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# Ian R.

Manchester
March, 2012

## AMME3500: System Dynamics & Control

Assignment 1
Note: This assignment contributes 5% towards your final mark. This assignment is due by 4pm on Friday of Week 4 or via email or WebCT prior to that time. Submit your report to the assignment box on the 3rd floor outside of the drawing office in the Mechanical Engineering Building. Late assignments will not be marked unless accompanied by a valid special consideration form. Plagiarism will be dealt with in accordance with the University of Sydney plagiarism policy. You must complete and submit the compliance statement available at the end of this handout. The objective of this assignment is to link what was learnt in previous courses to the introductory material for this course. This assignment should take an average student 15 hours to complete. Total Marks: 100 The front page of your report should include: Your name and SID Your tutorial session time 1. The input and output equation [5 marks] of a system are related by the differential

d3y d2y dy d2x + 7 2 + 3 +10y = 2 2 + 5x dt 3 dt dt dt What is the transfer function ? 2. A system with input and output has a transfer function Y (s) (s + 2)(s +1) = X(s) s(s + 3)(s + 7) Write down the differential equation relating and [5 marks]

## 3. For the following system that we explored in lectures

Kd

For a mass of 3kg with a spring constant K=100N/m and damper constant Kd=30Ns/m, answer the following questions [10 marks] a. What is the equation of motion that describes this system? b. What is the Laplace Transform relating the input, Y(s), to the applied force, F(s)? c. Use the inverse Laplace Transform to derive the equation of motion, y(t), for the natural, unforced motion (i.e. f(t)=0) with an initial displacement of 1m and initial velocity of 0.2m/s. Show the equation of motion and include a plot of the trajectory. d. What is the transfer function for the system Y(s)/F(s) (i.e. with zero initial conditions)? e. Use the transfer function to work out the motion of the system, y(t), for the following applied forces: i. f (t) = (t) (a delta dirac function with magnitude 1N) ii. f (t) = 20u(t) (a step input force of 20N) iii. f (t) = 8sin(t) (a sinusoidal input force of magnitude 8N) 4. Find the impulse response, h(t), to the following transfer functions. Determine the roots of the numerator, called the zeros, and denominator, called the poles, for each system and sketch them in the s-plane. Use the Matlab functions tf to model the system and step to plot the step response and comment on stability and oscillation with reference to the position of the poles for each system. You may use the Matlab function roots to find the roots of higher order polynomials. [10 marks]:

a. H(s) =

## s+5 ( s + 5)(s2 +14s + 24) 3s + 3 d. H(s) = 3 s + 2s2 + 9s +18

b. H(s) =

5. Consider the modelling of an automobile suspension system. The wheel can be modelled as a stiff spring with the suspension modelled as a spring and damper in parallel. A quarter car model of a suspension system is often used to analyse such a system. We are interested in describing the motion of the

mass in response to changing conditions of the road and would like to design the suspension to maximize ride comfort. [30 marks]
M
y(t)

Ks

Kd

Kw

u(t)