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Files-3-Handouts Solved Problems Chapter 3 Mechanical Systems PDF

This document contains solved problems from Chapter 3 of a textbook on system dynamics and control. It includes the solutions to three problems (A-3-8, A-3-12, A-3-13) involving modeling simple pendulums, spring-mass-pulley systems, and lever systems using Newton's laws and the conservation of energy method. The natural frequencies of the systems are also calculated from the derived mathematical models.

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Hemanta Dikshit
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438 views7 pages

Files-3-Handouts Solved Problems Chapter 3 Mechanical Systems PDF

This document contains solved problems from Chapter 3 of a textbook on system dynamics and control. It includes the solutions to three problems (A-3-8, A-3-12, A-3-13) involving modeling simple pendulums, spring-mass-pulley systems, and lever systems using Newton's laws and the conservation of energy method. The natural frequencies of the systems are also calculated from the derived mathematical models.

Uploaded by

Hemanta Dikshit
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ME 413: System Dynamics and Control

Dr. A. Aziz Bazoune

Solved Problems
Chapter 3: Mechanical Systems
Problem A-3-8In Figure 3-23, the simple pendulum shown consists
of a sphere of mass m suspended by a string of
negligible mass. Neglecting the elongation of the
string, find a mathematical model of the pendulum.
In addition, find the natural frequency of the system
when is small. Assume no friction.
Solution
Assumptions:
1. Mass of the rope is neglected compared to the
mass of the bob.
2. Motion occurs in one plane only.
3. Friction in the pivot is neglected.
4. Angle is small .

l cos

T
m

l sin

mg
Figure 3-23

Simple Pendulum

Using Newtons second law


Taking CCW moment about the pivot. The only force that is producing moment about the pivot is
the weight mg . This force is producing a CW moment. Therefore, the moment produced by mg is
mgl sin .

= J &&

mgl sin = J &&


2

Where J = ml . Therefore,

ml 2&& + mgl sin = 0


For small , sin

, and the above equation of motion simplifies to


g
&& + = 0
l

which is of the form

&& + n2 = 0
From the above, the natural frequency of the pendulum is

n =
Chapter 3: Mechanical Systems

g
l
1

ME 413: System Dynamics and Control

Dr. A. Aziz Bazoune

Using The Conservation of Energy Method


The potential energy is

V = mgh = mgl (1 cos )


The kinetic energy is
2
1
1
1
mv 2 = ms& 2 = m (l& )
2
2
2
2
1
T + V = m (l& ) + mgl (1 cos )
2
d (T + V )
1
&&& + mgl (& sin ) = 0
= 2ml 2
dt
2
d (T + V )
= ( ml 2&& + mgl sin ) & = 0
dt

T =

Since & 0 , then the terms in brackets must be equal to zero, Therefore

ml (l&& + g sin ) = 0
Or

&& +

g
=0
l

Which is similar to the differential equation obtained before.

Problem A-3-12
For the spring-mass-pulley system of Figure 3-27, the
moment of inertia of the pulley about the axis of rotation is
J and the radius is R . Assume that the system is initially at
equilibrium. The gravitational force of mass m causes a
static deflection of the spring such that k st = mg .
Assuming that the displacement x of mass m is measured
from the equilibrium position, obtain a mathematical model
of the system. In addition, find the natural frequency of the
system.

Solution
Assumptions:
1. Lever is rigid and massless.
2. Reactions at lever P are neglected.
3. Displacement x is small.
4. The wire is inextensible.

m
x

mg
Figure 3-27

Using Newtons second law


Chapter 3: Mechanical Systems

ME 413: System Dynamics and Control

Dr. A. Aziz Bazoune

Applying Newtons second law for the mass m

= mx&&

or

T = mx&&

(1)

Where T is the tension in the wire (Notice that since x is measured from the static equilibrium
position the term mg does not enter into the equation).
Applying Newtons second law for the pulley

= J &&

or

TR kxR = J &&
Eliminating T

(2)

from equations (1) and (2) gives

&& kxR = J &&


mxR

(3)

