ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

PROBLEM#1: (30 marks)

In the system shown below
I

Uo

is the displacement of the dashpot and the input to the

system. The displacement x of the mass is the output to the system.

rue
0

1. Draw the Free Body Diagram (FBD) of the system. 2. Derive a mathematical model (differential equation) for the system. 3. Write the transfer function (tf) of the system. 4. Represent the above tf in a block diagram and show the input and the output.

5. For m = 1.0 kg I b = 2.0 N-s/m I and k = 5.0 N/m I write the explicit expression of
the response x(t) as a function of time for each of the following cases:

Uo(t)

Uo

(t)

t
2 2

(a)
6.

(b)

Use the Final Value Theorem (FVT) to find the steady state value Xss = lim x (t) . 1 >00

10; F13])

QAu.s.b.o.

(.J.J11

2'lltpply
m

d(.uJI:Q.l1~. 2 ~'! /4UJ

a ~mS~iL1...
..
L

~..

kJzI1Sl4h~Q!:'L~m
I ..

I(XL .

,.(>1

-u)
0

- K'X_I~X{. - U 0) =m)l
,>
1.'

v .. X =

mX+ClXm+8..

6. "Q
2/13

- - - - - - _u- - - - (I)

48

ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

3D/

Lt:LLCL (L ~)bfmbQ

1:0... Sl~

~mmm~

~ ll)

(Eot::z~rQ

(.bL~...bs + fL.). X(5J:...bS.. XeS)

~ (5) ) I .4

-,
n1S

J..IfI

"""""

-1
.
. '..

bs

-~

A1 $ ~.,.. h;$ .,. /(.

suhshi~.,..m...,m...:::

:Jl.l=2..La ti#~)rnJ. 1!=5~(JlV/m

S

xes)
Yo

(5)

--2$ r !r
2$

..__.m..

. fJ..t1

UfJ(S):~
'"",.In.. i:~,

..a.o ..i..bLpuLl~
.,U::v;;L..mW~.~

~n..Jt.J t ,. m~~w.l
Mo(6)= ..'~C 6') ~

{~(t)}=

Uf1j(S}

= i... ...7h~cf:Uf:L.

X{.s.)::: Cfo(.s)

$L+ 25-1' S-;;~

!.L-

:::_.!
S

25+ I
C~+I) 2-

5~

x(5)=-

(S+I),._~

(S'H)~+2.l.

(S+I}7L+ ,2.

-.c

,
(/0 (S)M:> ~ ,.(Lo(~J= .1,it)

Si;~
...~.
. "'"

:Lf.1 2.5
. ""'.."'.....

A..

.$ X Ct):

2. t,S(

22....

;1-' (
?<

LX (l)I=.e..

f//

':

---t;-.
1,0~

.$111 ~

~ 4

(t,) -= ~/13 for

~~

t;~(jQ

ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

.~~~()B~~\..~.~~.(~9

.rr\arks) .

Consider the following mechanical system consisting of a rigid bar with mass M, a damper with a damper coefficient of b, and two springs with spring coefficients k] and k2. We assume that the bar rotates around point P due to the applied force F. We also assume small angle of rotation. That is, () is small, as shown in the figure. 1. Obtain the equation of motion of the system.

2. Find the transfer function of the system where the input is F(t) and the output is B(t) . 3. For M = .1 kg, I] =0.2 m, 12=0.4 m, k] = 10 N/m, k2 = 40 N/m, b = 5 N s/m.
Compute the natural frequency of the system. 4. If we assume that the bar is massless (M = 0), write the equation of motion for this case.

k,
/2
lvI

J
b.~..

.--2

I]

;J

\0

1x

t==t=
-I .

- ..~c. -

I .l..'---=~h~J~:=-Y~/7I r ~ ~L.{_<!
I
..~
c'

- -~
18
I

!, ., .~l,..:::",::: .
i'p"

----c--.
..

~.

~..,g~.

., . "'mw...w_w..".~2.'mm.

~
I -J:~-~

';.L 1.)

b 1c:h

Q'

~~....~'i~/Sf'~~~~~'..,.,..,~..,
/
&'R.'

