Some sample solutions for System Dynamics textbook by Palm

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Some sample solutions for System Dynamics textbook by Palm

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You are on page 1of 7

for

System Dynamics, Third Edition

by

William J. Palm III

University of Rhode Island

Published by McGraw-Hill

This is a sample of the solutions provided in the manual available to instructors. Note

that

A solution is provided for very problem, and all solutions are typeset.

There is only one problem per page.

Problem solutions display the intermediate steps, not just the nal answer.

Free body diagrams are shown in problems requiring derivation of equations of motion.

Circuit diagrams and block diagrams are shown in solutions where needed.

Solutions display the required MATLAB code along with the resulting plots.

Problems dealing with Simulink display the required Simulink diagram.

Frequency response and root locus plots are shown when needed.

In the solutions manual there is only one problem per page. Problem solutions display the

intermediate steps, not just the nal answer.

Problem 2.22 The denominator roots are s = 3 and s = 5, which are distinct. Factor

the denominator so that the highest coecients of s in each factor are unity:

X(s) =

7s + 4

2s

2

+ 16s + 30

=

1

2

7s + 4

(s + 3)(s + 5)

X(s) =

1

2

7s + 4

(s + 3)(s + 5)

=

C

1

s + 3

+

C

2

s + 5

Using the coecient formula (2.4.4), we obtain

C

1

= lim

s3

(s + 3)

7s + 4

2(s + 3)(s + 5)

= lim

s3

7s + 4

2(s + 5)

=

17

4

C

2

= lim

s5

(s + 5)

7s + 4

2(s + 3)(s + 5)

= lim

s5

7s + 4

2(s + 3)

=

31

4

Using the LCD method we have

1

2

7s + 4

(s + 3)(s + 5)

=

C

1

s + 3

+

C

2

s + 5

=

C

1

(s + 5) + C

2

(s + 3)

(s + 3)(s + 5)

=

(C

1

+ C

2

)s + 5C

1

+ 3C

2

(s + 3)(s + 5)

Comparing numerators, we see that C

1

+ C

2

= 7/2 and 5C

1

+ 3C

2

= 4/2 = 2, which give

C

1

= 17/4 and C

2

= 31/4.

The inverse transform is

x(t) = C

1

e

3t

+ C

2

e

5t

=

17

4

e

3t

+

31

4

e

5t

In this example the LCD method requires more algebra, including the solution of two

equations for the two unknowns C

1

and C

2

.

c

2014 McGraw-Hill. This work is only for non-prot use by instructors in courses for which

the textbook has been adopted. Any other use without publishers consent is unlawful.

Free body diagrams are shown in problems requiring derivation of equations of motion.

Circuit diagrams and block diagrams are shown in solutions where needed.

Problem 3.41 See the following gure. Summing forces in the x and y directions gives:

ma

Gx

=

s

N

B

mg sin (1)

N

A

+ N

B

= mg cos (2)

Summing moments about G:

N

A

L

A

N

B

L

B

+

s

N

B

H = 0 (3)

Solve (2) and (3):

N

A

=

mg cos (

s

H L

B

)

s

H L

A

L

B

=

16, 677 cos (

s

2.1)

s

4.6

N

B

=

mgL

A

cos

s

H L

A

L

B

=

40, 025

s

cos

4.6

s

The maximum acceleration is, from (1),

a

Gx

=

23.544

s

cos

4.6

s

9.81 sin

Figure : for Problem 3.41

c

2014 McGraw-Hill. This work is only for non-prot use by instructors in courses for which

the textbook has been adopted. Any other use without publishers consent is unlawful.

Problems dealing with Simulink display the required Simulink diagram.

Problem 5.53 The model is shown in the following gure. Set the Start and End of the

Dead Zone to 0.5 and 0.5 respectively. Set the Sine Wave block to use simulation time.

Set the Amplitude to 2 and the Frequency to 4. In the Math Function block select the

square function. Set the Initial condition of the Integrator to 1. You can plot the results

by typing

plot(tout,simout),xlabel(

),ylabel(

)

Using a stop time of 3 results in an error message that indicates that Simulink is having

trouble nding a small enough step size to handle the rapidly decreasing solution. By

experimenting with the stop time, we nd that, to two decimal places, a stop time of 1.49

will not generate an error.