Noting that x = R , one can simplify the above equation

(J

+ mR 2 ) && + kR 2 = 0

(4)

or

kR 2

&& +
=0
2
J
+
mR

(5)

which represents the mathematical model for the system. The natural frequency of the system is
given by

n =

kR 2
J + mR 2

(6)

Using The Energy Method


The kinetic energy of the system is

1
mx& 2
2
123

T =

Due to Translation

1 &2
J
2 23
1

(7)

Due to Rotation

The potential energy of the system is

V =

1 2
kx
2
{

(8)

Strain energy of the spring

Chapter 3: Mechanical Systems

ME 413: System Dynamics and Control

Dr. A. Aziz Bazoune

Noting that x = R , one can simplify the above equation

1
1
1
mx& 2 + J & 2 + kx 2
2
2
2
1
1
1
T + V = mR 2& 2 + J & 2 + kR 2 2
2
2
2
1
1
T + V = ( mR 2 + J ) & 2 + kR 2 2
2
2
T +V =

(9)

d
1
&&& + 1 2kR 2
& = 0
(T + V ) = 0 2 ( mR 2 + J )
dt
2
2

(10)

Or

( mR

+ J ) && + kR 2 = 0

(11)

which is similar to the one obtained before

Problem A-3-13
In the mechanical system of Figure 3-28, one end of the lever is connected to a spring and a damper,
and a force f (t ) is applied to the other end of the lever. Derive a mathematical model of the
system. Assume that the displacement x is small and the lever is rigid and massless.

l2

l1

f (t)

b
Figure 3-28

Solution
Assumptions:
1. Lever is rigid and massless.
2. Reactions at lever P are neglected.
3. Displacement x is small.
Chapter 3: Mechanical Systems

ME 413: System Dynamics and Control

Dr. A. Aziz Bazoune

Free Body Diagram (FBD): The FBD is shown in the Figure below

Fk = k x

l2

l1

f (t)

P
Fb = b x&
Figure 3-28

Equation of motion:
Applying Newtons second law, for a system in rotation about point P gives

= 0

f ( t ) l1 b x& l 2 k x l 2 = 0

DID YOU ASK YOURSELF

WHY THE RHS of the above equation is ZERO?


Rearranging, one can write:

f ( t ) l1 b x& + k x l 2 = 0
or

l
b x& + k x = 1 f ( t )
l2
which is the mathematical model of the system. It is clear that this differential equation
represents is a first order system since it is represented by a first order ordinary differential
equation with constant coefficients. The RHS of the above differential equation is not zero.
System Response:
In the above system, the input is the force F while the output is the displacement x . We will
try to find a relationship between the input and the output.
Taking Laplace transform of both sides of the above equations provided we have zero initial
conditions gives

Chapter 3: Mechanical Systems

ME 413: System Dynamics and Control

Dr. A. Aziz Bazoune

l
= 1 F (s )
l2
are Laplace transform of x and f (t ) , respectively. The above

(b s + k ) X

where X ( s ) and F ( s )
equation can be written as

G (s ) =

(s )

Output
X (s ) l1
1
C
=
=
=
F (s )
Input
l2 b s + k
b s+k

) (

( )

where C = l1 l 2 . The above relation can be written in the standard form as:

Cb
Output
X (s )
C*
=
=
=
Input
F (s )
s + k
s + 1

where C * = C b and = b k
G (s ) =

C*
s + (1 )

F (s )

14243
Input

14442444
3

X (s )

14
4244
3
Output

Transfer Function
The response x (t ) will depend on the input force f (t ) . If f (t ) is a step input of magnitude 1:
In this case F (s ) = 1 / s and

X (s ) = F (s )

C*
1 C*

=
= +
1 s
1 s
1

s+
s+
s+

where

1 sC*
= C * and
1
s
s+
s =0

s + C *

1
=
= C *
s
1
s+
s = 1

Therefore,

X (s ) = C
1
s

s +

and hence

Chapter 3: Mechanical Systems

ME 413: System Dynamics and Control

Dr. A. Aziz Bazoune

t
x (t ) = C 1 e

Chapter 3: Mechanical Systems

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