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Dynamic Systems Engineering

The document describes a dynamic system consisting of two masses (M1 and M2) connected by springs (K1 and K2). It provides assumptions about the system, sets up equations of motion, derives the transfer function, and specifies system parameters. It then discusses determining poles and zeros, representing the system in state-space form, and simulating the system response to step and impulse inputs while varying parameters.

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Kimuli Rayyan
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13 views13 pages

Dynamic Systems Engineering

The document describes a dynamic system consisting of two masses (M1 and M2) connected by springs (K1 and K2). It provides assumptions about the system, sets up equations of motion, derives the transfer function, and specifies system parameters. It then discusses determining poles and zeros, representing the system in state-space form, and simulating the system response to step and impulse inputs while varying parameters.

Uploaded by

Kimuli Rayyan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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x1 x2

K1 K2

f(t) M1 M2

follower XXXXXXXXXXXXXX b

Cam

x1 = 0, when the system is in dynamic equilibrium

Assumptions

 Assume ideal springs


 Friction experienced by the cam is of a viscous type
 Movement from left to right is taken to be positive

Analysis

f(t) K1(x1-x2)
M1
M1 ẍ 1

From Ʃ F=0
f(t) = K1(x1-x2) + M1ẍ1

f(t) = K1x1 – K1x2 + M1x1 i)

M2ẍ2
K(x2 – x1) K 2 x2
M2
bẋ2

From Ʃ F=0
-[ K1(x1-x2) + M1ẍ1] – M2 ẍ 2 - b ẋ2 – K2x2 = 0 ii)
K1x1 = M2 ẍ 2 + b ẋ2 + x2 (K1 + K2)
1
x1 = K 1 [M2 ẍ 2 + b ẋ2 + x2 (K1 + K2)] iii)
…
1
ẋ1 = K 1 [M2 ẍ 2 + b ẍ 2 + ẋ 2 (K1 + K2)]
.… …
1
ẍ1 = K 1 [M2 ẍ 2 + b ẍ 2 + ẍ 2 (K1 + K2)] iv)

from iii) and iv)


.… …
M1
f(t) + K1x1 = K 1 [M2 ẍ 2 + b ẍ 2 + ẍ 2 (K1 + K2)] + [M2 ẍ 2 + b ẋ2 + x2 (K1 + K2)]
.… …
K1 f(t) = M1 M2 ẍ 2 + M1 b ẍ 2 + (M1 (K1 + K2) +M2 K1 ) ẍ 2 + b K1ẋ2 + x2 K1 K2
.… …
L [K1 f(t) = M1 M2 ẍ 2 + M1 b ẍ 2 + (M1 (K1 + K2) +M2 K1 ) ẍ 2 + b K1ẋ2 + x2 K1 K2]

K1 F(s) = [M1 M2 s4 + M1 b s3+ (M1 (K1 + K2) +M2 K1 )s2+ b K1s+ K1 K2 ]X2(s)

Transfer function assuming zero conditions


X 2(s ) K1
G(s) = F (s) = [ M 1 M 2 s + M 1 b s +(M 1(K 1+ K 2)+ M 2 K 1)s +b K 1 s+ K 1 K 2]
4 3 2

Let
M1M2 M 1b M1K2
E= K1 F= K1 W = [ (M1 + M2 ) + K1 ]
1
G(S) = [ E s 4 + F s 3+W s 2+ b s + K 2]
Specification of system parameters for the above dynamic system as appropriate

Stiffness of steel, K1 = 190N/m

Stiffness of the spring, K2 = 20N/m

Mass of the follower,M1 = 0.4Kg

Mass of the Cam, M2 = 0.8Kg

Damping constant = 10

Determination of poles and zeros of the transfer function

Matlab script
State-space representation of the system
Simulated response of the system to typical inputs

a) Step input

Steady state at t = 1.56s

Amplitude = 0.000501

Rise time = 0.0437s

Settling time = 1.055s

Peak amplitude = 0.000835 at time = 0.137s


Overshoot = 66.3%

b) Impulse response

Settling time = 1.1s

Peak response

Peak amplitude = -0.0106 at time = 0.0621s


c) Changing of system parameters and studying the behavior to the above inputs

Matlab script
Impulse response

Peak amplitude = -0.06106 at time = 0.0621s

Settling time = 1.1s


Step response

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