~ d-::--

~{~;i-:.
0

-,

i 1,2;. ~ 5/13

-- - ~~ll

=.21.,
2.

-= .'iJ:;.i_'~-;; ~ -" . . ,--,-

:R~ - ~I -2[ l e" -~-~,

::

ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

(f)I'.rl=~
.1.,
...

6
..

- K{I.t:J,)R ,
,!J

21

K(J 6) ~12 2
",+""","I.

12 ~l.rJl1 2.

/ttIQ
.:J

}.

Jl,,' 1.- ':..

2..

.Ili
f
.....

~ r

02. / n2 & +b...L8,...,+\K J(

h

12

21

) ,,(;J=F~I r.J _MDt --- -" -- ""l,"

t Z- t '... )
2.

(!) TE

:
. .

EJ(S)

E!S )

- ~ S 2.,. bl.~a.s
CO

..,.(K,J:""fl:

Noh'u

-IAa.lweljno,.,e

deL ,.il"lJihc

uhh
.

.1h(!e.f~Gt..
'0 n
... . .....

of

Df~rtt.".1y

1'~1.~a"4,1U'"'pl!~

"'1.

~M...f!2;Jl,

"

::

J. ~ .'~(O.2 Il
.

.,. Q,~) ~+ 1 if

~ ( 0 .,.,o. ' ) 2
- 12 ...

=
'

(),3'

/2

,.. ,.~,O".~

Jf

...

fJ.J,+_D./'2.

12

9,VI_O.OI./

'

t.I.J 1)::

.. ..

,.1

. . . . ..

y-- Kit
'"

...

+ 3: pt~.'
f(.

f
..~

'.".

,/5

o'oc/ ,()*:q~VO ~o 22~

@~"..

M :. 0

~=o;;

rb-L~=~3.t2~+-f_~.a6~~

Ei~1

6/13

ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

PROBLEM #~:. (30 marks)

For the system shown, the pulley is solid and free to rotate about its center. The rope around the pulley is inextensible and rolls without slipping. The
mass of the bob mb is attached to the solid link

;r..

n1d,1

that is rigidly attached to the pulley. Assuming that link L has negligible mass and () is small, determine; 1. Equation of motion of Newton's second law. the system using

2. Equation of motion using the Energy method. 3. Compare the results and comment on them. 4. Find the natural frequency of the system OJn as a function of the system parameters.
~

mb

1/ EBD .~...S!Jot.un _Ih,

K!)(

2+ ullppl.yNt.IN
.lfLUJr'
.~
h

ti,n 'S2 ~~.

u..w1 /.lAC m

..u=m'X
"

or

m9-Z
l'
.:

OJ 'X

m9

mX

..

T
- ..(IJ.
.~.

Yttu)

~tiuL

IJpplr.

I~.hl'J~,rm...2"!~.~
~ ~

I am.fo ,. ihL (clL:Ic + /.)')

...bIr
m

~
-h (L. + fl..).sin 6
..

t.{'\ .2'.T.':uuJ;8
TRu_uK

:x. ~._m9 b

(L.,.I?)SinlJ

= I0

if;

..

! (~~~

~~

.8/13

ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

13UI
No

.IO=Jj"sk
slifJfirJ,Co??dA'h.on

+m

{ol.

:m

J- .,.
~&m
. .ml

..~

.9
f:J CI!l4S::!

..'X=...R.(!J

Fe,. ..small.

an,.9/fA .sin

Tkr ~r rL .,
.
,

S ubsb'h.d.t.. Y!~.~

~. [r ~~~3)
EfI.(2.Jca nhc
~

w:tL He.n
..

..

t..t-o...

..

m.

7~om

(j). A..iL.fom@a

n cXmm =Ri:i

(~;;~]i:"'~4~;(~~~
,.
",..

~lq)
:

I ..

:3 01

([.It..
Lm+..

of rh(.En~JAlt...Tb ad
V
=
=

consJ.

lAJhue.

