u s , the phase a n g l e becomes equal to -130* at C J = 1.491 rad/s. A t t h i s frequency, themagnitudemust b e u n i t y , or IG(jdl)I = 1. T e required h gain K can ke determined from
+ 0.25
:c
j2 + 1 = -09'
9 0 .
-180~
B-9-16.
Note that
K
We
j Cc' + 0 1 . j ~ + o . 5
TO
ZK(10j 4 + f 3 jW(~jJ+llJjLJ+l)
diagram o f
~ o j+ I d
'(jd'
=
jw
( 2 j LO c l ) ( j d + 1)
The diagram is shown below. me phase crurve shows that the phase angle is -130' at w = 1 ~ d / s . Since w require the phase margin to be e 50, the magnitud j1.438 must be q a l to 1 or 0 dB- Since the Bode diagram irrdic .hat (G( j1.43811 is 5.48 dS, w e need to choose 2K = -5,48 dB, or
Since the phase r u m s lies above the -18~' line for all Ld margin is + ~ dB. s
, the gain
%?.+I
G() ,s
= k O (
d ~ s + 1
=R ,
I s + -T
S
f
Since , K
1 eT
IC, = l i m sK,d
s+o,
Ts + 1
U T s + 1
n
K = K,dK s(O.ls+l)(s+I)
=4
Then
N e x t , p l o t a Elode diagram of
num = I0 0
0 41:
1
01;
From this plot, the phase and gain mrgins are 1 * and 8 , 7 dB, respectively. 7 Since the specifications call for a phase margin of 45 ' let us choose ,
(Tkis means that 1' has been added to canpensate for the shift in the gain 2 crossover frequency.) The maximum phase lead is 40'. Since
sin
&=
f
1 -u' 1
- N F
(& = 40 O)
i s d e l ; e n ~ i r ~ cas 0 . 2 1 7 4 d
0.21, or
Next s k p is to dctcrmi r c t l ~ e k mrncr rrcquencies @ = TJT and d = l/(d T) N o t c ? tlraI; t h e miximutn phase-lead angle &, or t i f pad mrp?tisalor. le occurs at ttie q e m t r i c man or thc t w o carnor frequencies, or W = ~ / ( G T ) . 'I'l~e arwunt or tile n l o r l l i i c a L i o r ~ i n tile rnagrlitude curve at tu'= l / ( & T ) due to t h e inclusion or the term (Ts + l}/(d + 1) is Ts
we need to find the frequency p i n t where, when the lead cmpnsator is The magnitude I ~ w ) jI is ( a d d d , the total magnitude kmnes 0 dB. we select this frequency to -6.7778 dB corresponds to &J = 2.81 rad/s. be the new gain crosswer frquency Q Then we obtain
, .
Hence
and
Thus
4.1064 41;
titIe('Ur Jt-Step Response of Compensated System (Problem B-9- 17)') KEabel('1 wc'] ylabeI('0utput c(t)')
I
c = step(num,den,t);
B-9-18. form
Define
where K = Kc&.
50 s-l, w have e
The following MATUB program produces the Bade diagram shom on next page.
C
From this plot, the phase margin is found to & 7 . ~ ~ The gain margin . is + dB. Since the specifications call for a phase maruin of 50 O r the additional phase lead a n g l e nr 3tisfy se m r glin requirement is 42 .ZO. We may a : s num pha:se leadI r q i'ed ~ to h 48'. This means t h a t 5.8 ' te for t h e :d to a shift in the gain crosswer frequency. Since
Llt13
sin
&, =
l-ol 1 +oC
= 0143. .175 F$, = 48 mrreqmnds to Note that ol = 0.15 -corresponds to&=47.65Jb.) Whetherwe c h m s e 8 , = 4 8 " o r & , = 4 7 . 6 5 7 " d c e s n o t make much difference in t h e final solution. H e n c e , w e choose o = 0.15. ( step is to determine the corner frequencies W = 1SS and T) of the lead compensator. Note that the m a x d phase lead angle &, m s at the geometric mean of the two comer frequencies, or W = 1 The m u n t o f the modification in themagnitude curve at # .= l / ( L ~ T )due to the inclusion of the tern (Ts. + l ) J ( d T s+ 2 ) is
The nc&
ti, = l/(o(
Note t h a t
t h e magnitude of G ~ ( ~ L L ' is q u a 1 to -8.239 dB S s kt& = 10 and 100 r a d / s . From t h e Rode diagram w find t h e frequency p i n t w h e r e e N o t i n g t h a t this freI G l ( j ~ ) I = -8.239 dB m s a t k 3 = 1 . 4 rad/s. 1. quency corresponds to 1 / ( K T ) , or
we obtain
cc(s) = yC
"
T
1
= Kc
s
s
-F
4.4152
S f -
+ 29.4347
where Kc is determined as
The folLowhg MATTAB program produces the W e diagram of the l e a d ccanpensator just designed. It is s h m on next p g e .
num = [ I I .325 501; den = 1 11; w = lo, 1,3,100); bode(num,aen,w); subplot(2,2,I); titIeC'Bode Diagram of G4s) = SO(O.2265~ 1)/(0.03397s + 1)3 +
Tbe open-loop transfer function of the designed system is
150
The following MATTAR program produces the Bade diagram of G ( ) ( ,SGS which is shown on next page.
