1)

1 1 1 1
= + + ( Springs are∈series)
K eff K L K R K E

K E=10 4 Nm /rad

T τ Gθ
= =
J r L

T JG
=
θ L
4
π D4 π ( 0.015 )
J= = =4.171 ×10−9 m4
32 32

JG=4.971×10−9 × 79.6 ×109 =395.7

T JG 395.7
K L= = = =1319 Nm /rad
θ L 0.3

395.7
K R= =291 Nm
0.5

1 1 1 1 Nm
= 4+ + =471
K eff 10 1319 791 rad

b) Power=ωT

Power 50 ×10 3
T= = =191 Nm
ω 2π
2500×
60

Td 191× 0.015
τ max= = =288 MPa
2 J 2 × 4.971× 10−9

Max stress is twice that = 576 MPa

This is well below yield of 800 MPa, so not likely to be a problem. However, power likely to be
higher at higher engine speeds so will be an issue there.

1c) [NOTE : The issue of double angles has not be completely resolved yet]

Equal torsion across each spring.

2π
T eff =k eff θ=471× 3 × =49.3 Nm
180

49.3 180
Rotation across K L= × =± 1.07 degrees
1319 2 π

49.3 180
Rotation across K R= × =±1.79 degrees
791 2 π

[A LINE OF WORKING CUT OFF DUE TO PHOTOCOPYING]

Tr
Max stress= [ Note :Same on ¿¿ ]
J

49.3 0.015
¿ × =74.4 MPa
4.971× 10−9
L

d)

Operating point in the region of ______ degrees. Answer likely to be higher torques in other
operating conditions so possible ___ yield at eg low engine speeds in low gears. This is more
likely cause of failure than this instability problem = unlikely to be operating in worst
conditions for long periods.
2a)

b) Clamped – Pinned

Can’t be bothered to rewrite this.

Just use the first three boundary conditions to rewrite everything as one constant, then
rearrange. Start with the boundary conditions at x=0 (Clamped end)

c) Feed numbers into tan λL−tanh λL∧select the one that gives you the closest ¿ 0

15.1

d)

e) Expect lower as not rigidly built in, the support will offer some moment restraint.

It’s big increase – natural frequency from λL2 from 3.52 to 15.1

So effective though restricts access, etc. Also no good if any motion in other plane

3a) M x¨1=−K x 1 +k ( x 2−x 1 )

m x¨2=−k ( x 2−x 1)

M x¨1 + ( K +k ) x 1−k x 2=0

m x¨2−k x1 +k x 2=0

K +k −M ω2 −k
 −k k −m ω2

=0

( K + k−M ω2 ) ( k −m ω2 )−k 2=0  At this point you’ll get full marks

Kk +k 2−k 2−( Mk + mK + mk ) ω2 +mM ω4 =0

ω=2 √
(Mk+ mK +mk )± ( Mk+m ( kK ) ) −4 mMKk
2 nM

e) Split between new resonant frequency a _____ of absorber mass. If mass is small then will
be a resonant frequency ____ _____ to the tuned frequency and one very close to original
resonance. If any ____ ____ likely new to _______ _______ have enough, so the max stress
from not ____ resonance. But don’t want too big mass as unwieldy and _____ overall ____ of
mass.

4a) General factors: Accuracy – sensitivity, linearity, transverse sensitivity, frequency range,
effect of temperature, humidity, etc.

Reliabilty

Cost, Size

For a turbine blade, size is cruicial as blades are small, new to ____ at root. Transverse
sensitivity also an issue as stress (strain_ will be highly directional.

For ship, size not as important – can be made large, so making it easier to align. Reliability and
effect of temperature, humidity will be crucial.

bi) Upper frequency limit is half of 51200 = 25600 Hz

30 kHz signal reflects to 21.2 kHz. At frequencies below 25.6 kHz to 30 kHz aliased signal
appears between 21.2 and 25.6

Max error at 25.6 kHz = 1 – 25.6/30 = 0.147

Zero error below 21.2 kHz

ii) Anti aliasing filter set at fs/2; do not display all points up to fs/2. E.g. commonly display 400
of 512 frequency points.

ii) Increase sample rate to at least 60 kHz

5a) A root locus plot shows how the position of the roots of the denominator of the transfer
function of a control system vary as the value of control variable is changed. If all the roots
have negative real parts, the system is stable. If it was to track the stability of the system as the
control variable are altered.

b) Plot root locus of a P control system. It is a second order system

( J s 2 +cs +k ) θout =k θ¿

θout K
=1+ 2
θ¿ J s +cs +k

rlocus plots roots of equation J s 2+ cs+ k=0

It plots roots of den(s) + k num(s) = 0

Here den = ( J s 2 +cs +0 )

num =1

−c ± √ c 2−4 kJ
Roots are
2J

K = 0, roots are 0, -2c/2J = -0.66

2 c2
c =4 kJ → k = =3.33
4J

Two roots; repeated roots at k=3.33. When k>3.33 roots are complex conjugates
5c)

KI
(
θout = K P +
s )( J s 1+cs ) (θ −θ
2 ¿ out )

K P s+KI
θout = (θ¿ −θ out )
J s3 +c s 2

( J s3 +c s 2 + K P s+ K I ) θout = ( K P s+ K I ) θ¿
3 2
Need roots of ( J s +c s + K P s+ K I ) =0

Num = 1

3 2
Den = ( J s +c s + K P s )

J=30;
c=20;
num=1;
den=[J,c,Kp,0];

rlocus(num,den)

6a) Important that a system is robust against unexpected disturbances. No use if it can only
cope with expected inputs for what the system is designed for.

θout
To get set θ¿ ¿ zero
Distubance

c) Steady state error reduced as frequency of oscillation increased. Suggests Kp increased.

Probably not KI introduction as there is still a steady state error. Period of oscillation is halved
so Kp increased by about four times.

d) Oscillations remain almost unchanged steady state error removed. Suggests integral control
introduction

e) Oscillations damped out; not other changes made; suggest derivative control introduced.

f) With derivative controller, force (or torque) required is proportional to rate of change of
error. ___ ___ ___Step input. Required force is infinite and can clearly not be applied.
Therefore time response is slower than the theoretical prediction.