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Exp 2

This document describes modeling a ferris wheel as a second order rotational system and finding its transfer function using MATLAB. It defines the ferris wheel model as a rotational mass with inertia I experiencing a spring force with coefficient K and viscous friction with coefficient B. It shows deriving the governing differential equation and taking its Laplace transform to obtain the transfer function G(s)=1/(Is^2 + bs + k). It then provides the MATLAB code to input this transfer function for different inertia values I and find the step response to analyze the effect of I on transient response characteristics.

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Ayman
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21 views3 pages

Exp 2

This document describes modeling a ferris wheel as a second order rotational system and finding its transfer function using MATLAB. It defines the ferris wheel model as a rotational mass with inertia I experiencing a spring force with coefficient K and viscous friction with coefficient B. It shows deriving the governing differential equation and taking its Laplace transform to obtain the transfer function G(s)=1/(Is^2 + bs + k). It then provides the MATLAB code to input this transfer function for different inertia values I and find the step response to analyze the effect of I on transient response characteristics.

Uploaded by

Ayman
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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Exp2: Transfer Function of Second Order System Using MATLAB

Video: Link

Objective:

To model Ferris Wheel as a second order rotational system.

Description:
This example problem can be modeled as a rotational mass, with inertia I, where the friction acts as a
velocity dependent force, with coefficient B, and the spring force acts as a position dependent force,
with coefficient K.
Solving a rotational second order problem is directly analogous to solving a linear second order
problem. The only differences are that instead of forces we deal with torques, instead of mass we deal
with inertia, and instead of translational motion we deal with rotations about an axis.

FREE BODY DIAGRAM

In order to draw a free body diagram of the above figure we must separately consider each and every
torque acting on the body and then draw them all onto the diagram.

Figure 1 - Free body diagram: Ferris Wheel as a rotational mass-spring-damper.

Force Mathematical Expression Direction


Spring Torque k θ(negative) Clockwise
Friction Torque b θ' (negative) Clockwise
Inertial Torque I θ" (negative) Clockwise

Drawing the torques in the table above yields the following free body diagram.

GOVERNING EQUATION

Summing all the torques on the body together in a mathematical equation yields the governing
equation for this system.
According to D'Alembert's Law, the sum of all torques acting on a body including the inertial torque
is equal to zero.
Using D'Alembert's Law:
Sum of all torques = -k θ - b θ' - m θ" = 0
or equivalently
k θ + b θ' + I θ" = 0

HOW TO FIND THE LAPLACE TRANSFORM GOVERNING EQUATION

From the free body diagram the time domain differential equation is:
k θ + b θ' + I θ" = 0
The notation for the Laplace Transform operation isL{ }
L{ θ(t) } = θ(s)
L{ θ’(t) } = s θ(s) – θ(0)
L{θ"(t) } = s2 θ(s) – sθ(0) – θ'(0)
The initial conditions for this system are non-zero. θ(0) = 0, but θ'(0) = θ(0).
Substituting into the governing equation leads to:
k[θ(s)] + b[sθ(s)] + I[s2θ(s) - θ(0)] = 0
Upon rearrangement:
[Is2 + bs + k]θ(s) = I*θ(0)
The governing Laplace equation for this system is:
θ(s) = [ 1/[Is2 + bs + k] ] * I*θ(0)
At this point, strictly speaking, there is no transfer function defined. w(0) is an initial condition, not
an input. However, the form of the Laplace Transform for q is that of a second order transfer
function multiplying the Laplace Transform of an impulse input of magnitude I*w(0). The transfer
function is:
G(s) = 1/[Is2 + bs + k]

HOW TO INPUT THE TRANSFER FUNCTION INTO MATLAB

To simulate the response to the non-zero initial condition it is necessary to enter this transfer
function into MATLAB. Because MATLAB cannot manipulate symbolic variables, we will now
assign numerical values to each variable.
I = 40 kgm2
b = 20Nm/s
k = 20Nm
>> I = 40;
>> b = 20;
>> k = 20;
In order to enter the transfer function into MATLAB, you must separate the numerator and
denominator, which in this example are denoted by ‘num’ and ‘den’ respectively. The format for
either matrix is to enter the coefficients of sn in descending order.

>> num = [ 1 ];

>> den = [ I b k ];

>> system = tf(num, den)


This will assign second_tf as the name of the transfer function as well as yield the following
output:

Transfer function:
1
------------------------------
40 s^2 + 20 s + 20

PROCEDURE,

Find the step response of the below table and explain the difference in transient response
characteristics

STEP RESPONSE USING THE TRANSFER FUNCTION

I b k Mp tp ts ζ ωn ωd

40 20 20

10 20 20

05 20 20

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