DYNA 1001 Engineering Systems Dynamics Tutorial 10 1. A first order system when subject to a unit step input rises to 90% of its steady state value in 20s, Determine its time constant, delay time and rise time. 2. An electrical system has a transfer function of 1/(s+2). What will be its output as a function of time when it is subject to a unit step input of 1V? What is the final value of the output? 3. Find the transfer function Xo(s)iXi(s) of the mechanical system shown below. The numerical values of by, b2, ky, and kzare as follows: bi= 5N-5/m, bz=20.N-s/m, ky=5N/m, 10N/m 4, An ideal set of gears is connected to a solid cylinder load as shown below. The inertia of the ‘motor shaft and gear G; is Jy, Determine the torque Tat the motor shaft. Assume the friction at the load is b, and the friction at the motor shaft is by» Assume the gear ratio is n. Hint: The torque at the motorshaft is given by T=T: + TwDYNA 1001 Aplididrs to Tuten ql jee utersl 10 CD Fe time moponce of a finet orden sipeten Ye Yes Ge ea) or yss = Yes a- eo ean oq = (- ef aoe owe Peed ol 2 e72tle In Ol = -20/t = 2-30265 -20/T GE = &/6qs delay time a stg = Tln2 = $64 2 2 6023s rise hme 4, = tao7 tio = TWH4 = 664 4 = AOS@ wip = Jape (9 $t2 The step input hes a Laplace trancform af Output (s) = _ Fuput (Sd St2 - L, Sa 4a C*Y s(+2> : ad fraction keeper) B Outpt (3) =A 4 Bb 3s S+2 = _AG+2)+ Bs. s($+o b= AG + 8s Set 520 le eee tah He -28 Outpt = Oph ® - a cer +(d5) * [Output (33) B caae ae cua) a 2 rk wi as The fireh value is138 Transfer-Function Approach to Modeling Dynamic Systems Chap. 4 ‘Noting that x(0-) = 0, x(0-) = 0, and y(0-) = 0, we take the transform of this last equation and obtain (ms? + bs + k)X(s) = bsY(s) ‘Thus, x) bs ¥(s) ms? + bs +k Since the input yis a unit step, ¥(s) = 1/s. Consequently, bs 6 MO)" Te otk Sma OTR Substituting the given numerical values for m, b, and k into this last equation, we get EE s+ 108+ 50 (s+ 5h +H ‘The inverse Laplace transform of X(s) is x(t) = 2e™ sin Se ‘The values of x(0+), x(0+), and x(00) are found from the preceding equation and are x(0+) =0, (0+) = 10, _x(00) = 0 ‘Thus, the mass m returns to the original position as time lapses. X(s) Problem A4-4 Find the transfer function X,(s)/X;(s) of the mechanical system shown in Figure 4-24, Obtain the response x,(t) when the input x,(r) is astep displacement of magnitude X, occurring at ¢=0. Assume that the system is initially at rest {x,(0-) = 0 and (0-) = 0}. Assume also that x, and x, are measured from their respective equilibrium positions. The numerical values of by, bo, ky, and k; are as follows: b= S5N-sim, = 20N-sim, ky =SNim, ky = 10N/m Figure 4-24 Mechanical system.Example Problems and Solutions 139 Solution The equations of motion for the mechanical system are bi + ka(%; — X0) = bal%o — 9) br(%> ~ 9) = key ‘Taking the £_ transform of these two equations, with the initial conditions x(0-) = 0, x6(0-) = O and y(0-) = 0, we get bilsXi(s) — sXo(s)] + kilXi(s) ~ Xols)] = brlsX0(s) — s¥(s)] bxfsX,(s) - s¥(s)] = bY(s) If we eliminate ¥(s) from the last two equations, the transfer function X,(s)/Xi(s) ‘becomes nay Bere) Rem Substitution of the given numerical values into the transfer function yields Xs) (6+ NQs+1)__ st ise 405 Xs) (s + 1)(2s +1) + 4s +3558 + 05 For an input x/(¢) = X;+1(t), the response x(t) can be obtained as follows: Since _ Sts +05 X XA) Te 356+05 8 . ( 06247 ___ 0.6247 $+ 33508 5 +0: ‘we find that Holt) = (0.6247e3258! — 0,6247¢-O-4" + 1) X, Notice that x,(0+) = X;. Problem A-4-5 ‘Obtain the transfer function X(s)/U(s) of the system shown in Figure 4-25, where w is the force input. The displacement x is measured from the equilibrium position. Tree 425 Mechanica * system.BD ols) = (s+) @say Sem ss OS cu (se Dastty + 4s 3435s +05 (4) Th = JLo, + bie alee o ae, * ba) Ww, = NY T= since. TOF n> Gn w, + by 0) Zeit ir Get ben + Smo) + Pmt