Tanta University Department of Mechatronic

Faculty of Engineering Automatic Control of Mechanical Systems Code: MEP- 351

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Sheet (3)
" System Modelling"
1. Find the differential equation relating vl (t) and v2 (t) for the RC network shown
in Figure 1.

Figure 1: RC network.

2. Find the differential equation relating vl (t) and v2 (t) for the passive electrical
network shown in Figure 2.

Figure 2: Passive RC network.

3. Find the differential equations relating vl (t) and v2 (t) for the networks shown in
Figure 3.

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 Tanta University Department of Mechatronic
Faculty of Engineering Automatic Control of Mechanical Systems Code: MEP- 351
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Figure 3: Electrical networks.

4. A solenoid valve is shown in Figure 4. The coil has an electrical resistance of 4 Ω, an

inductance of 0.6 H and produces an electromagnetic force Fc(t) of Kc times the current
i(t). The valve has a mass of 0.125 kg and the linear bearings produce a resistive force
of C times the velocity u(t). The values of Kc and C are 0.4 N/A and 0.25 Ns/m
respectively. Develop the differential equations relating the voltage v(t) and current
i(t) for the electrical circuit, and also for the current i(t) and velocity u(t) for the
mechanical elements. Hence deduce the overall differential equation relating the input
voltage v(t) to the output velocity u(t).

Figure 4: Solenoid valve.

5. Heat flows from a heat source at temperature Ɵ1(t) through a wall having ideal
thermal resistance RT to a heat sink at temperature Ɵ2(t) having ideal thermal
capacitance CT as shown in Figure 5. Find the differential equation relating Ɵ1(t)
and Ɵ2(t).

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 Tanta University Department of Mechatronic
Faculty of Engineering Automatic Control of Mechanical Systems Code: MEP- 351
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Figure 5: Heat transfer system.

6. A drying oven which is constructed of firebrick walls is heated by an electrically

operated gas burner as shown in Figure 6. The system variables and constants are:
Vl(t)= burner operating voltage (V)
Qi(t) = heat input to oven (W)
Ɵo(t) = internal oven temperature (K)
Ɵs(t) = temperature of surroundings (K)
K = burner constant = 2000 W/V
RT = thermal resistance of walls = 0.5 • 10 -3 min K/J
CT = oven thermal capacitance = 1 x 104 J/K
Find the differential equation relating vi(t), Ɵo(t) and Ɵs(t).

Figure 6: Drying Oven.

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 Tanta University Department of Mechatronic
Faculty of Engineering Automatic Control of Mechanical Systems Code: MEP- 351
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7. Consider the system shown in Figure 6. An armature-controlled dc servomotor drives a

load consisting of the moment of inertia JL. The torque developed by the motor is T. The
moment of inertia of the motor rotor is J m. The angular displacements of the motor rotor
and the load element are 𝜃m and 𝜃 respectively. The gear ratio is n = 𝜃 / 𝜃m. Obtain the
differential equation relating 𝜃(𝑡) and ei(t)

Figure 6: Armature-controlled dc servomotor system.