From this Bode diagram, it is clearly seen that the phase margin is approximately 5 2 " , the gain margin is + w dB, and ? = 50 s-1; a13 specifications ? , a m met. ~ ~ I I tS e designed s v s t m is satisfactory. h,
~d unit-responses of the Next, we shall obtain thle unitoriginal uncompensated systm and th rnsated system, The original uncompensatd system has the following closed-loop transfer function:
The MATLkB proqsam given belw produces t h e wit-step responses of the uncompensated and campensated systems. The resulting r e s p n s e cumes are shown on next page.
-
nurn=[O 0 I]; den= 11 1 I]; nvmc=[O 0 1000 4415.21; denc = 13 97.3041 1088.3041 4415.21;
t = 0:0.01:8;
xlabel('t Sec')
ylabel.IDutputs') text( 1, I .25,'Compensated system') tm(2,0.5,'Uncompensatd system?
The MITLAB prqram given &low produces the unit-ramp response of the uncanpensated system and mmpnsated system. The response c m s are
I]; dm=[l 1 1 01; nurnc=[O 0 0 1000 4415.25; denc = [3 91.3041 1088.jD41 4415.2 01; t = 0:0.01:8; cl = step(num,degt); c2 = step(nurnc,denc,t); plat(t,c17t,c2,t,t) titlHVnit-Ramp Responses of Uncompensated and Compensated Systems') xlabel("tSec') ylabel(lJnit-Ramp Input and System Outputs')
nurn=[O
0 0
Notice frm the unit-ramp respanse cu f o l l m the input ramp very closely. error in fellowing t h e i n p u t can be s zero for 0 . 5 X t . (The steady s t a t e
0.C2. )
urvr
?at the rompensated systm ;he compensaW system the : 0 < t < 0.5, but it is almost in themit-rampresponse is
CHAPTER 1 0
R-10-1.
This is a s-nd-rder
system.
Therefore,
WF
Then we obtain
The output
Thus,
Y =
X I
B-16-2.
Then we obtain
B-10-2.
(U
- Z) = bl(k
bl(i
- j)
= k2y
By taking laplace transforms of these t w o equal:ions, assuming the zero i n i t i a l conditions, w e obtain
Yo-
kAS
k2
Define
where
Hence
Then
Rewriting ,
1 x 2 = - -aT
a - i
X2
aT
T i is the state q u a t i o n . hs
Hence
B-10-4.
Note t h a t
Hence
which is w i n l e n t to
T h i s equation can be w r i t t e n as
where
13efine
men, m a t i o n (13
Method 1:
w find e
we obtain
Method 2 :
where
Then we have
...+ 18; z
+ 192; + 6402 = u
Ikfi n e
Then
B-10-6.
~ubstitutionof ql = xlt
H e n c e we have
B-10-7.
Notice that
~l(s).~ ( s ) ,and x
x3(s) we obtain
Also,
By taking the
and
B-10-8.
Nuti-
=XI
- 3(x1 - U )
a
+ 3(x1
.. - i - U ) +
y-3i;+3jr-y=u-2G+u
I.
B-10-9.
The eigenvector
[I:]
-
For
Xi
A*
An example
B-10-lo.
Wf ine
equation for x.
= arbitrary constant
X* = 0
x3 = arbitrary ~ n s t a n t
Hence,
Notice that
Note that
N a , define
The eigemeckors for this matrix can be determined by solving the following
equation for
2.
which can be s m i t t e n as
3 = arbitrary constant
x3 = arbitrary m n s t a n t
Hence,
N o t i e that
given on next page. Based on the MATLA13 cbutput we get the EoPloKing state spa- equations:
A=
-5.0325 -25.1026 -5.0080 1.OOOO 0 0 0 1.0000 0
B=
I
0 0
C=
0 25.0400
5.0080
D=
0
B-10-12.
where
Noking that
B-10-15.
l(t). we obtain
x(t~ =
If e ~ , ' ~
Yb
B dT
Note that
where
Thus
R.
At:
& -l[(s1 - A ) - ~ ]
Y
b .
Hence
- I B d T =a T .
m b .