This model is unstable, and the output x if the time span is long enough. We

can see this by writing the equation as (not including the eect of the dead zone)

x = 2 sin 4t 10x

2

Once x drops below

negative values.

Figure : for Problem 5.53.

c

2014 McGraw-Hill. This work is only for non-prot use by instructors in courses for which

the textbook has been adopted. Any other use without publishers consent is unlawful.

Solutions display the required MATLAB code along with the resulting plots.

Problem 6.49 The script le is

KT = 0.2; Kb = 0.2; c = 5e-4; Ra = 0.8; La = 4e-3; I = 5e-4;

den = [La*I, Ra*I + c*La, c*Ra + Kb*KT];

% Speed transfer function:

sys1 = tf(KT, den);

% Current transfer function:

sys2 = tf([I, c], den);

% Applied voltage

t = [0:0.001:0.05]; va = 10*ones(size(t));

% Speed:

om = lsim(sys1, va, t);

% Current:

ia = lsim(sys2, va, t);

subplot(2,1,1), plot(t, om),xlabel(

t (s)

),ylabel(

\omega (rad/s)

)

subplot(2,1,2), plot(t, ia),xlabel(

t (s)

),ylabel(

i_a (A)

)

The plot is shown in the following gure. The peak current is approximately 8 A. The

more accurate value of 8.06 A can be found with the lsim(sys2, va, t) function by

right-clicking on the plot, selecting Characteristics, then Peak Response.

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05

0

10

20

30

40

50

60

t (s)

(

r

a

d

/

s

)

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045 0.05

2

0

2

4

6

8

10

t (s)

i

a

(

A

)

Figure : for Problem 6.49

c

2014 McGraw-Hill. This work is only for non-prot use by instructors in courses for which

the textbook has been adopted. Any other use without publishers consent is unlawful.

Frequency response plots are shown when needed.

Problem 9.43 The program is given below, along with the resulting plot. The resonant

frequency is 2.51 10

4

rad/s. By moving the cursor along the plot we can determine the

points at which the curve is 3 dB below the peak. These frequencies are 2.39 10

4

and

2.61 10

4

, so the bandwidth is (2.61 2.39) 10

4

= 2.2 10

3

rad/sec.

m = 0.002;k = 1e6;Kf = 20;Kb = 15;R = 10;L = 0.001;

sys = tf(Kf,[m*L,m*R,k*L+Kf*Kb,k*R]);

bode(sys)

220

200

180

160

140

120

100

M

a

g

n

i

t

u

d

e

(

d

B

)

10

2

10

3

10

4

10

5

10

6

270

180

90

0

P

h

a

s

e

(

d

e

g

)

Bode Diagram

Frequency (rad/sec)

Figure : Plot for Problem 9.43

c

2014 McGraw-Hill. This work is only for non-prot use by instructors in courses for which

the textbook has been adopted. Any other use without publishers consent is unlawful.

Root locus plots are shown when needed.

Problem 11.57 The characteristic equation is 10s

3

+ (2 + K

D

)s

2

+ K

P

s + K

I

= 0. With

K

P

= 55 and K

D

= 58, we have 10s

3

+ 60s

2

+ 55s + K

I

= 0, or

1 +

K

I

10

1

s

3

+ 6s

2

+ 5.5s

= 0

The root locus gain is K = K

I

/10. In MATLAB type

sys = tf(1, [1, 6, 5.5, 0]);

rlocus(sys), axis equal

The plot follows. In Example 10.7.4, K

I

= 25. This gives = 0.707 and = 2. The plot

shows that to reduce the error by increasing K

I

, the dominant time constant will become

larger and the damping ratio will decrease, making the system slower and more oscillatory.

Moving the cursor along the plot shows that if we decrease the error by half by doubling

K

I

to 50, the new damping ratio will be approximately 0.44 and the new time constant will

be approximately 1/0.43 = 2.3.

20 15 10 5 0 5 10

15

10

5

0

5

10

15

Root Locus

Real Axis

I

m

a

g

i

n

a

r

y

A

x

i

s

Figure : for Problem 11.57.

c

2014 McGraw-Hill. This work is only for non-prot use by instructors in courses for which

the textbook has been adopted. Any other use without publishers consent is unlawful.

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