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Tutorial # 1
Tutorial Contents
Reviewing dynamic modeling for
Mechanical systems
Electrical Systems
Tutorial Contents
Reviewing dynamic modeling for
Mechanical systems
Electrical Systems
Problem 1
Consider the following 2 mass-spring-damper system. The displacements of m1 and m2 are
y1(t) and y2(t) and are acted upon by the forces u1(t) and u2(t) in respective order.
Required:
a) Derive the equation(s) of motion for this system
b) Setting u1(t) to zero, obtain an expression for the T.F. relating y1(t) and u2(t).
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Rotation
x(t)
T (t )
kR
u(t)
cR
Newton
F mx
Euler
T J
m x k x c x u
J k R cR T
m x c x k x u
J cR k R T
Applying Newtons 2nd law for each mass to get the systems EOM
m1 y1 c1 c2 y1 c2 y 2 (k1 k2 ) y1 k2 y2 u1
m2 y2 c2 y1 c2 y 2 k2 y1 k2 y2 u2
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m1 0 y1 c1 c2
0 m2 y2 c2
c2 y1 k1 k2
c2 y 2 k2
k2 y1 u1
k2 y2 u2
b)
Taking the Laplace Transform of the equations & setting the initial conditions to zero
Eq.1
m1 y1 c1 c2 y1 c2 y 2 (k1 k2 ) y1 k2 y2 0
m2 y2 c2 y1 c2 y 2 k2 y1 k2 y2 u2
m s
c2 s k2 Y2 ( s ) c2 s k2 Y1 ( s ) U 2 ( s )
Y1 ( s ) m2 s 2 c2 s k2 m1s 2 c1 c2 s (k1 k2 ) c2 s k2 c2 s k2 Y1 ( s ) U 2 ( s )
The T.F. is thus,
Y1 ( s )
1
U 2 ( s ) m2 s 2 c2 s k2 m1s 2 c1 c2 s c2 s (k1 k2 ) c2 s k2 c2 s k2
c2 s k2
m2 s 2 c2 s k2 m1s 2 c1 c2 s c2 s (k1 k2 ) c2 s k2 2
k1
k2
k2
Required:
Derive the differential equation(s) for the angular displacements of the disks.
M1
M2
k1
k2
M1 k11 1 k2 1 2
k2 2 1
M2
2 I 22 k11 k2 2 M 2 I 22
Re-arranging the EOM,
I11 (k1 k2 )1 k2 2 M1 (1)
I 22 k11 k2 2 M 2 (2)
0
I
k
k
2 2
2
2 2 2
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Required:
a) Derive the differential equation(s) of motion of the accelerometer.
b) Re-write the equations in terms of the motion of the mass relative to the housing, z
c) Obtain an expression for the T.F. relating the input acceleration of the housing and the
output relative displacement.
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k ( x y)
b( x y )
F mx k ( x y ) b( x y ) mx k ( x y ) b( x y ) 0
b) The EOM re-written in terms of z, where z x y
mz kz bz my
c) T.F. relating the acceleration and relative displacement
Denoting the housing input acceleration by a :
mz kz bz my ma
Z (s)
m
2
A( s )
ms bs k
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k1
k2
Required:
Derive the differential equation(s) for the system. Displacements are measured relative to
the equilibrium position.
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k1
Equilibrium position
x1
x2
xC
k2 x2
k2
Unstrained orientation
k1x1
FBD of the deformed
orientation
Deformed orientation
F mxc k1x1 k2 x2
M c I c k1x1a k2 x2b
x1 ( xc a tan )
x2 ( xc b tan )
And using the small angle assumption, the above relations can be reduced to
x1 ( xc a )
x2 ( xc b )
mxc k1 ( xc a ) k2 ( xc b ) 0
I c k1 ( xc a )a k2 ( xc b )b 0
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Tutorial Contents
Reviewing dynamic modeling for
Mechanical systems
Electrical Systems
16
Required:
a) Derive the dynamic equation for the circuit.
b) Obtain an expression for the T.F. between vin and vo.
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0 vin 0 vo
d
CF 0 vo 0
R1
RF
dt
v
vin o CF vo
RF
V (s)
Vin ( s ) R1 o CF s Vo ( s )
RF
1 RF CF s
Vin ( s ) Vo ( s ) R1
CF s R1
RF
RF
Vo ( s )
R
F
Vin ( s )
R1
1 RF CF s
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