MIDDLE EAST TECHNICAL UNIVERSITY

DEPARTMENT OF MECHANICAL ENGINEERING

ME 304 CONTROL SYSTEMS

SPRING 2021

HOMEWORK 2

Prepared by: Erdem Ata

Assignment Date: 21.04.2021

Due Date: 28.04.2021 – 11.59 PM

Problem 1 (33 points)

Figure 1.

Consider the mechanical system given in the figure. The system consists of 2 masses, 2
springs and a damper with the given coefficients. The mass of the platform on which the
force is applied is insignificant. The given distances are measured from an equilibrium
position. The system acts on a horizontal plane. Hence, gravitational forces are not of any
concern. Neglecting rotation and motion in the horizontal direction, the following
mathematical relations about the individual components can be written.

 Spring 1: ( )
 Spring 2: ( )
 Damper: ̇
  Mass 1: ̈
 Mass 2: ̈
 The platform:

The input of the system is force and the output is . Determine the transfer function
( )
obtained in the form ( ) where ( ) and ( ) are polynomials in . You may use
( )
a symbolic manipulation program to solve a system of linear equations and simplify the
solution.

Problem 2 (33 points)

Figure 2.

Consider the mechanical system given in the figure. A mass is connected to one side of a lever via a
string with spring coefficient . The equivalent free length of the spring is zero. The mass can slide in
the vertical direction. The other side of the lever is connected to the ground via a damper with
viscous friction coefficient . The lever’s mass is insignificant and the displacements of the lever’s
end points are very small compared to its length.

(Hint: The assumption about the lever suggests )

( , , , , )

a. In a similar way to the first problem, write down the mathematical relations that correspond
to individual components of the system. (10 points)
b. Take the Laplace transform of the equations written down in part a. (9 points)
c. Let the input be the force and let the output be . Comment on the number of unknowns
and the number of equations. State which variables should be eliminated in order to obtain
the transfer function relating and . (10 points)
d. Obtain the transfer function relating and . (4 points)
Problem 3 (34 points)

Figure 3.

Consider the mechanical system given in the figure. There is a rack and pinion assembly and a mass
connected to the rack via a spring with spring coefficient . The spring force is zero when .
Rotational viscous friction with coefficient acts on the revolute joint of the pinion. The distances
are measured from an equilibrium point. is the angular position of the pinion. The pinion has a
moment of inertia of while the rack’s mass is insignificant.

( )

a. In a similar way to the first problem, write down the mathematical relations that correspond
to individual components of the system. (10 points)
b. Take the Laplace transform of the equations written down in part a. (10 points)
c. Let the input be the force and let the output be . Comment on the number of unknowns
and the number of equations. State which variables should be eliminated in order to obtain
the transfer function relating and . (10 points)
d. Obtain the transfer function relating and . (4 points)