For the electromechanical system shown in Fig. 1(a), the parameters of the DC motor are given as follows: Ra =1 0, Ky = 1 Vesirad, K; =1 N-/A, Jy =1 kg-m®, Dy = 1 Nemes/rad. The parameters of the mechanical load are given in Fig. 1(a). Neglect any quantity that is not explicitly mentioned. ‘Obiain the transfer funetion G(s) = V(s)/Eq(s) where v(t) is the linear velocity of the mass Mand eq(¢) is the volage applied to the DC motor terminals. e(0)| Mot N= 10 ere i D=1N-msirad wen Ef Ideal gear 1:1 M=1 kerf x)Vis + Ee 77 E> fee )v eq(t)| Motor |} Ny =10 ‘alS.) -—4 D=\N-m-s/rad —_ mec lated se 2 Np=20 a 4 J=1 kg-n? b,- Radius. om og ee a Nv. Sina x) iy. Nim Eo‘A massless cart maves horizontally along the graund with a displacement q(t), where q is measured from a point fixed to the ground as shown in Fig. 3. A black of mass m slides along the surface of the cart. Attached to the block are linear spring with spring constant K and unstretched length fy and a viscous damper with damping coefficient c. The spring and damper are attached at point Q. where Q.is located on the vertical support of the cart. Knowing that 2 describes the displacement of the block relative to the cart and there is no friction between the cart and the surface: (2) determine the differential equation of motion for the system (Whity =x lo, determine the differential equation of motion for the system in tetms of y (6) find the natural frequency and damping ratio ofthe system for assuming k 100 N/m, m=4kg, c= 20N-s/m Solution: (0) mG+ a) = Ky oF S rad/s, (do, DADIILIDITIVLDITITIDIDIVIDIDILITIDILODTLETTE (2) mC + @) = —K(x— la) ex 1 2Acollar of mass m, slides along an inertially fixed track. The displacement of the collar is measured relative to the fixed point 0 by the variable x. The collar is attached to a linear spring with spring constant K, a linear damper with damping coefficient c, and a rigid massless arm of length L. Attached to the other end of the arm is a concentrated mass m. Knowing that the arm rotates with a constant angular rate «, and the position of the concentrated mass ‘m, in the direction of the track can be given by the value x + Lsin(wet) ‘a, derive the differential equation of motion for the system in the direction of the track (OP direction) b, 2 — lp, write the differential equation of motion of part (a) in terms of z x + Lsin(oet) Fig.Solution: Tez =X + LSIN(Wet), Pep = X + Lae COS(wet), Fey = ¥ — La sin(wet) my + eX + K(x = [p) = mz(Le? sin(w,t) — ¥) m2 + c2 + Kz = m2(Lw? sin(w,t) — 4)