Alternate solution Referring t Example 10-9, we have for the unit-step o i n p u t the following solution:
x(tl = m jI-'(ett
- IJB
.*I-
where
and
and x ( t ) is given by
3-10-16.
Note that
Hence
B-10-17.
By substituting the given numerical values for al, b, and k i n t o this last equation, we obtain
where u is the input and y is the output. By t a k i n g the Laplace transform of Equation (11, assuming the ~m i n i t i a l conditions, we have
The following M A W program w i l l generate the desired r e p = . resulting respbnse curve is s h m belaw.
I
The
Erid
This is because the Note that t h e respnse reaches zero as t increases. transfer function Y(s)/U(s) given by Equation ( 2 ) involves s in the nume-
sator.
Onit-step response: The following MATLAB prqram y i e l d s the u n i t d t e p response of the given system. The resulting unit-step respnse curve is shown kllou.
r
A = [-5.03247 1
-25.1026
-5.008
E
25.04
0 01;
B = [l;b;O];
C=[O
5.0081;
D = [O]; IY*%tl=~W3CAB,C,D);
pIot(t,y)
srid
Unit-ramp response: Referring to pages 596 - 599, w can obtain the e unit-ramp response of the system by entering a MATLAB p q a m similar to M A W Program 10-7 into the computer. Note that
The follow-
ing M A W pregsam produces the unit-ramp response. ponse curve is shown on next page.
A = [-5.03247 1
0 B = [1;0;0]1; C = 1 25.04 0
-25.1626
-5.008
0
1
5.0081;
0
01;
BB = [B;O];
cc = [C
03;
DD = [O]; t = 0:0.01:5;
t4qtI = step(AtiBB,CCDD, Lt); x4= [O 0 0 I]*x'; pl~t(t,x4,5t)
grid
t i t l e ( V n i t - h p Response (Problem 33- 10-18)') xlabelrt Set')
CHAPTER 11
8-11-1.
we obtain
Since
sin(tclRT + 0 ) = sinlrlm m s 0
+ cosd
sin 8
~ [ x ( r c r ) = cm e l
[ s i n ~ + sin ~ l
o 7 ~Q)SYJ~I ,
+ sin 8
1 - z -1 mslFT -1 22 msWT + z - ~
( m s O ) Z - ' I S ~ ~ W T ) + (sin 0 ) (1
1
22-= cosLdT
*z
-2
- z'l
msdT)
sin
1
2-I s i n ( W T
- 8)
2f1 msWT +
2-2
By defining m = k
- h, we obtain
1 &zinged to
Since x (KT
- hT)
00
can be
k = h
X
k = O
nus
ad
d
!Zince X(z) = X l ( z ) X 2 ( z ) t
xespect
to z, ~e obtain
Thus ve have
Xo=
z
(1
- e'aT
3~ --
(z-1)Iz-e
-aT
s - 1
-aT z - e -aT
e
Hence
Q-
-aT -aw e
B-11-7.
X(Z)
can be rewritten as
Then
Hence
B-11-8.
Since
x(z> =
(z
we have
II -
-T e ]z1)(2 eWT}
X(z) =
z
-T 1-e I
I
2-1
I
z - e-T
Thus
B-11-9.
H e n c e we have
%king the inverse z transform of each tern of this last equatizm, we obtain
.3*.k-1
Since a = , l ' e
we ktave
-k-2
~ ( k= )
k(k
* 1)
k = 0 , I f 2,
...
B-11-10.
Hence
The L ne
B-11-11 ,
If a # 0, then
xll)
= x(0)
+ +
1 = 1
a = 1 + a
x(2) = x(1)
x/31 = x(2) t a2 = 1
a2
x(k) = l + a + a ' + - . -
, - = 1 - ak k1 l - a
l a f 1, a # 0 ) ( a = 1)
=k
If a = 0, then
~ ( k= 0 )
k = 0 , I,
Zr
...
(a = 0 )
The p u l s e t r a n s f e r function f o r t h e
systemcanberemittenas
quation:
- h#(k)
h = b = O
0 0
h
= b
- alhO = 1
Also, define
h2 = b2
Then the state variables;
5 I k ) = y(k)
r(k)
Z X
- alhl - aZhO= 2
-I=I
1 .
(k
+ l) - u(L)
Referring to Section 11-6, the s t a t e equation for the system can k given by
t h e system.
~1-u-14.
