Fall, 2013

MENG 5344 System Dynamics

HW#4 Due: 10/3/13 9:30 AM in class

1. (Problem 2.32 from the textbook) Determine the transfer function X(s)/F(s) of the following equation, and compute the characteristic roots:

( )

()

2. (Problem 2.35 from the textbook) a. Obtain the transfer functions X(s)/F(s) and Y(s)/F(s) for the following model:

( ) b. Compute , , , and of the model. c. If f(t) = us(t), will the response x(t) and y(t) oscillate? If so, compute the radian oscillation frequency, and estimate how long it will take for the oscillations to disappear. d. Suppose that f(t) = us(t) and x(0) = ( ) . Obtain x(t) and y(t).

3. (Problem 3.9 from the textbook)

The above figure shows an inverted pendulum. Obtain the equation of motion in terms of the angle .

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4. (Problem 3.10 from the textbook) The two masses shown in the figure are released from rest. The mass of block A is 100 kg; the mass of block B is 20 kg. Ignore the masses of the pulleys and rope. Determine the acceleration of block A and of block B. Do they rise or fall?

5. (Problem 3.23 from the textbook) For the gear system as shown, assume that shaft inertias and the gear inertias negligible. The motor and load inertias in are

are

The speed ratios are Derive the system model in terms of the speed , with the applied torque T as the input.

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6. (Problem 4.91 from the textbook) (a) Obtain the equations of motion of the system shown in the following figure. (b) Suppose the inertias are , and the rotational spring constants are ( ) ( ) . Obtain the transfer functions ( ) and ( ) in terms of I and k. (c) Suppose that I = 10 and k = 60. Obtain a plot of the unit-impulse response of initial conditions. for zero

7. (Problem 4.93 from the textbook) Refer to Problem 6. Use Matlab to obtain the transfer functions , and the rotational spring constants answers with those found in part (b) of Problem 6.

( ) ( )

and

( ) ( )

for the values

. Compare your

8. (Problem 4.95 from the textbook) (a) Obtain the equations of motion of the system shown in the following figure. (b) Suppose the masses are , and the spring constants are . Use Matlab to obtain the plot of the free response of Use ( ) ( ) ( ) .

( )

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