System Dynamics and Control (MEEG 313) Laboratory 2 Lab report should be submitted as a formal report with neat presentation. Also, attach print out of MATLAB programs and outputs with your name and ID clearly indicated. All work should be done independently. (1) Consider the mechanical system that can be modeled as shown in figure below. The system is at rest for time, t < 0. Assume that the displacement x is the output of the system and is measured from the equilibrium position. Att = 0, the cart is given initial conditions x (0) = xo and dx/dt (0) = vO. Obtain the analytic solution of output motion x (t). Assume that mass, m = 10 kg, damping coefficients b1 = 50 N-s/m and b2 = 70 N-s/m, and spring constants, k1 = 400 N/m and k2 = 600 N/m, respectively. (2) Now, obtain response curve x (t) versus t using MATLAB programming. Use the following conditions: m= 100 kg, b1 sim, k1= 200 Nim, and k2 m and dx/dt (0) = 0.5 mis. 120 N-s/m, b2 = 80 N- 300 N/m. The initial conditions are x(0) = 0B-4-16. The equation of motion for the system is mk + kx = p(t, / * where m= 1 kg, k = 100 N/m, p(t) = 10 5(€) N, x(O-) = 0.1 m, and x(0-) =1 m/s. By substituting the given numerical values into the system equation, we obtain / x + 100x=10 S(t) Taking the &_ transform of this last equation gives [s?x(s) ->sx(0-) ~ x(0-)] + 100 x(s) = 10 (s2 + 100)X(s) = 10 + 0.18 +1 = 11 + 0.18 / c Solving for X(s) gives / x(e) = Eta s* + 10 ‘The inverse Laplace transform of X(s) gives x(t) = HL sin 10¢ + 0.1 cos 10¢ B-4-17. The system equation is mX = — byX - kyx - box - kox ni + (by + by)k + (iy + kp)x = 0 Laplace transforming this last equation, we obtain m[s2x(s) - sx(0) ~ X(0)] + (by + bg)[sx(s) - x(0)] + (iq + k2)X(s) = 0 Rewriting, we have (ms? + (by + by)s + (ky + kp) ]X(s) = msx(0) + m&(0) + (by + bg)x(0) Solving for X(s), we get mx(0)s + mk(0) + (by + bg)x(0) X(s) = — > ms? + (by + bz)s + (ky + k2) By substituting x(0) = x9, %(0) = vo and the given numerical values into this last equation, we obtain 4010X95 + 10Vo + 120% 10s? + 120s + 1000 X08 + Vo + 12% s2 + 12s + 100 Xo(5 + 6) + (Vo + 6%) (s + 6)2 + 62 X(s) = ‘Mhe inverse Laplace transform of X(s) gives the output motion x(t). + 6% 8 e-6t sin Bt x(t) = xge6t cos Bt + ‘The motion x(t) is a damped sinusoidal motion. Bu4-18. Referring to the solution to Problem B-4-17, we have mx(0)s + mk(0) + (by + bz)x(0) ms? + (by + bg)s + (ky + kp) X(s) Substituting x(0) = 0 m, X(0) =0.5 m/s, m= 100 kg, by = 120 N-s/m, bp = 80 N-s/m, k, = 200 N/m, and kz = 300 N/m into this last equation, we obtain 100 x 0.5 X(s) = 100s? + 200s + 500 3 3 0.5 s2 +2845 ‘The response x(t) to the given initial condition can be obtained from X(s) by rewriting it as . 14 X(e) = ——038__ s2+28+5 5 U and using a step command. A possible MATLAB program to obtain the response x(t) is given below. The resulting response curve x(t) versus + is shown on the next page. 01:67 x = step(num,den,t) ; plot (t,x) grid title('Response to Initial Condition"); xlabel('t (sec) ') ylabel (*x(t)") 41Response to Initial Condition e 0.15 TPe/o/07 41:32 2M MATLAB Command Window of This is a Classroom License for instructional use only Research and commercial use is prohibited. To get started, select MATLAB Help or Demos from the Help menu > % MATLAB solution of Lab 2 by Dr. Vira t = 0:0.01:6; num = (0.5 0); den = (12 5]; x = step(num,den,t); plot (t,2) grid title (‘Response to il xlabel (*t (sec) ylabel (*x(t)Response to initial conditions 0.14 -— Tanna ee z) 12+