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1) Derive the differential equation of motion of the system in Fig. P4.22 of the text relating output to input .
Find the natural frequency of the system.
T1
T1
T2
k1
T2
k2
I T1 T2
T1 k1 , T2 k2
I k1 k2 k1
mx Fk1 Fb1 Fk 2 Fb 2
Fk1 k1 (u x), Fb1 c1 (u x )
Fk 2 k 2 ( x 0), Fb 2 c2 ( x 0)
Substituting for Fk1, Fk2, Fb1, and Fb2 from the last 4 equations into the 1st equation yields
Fb2
0
c
x
x
Fk2
Fb2
mx k1 (u x) c1 (u x) k2 x c2 x
mx (c1 c2 ) x (k1 k2 ) x c1u k1u
Fk1
Fb1
c
u
u
Fk1
Fb1
Where Fp is the contact force between the pinion gear and mass m. Using that x=r yields
I
m 2 x cx kx F
r
meff
7) Derive a mathematical model for the ships propeller system of Figure P4.75 relating the angular displacements
1 and 2 to the engine torque input Te (not shown on the figure). Use the numerical data provided in text problem
4.75.
FBD
Te
T12
T2
T1
T1
T21
2/N
Constitutive Equations:
I f 3 T2
Gear Relationships:
( I e I g1 )2 Te T2 T12 (3)
Ig2
I p1 T1 (6)
2
N
1 ) (5)
Substituting for T1 and T2 from (2) and (5) into (1), (4), and (6), and combining (3) and (4) using (7) we get:
I p1 kT 1 1 2 0
N
I e I g1 g 22 2 kT2 ( 2 3 ) T 1 2 1 Te
N
N N
I k 0
f
T2
I
I f kT 2
1 I p kT 1 2
I e I g1 g1
s 2 Te
N 2 I f s 2 kT 2 N I p s 2 kT 1
Te
I
s 2 N I e I g1 g12 I f s 2 kT 2 I p s 2 kT 2 NI f kT 2 I p s 2 kT 1 I p kT 1 I f s 2 kT 2
N