T
I

r m~
~:r(

~
..
fJ

+~:tR

..+

ro'

,- -

_.",WJ..'t.. 2

(LtIt)

=i~
':-

1 ':# ,

...

,. J:l!l 2.'
~
.

~
+
II

v=

5pl'll1".. m~o,m'lw~

I~

~~~
'io

:: (L

+ It ) (1- '-tJc fJ)

9/13

ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

Vm ~ r"'mV

=m_mg-x .(dfJ~l't(An.rJ)
::Co ?tAt

T+ V :mm.! m
2.

~ 1 +. 2. J.m~.

.S

~+

J..mm

f1I1

{
111

8m +

..! .K'X2.+ (L+12) (1- Ub 9) m

2.

- m9
suJoso:IuJL'X:

= Go"Jt"o.J .
.

R f:J
0

Ctn d.

frLllA. -tAL ..eUl,..it.rA/i.'

td-m

oIt

sLm{7+

V) =

-;'..2~f ~~~~m~
+(L+ ~ lS,tim"1 !3mmDI!J R!.=.O

l~~~~L_(f)
- -E~".:-(i:jJ

ma:niil-tS;-an
..m.mmm

fk.J'a;7f'I
..

; = ~.

Xf~...c.;.

m...mmCoMt.rf.J7A.ia'~

Th<lJ4!v..

raJ.

-ftt.~'n

.cy..

~ fu.miy.tkm......
f- R)
~mm

iJ.t

.[kAt+m,~(L

...

.Lmm..~~ ~+ me

] ~~f.A1i'

7h.t.m lcp.

h t2 n tJl ...sid.t

t:o ~.

iD ..i.J..L

~
fr~~1iA ~
,
K~.l+P10,.(.L"frIt)

""m~ .,.

/I!!~ ~

10/13

ME 413: System Dynamics & Control

First Major Exam

First Semester 2004-2005 (041)

PROBLEM#4: (10 mar

1. The equivalent spring constant of two parallel springs with stiffnesses is

~ and

kz

/(a)

~+kz

(b)

1
-+-

(c)

1 1 -+-

kz

kz

2. The natural frequencyof a system with mass m and stiffness k is given by: -k

4
(b)

(c)

H
f=bx

3. The force associated with a damper element is given by: (a)

f=bx

f =bv

/e

4. A spring element with a spring constant k stores:

(a)

Kinetic energy

~.

potential energy

(c)

dissipative energy

5. The period of oscillations T is related relation: (a)

T=277:0)

to the frequency

of oscillations

(1) by the

./.

T=277:/0)

(c)

T = 0)/277:

.,

6. A second order system is: a) a system that has two degrees-of-freedom. b) a system represented by two algebraic equations.

c~

a system represented by a second-order differential

equation.

d) a system that responds always with oscillatory motion.

11113

ME 413: System Dynamics & Control

First Major Exam

First

Semester 2004-2005 (041)

7. Laplace Transform converts a given differential

equation in time domain into

-'.

(a)

(c)

a differential equation in s-domain. an algebraic equation in s-domain. a partial differential equation in t-domain.

8. Find the Laplace transform of 2-31+2 sin(7t). a) 2-6/ $3+14/(.1+49). 2/ s-6/ $3+14/(.1+49). 2/ s-6/ $3+14s/(.I+49). 2/ s-3/ .1+14/(.1+49).

;18
c) d)

9. Find the Laplace transform of 8 e-4t+7 t.(t-3), where t.(t) denotes the unit step function. a)
8/(s-4)+7 e3s/s.

V.
d) 10.

b)

8/(s+4)+ 7 e3s/ s. 8/(s+4)+7 e-3s/ s. 8/(s-4)+7 e-3s/ s.

The transfer

function is defined as:

"'.
(b)

the ratio of the Laplace Transform of the output to the Laplace transform of the input under the assumption that all initial conditions are zero. the ratio of the Laplace Transform of the input to the Laplace transform of the output under the assumption that all initial conditions are zero. the product of the Laplace Transform of the input to the Laplace transform of the output under the assumption that all initial conditions are zero.

(c)

12/13