KM3314 System Dynamics & Simulation

Tutorial 1

January 13, 2015

1. (a) = 5 secs.
(b) 4.
(c) 15 secs.
2. (a) y (t) = 12.45 37.50e2t + 25e3t , y () = 12.45, stable.
(b) y (t) = 0.75 0.45e2t 0.3et cos 3t 0.15et sin 3t, y () = ,
unstable.
(c)

, y () = 1.8, stable.

p1 t + C ep2 t + C ep3 t , where C , C , C3 are

(d) y (t) = p115A
3
1
2
2
p 2 p 3 + C1 e
constants, y () = p115A
if
the
system
is
stable
and
y
()
=
p2 p3
if unstable, stable if p1 , p2 , p3 < 0, unstable if p1 , p2 , p3 > 0.

3.

(a)

overdamped

(b)

critically damped

(c)

underdamped

(d)

undamped

4. p1 = 21 ,

p2 = +1, System is unstable.

5. Underdamped.

Figure 1: Unit step response

6. (a) G (s) =

o (s)
i (s)

K
.
Js2 +Bs+K

(b)


0
A=
K
J


1
,
B
J

B=

 
0
K
J



C= 1 0 .

(c)
B
K
J
,
,
= q
J
2 K
J
v

2
r u
u
B
p
K
u
J
.
d = n 1 2 =
.t1 q
J
K
2

n =

7. (a)

From Newtons 2nd law of motion,

F = ma,

Figure 2: FBD
f1 (t) c (x 1 x 2 ) k1 (x1 x2 ) = m1 x
1 ,
f2 (t) k2 x2 + c (x 1 x 2 ) + k1 (x1 x2 ) = m2 x
2 .
(b) Put in matrix-vector form,
   
  
  

f
k1
k2
x1
c c x1
m1 0
x1
= 1 .
+
+
f2
x2
k2 k1 + k2 x2
c c
0 m2 x2
Laplace transforms (taking all initial conditions = 0) gives


 

m1 s2 + cs + k1
(cs + k1 )
X1 (s)
F1 (s)
=
.
(cs + k1 )
m2 s2 + cs + k1 + k2 X2 (s)
F2 (s)
Using Cramers rule:
m2 s2 + cs + k1 + k2
F1 (s) +
(s)
m1 s2 + cs + k1
X2 (s) =
F2 (s) +
(s)

X1 (s) =

cs + k1
F2 (s) ,
(s)
cs + k1
F1 (s) ,
(s)

where
(s) = m1 s2 + cs + k1

m2 s2 + cs + k1 + k2 (cs + k1 )2 ,

= m1 m2 s4 + (m1 + m2 ) cs3 + [(m1 + m2 ) k1 + m1 k2 ] s2 + k2 cs + k1 k2 .

G11 (s) =
G12 (s) =
G21 (s) =
G22 (s) =


X1 (s) 
F1 (s) F2 (s)=0

X1 (s) 
F2 (s) F1 (s)=0

X2 (s) 
F1 (s) F2 (s)=0

X2 (s) 
F2 (s) 
F1 (s)=0

m2 s2 + cs + k1 + k2
,
(s)

cs + k1
(s)

cs + k1
,
(s)

m2 s2 + cs + k1
.
(s)

Then,

G (s) =


G11 (s) G12 (s)
.
G21 (s) G22 (s)

Figure 3: FBD and kinematics of the inverted pendulum system

8. (a) The differential equation is:
Ip + mo gL
x cos mo gL sin = 0,
mt x
+ mo gL cos mo L2 sin + bx = f (t) ,
where
Ip =

m


+ mc L2 ,

3
mt = M + m + mc ,
m
mo =
+ mc .
2
5

(b) The linarised system equations are

Ip + mo gL
x mo gL = 0,
mt x
+ mo gL + bx = f (t) ,
The transfer functions are
mo Ls2
(s)
=
,
F (s)
(s)
Ip s2 mo gL
X (s)
=
,
G2 (s) =
F (s)
(s)
G1 (s) =

where





2
(s) = Ip s2 mo gL mt s2 + bs mo Ls2 .
.
9. (a)
Vo (s)
R1 R2 Cs + R1
=
Vs (s)
R1 R2 Cs + R2 + R1
(b)
Vo (s)
R3 (R1 Cs + 1)
=
Vi (s)
R1 R2 Cs + R1 + R2
10.
g
A1 h 1 =
(h1 h2 )
R1
g
g
A2 h 2 =
(h1 h2 )
h2 + qi
R1
R2
11. (a) Biot number = 2.3 104 . Since this is < 0.1, the lumped parameter model can be used.
d
(b) 650 dt
T (t) + 0.07T (t) = 1.4.
650
(c) The time constant is = 0.07
= 9285 secs. 2 hrs 34 mins is
approximately equal to the 9285 secs. Hence, the temperature at
that instance of time is 200 0.63 (200 20) C = 86.6 C.