(me input Variable is u and the output ~ r i a b l e y . ) Then w have t k is e following continuous-time s t a t e equation and a u t p u t equation:
x = - a x + u
T e discretized s t a t e epuation is o b b i n d as h
where
Hence the discrete-time state space representation for the system is given by
The pulse t r a n s f e r function for the discretized system is obtained from Equation ( 1 1 - 5 8 ) as follows:
8-11-15.
is given by
where
GCT)
C
Hence
Since
we have
where T = 0-1 s,
Theoutput q a t i o n is
Referring to Equation (11-581, the pulse t.raflsfer function for t h i s discretized system is given by
The discretized
s-te
equation is
GITP
L .
and
LI*
HIT)
m be obtained as fellows:
Since
we have
Hence
Thus, the discretized state space representation o f the system becames as follaws :
where T = 0.2 s.
8-11-18 The given s y s t m has no input function, but is subjected to initial conditions. It is similar to free vibrations o a mechanical f system consisting of a mass, danrper, and spring.
Cbnsider first. the following system:
a state
where
~ ( k = m(k) + )
m(k)
Notice that the cneffirients bg, bl, and b2 affect o n l y matrices C and
D.
Next, consider the case where the system has no input (u = 0 . ) For such a case, MATLAX? prduces a p u l s e transfer f u n c k i a n o f the fcllawing
form :
The following FlA?ZAB program w i l l yield a discrete-time state-space rep1resentation w lLen the sampling period T is 0.1 s. This p r q m w i l l alsc3 y i e l d t h e pc~Lsetransfer fmction,
G=
0.7753 -0.8913 0.08g1 0.9536
M=
0.089 1 0.0046
[n-denzlnum=
0 0 0
sQtf(G,YC,D)
denz =
1.0000 -1.7288
0.8 I87
If the original system had an input function U, the numerator becomes nonzero. The difference q u a t i o n carresponding to Equation (1) is
y + 2; + 10y = 0,
y(0) = I,
;(o)
Figure ( a )
F Sec
num=[l 2 01; den=[1 2 101; stepCnuqden) grid title(Tontinuous-Time System with y(O) = 1 and ydot(6) 0 (Froblem B-I 1-18)') xlabel('t Sec') ylabel('0utput y(t) of Original Continuous-Time System')
The response curve (free vibration curve) of the discretized version of the system given by Equation ( 2 ) is shown in F i g w e { b ) .
curve is given b l m .
= [I -0.7752 01; den1 = [l -1-7288 O.Sl87J; u = [ l zeros(I,50$]; k = 050; y = filter(mm1 ,den1,u); plotCky,"*,siy,'-l) uid title@iscretised System with y0 = 1 and y(35- 10.9536 (Prob B-11-18)') () xlabel('k') yEabel('Output y(k) when SampIing Period is 0.1 srx')
rmml
r-
The pulse transfer function f o r this system m y be obtained by use t h e MATUB prqram s h m on n & page.
of
num = [O 0 21; dm= [i 3 23; [rlB,c,DI = tf2ss(num,den); [G,W = c2d(&B,O I); [numz,demj = ssZtfIG,H,C,D)
nllm =
0
den%=
0.0091 0.0082
i s
n m
G(2) =
denz
0.00912-1 + 0 0 8 ~ 2 ,02'
1 - 1.72362-1
+ 0.74082-2
This result is identical w i t h the pulse transfer function obtained in PKQ~~BII A-11-12.
Hence
Of
The Fibonacci series can be generatd as the response of X ( z ) to the Kronecker delta input, where X ( z ) is given by Equation (1)and t h e ICronecker d e l t a input u ( k ) is defined by
x = fiIter(num,den,u)
Columns 1 through 6
Columns 7 through 12
Columns 13 t h u g h 18
Columns I 9 through 24
2584 4181 6765
10946
17711
28657
Colums 25 through 30
46368
75025
121393
19H18
317811
514229
Note
30.
The following MATLMl program will generate a plot of t h e mit-step response up to k = 50. The resulting unit-step response is s h m b l o w .
0 0 0.3205 -0.18&5]; den=[1 -1.3679 0.3679 0.3205 -0.18851; u = ones(l,51); k = 0:50; y = filter(nwqden,u);
num = [O
.@a
I
xtabel('k')
ylabel('y(k)')
T e following MATLAB program will generate a plot of the unit-h response of the system up to k = 16. (The sampling period is I s . ) The resulting plot is shown on next page.
mrm = [O 0.5 15 1 -0.1452 -0.2963 0,05283; den = [ 1 - 1.8528 1.5906 -0.6642 0.05281; k = 0:16; x=[k]; y = filter(nurqden,x);
B-11-23. below.
A MATLAB prQgram to discretize the given equation is presented (The sampling period T is 0.05 s. )
~ l i MAT& s
From the MATLRB output, the discrete-time state equation is given &bow.
1.0259
1.0389 -0.0006
q ( k
+
0.0504
0 0
1100 .00
0 0560
k .0259
6.0000
-0.0006
13
6.0247
1.0000
0.0250
T e END h