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Assignment 1

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arif hussain
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20 views

Assignment 1

Uploaded by

arif hussain
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Assignment # 1

For the given general linkage we have to calculate

1. Acceleraation acg3

2. Dynamic force for the system

3. Moment created by the dynamic force at O2 and O4

O2

Let the frame l lie the reference frame , so we will calculate displacement and velocity

ΔX 1-2 = 108.4 - 72.3 = 36.1

ΔX 2-3 = 137.8 - 108.4 = 28.9

ΔX 3-4 = 160.0 - 137.3 = 22.7

V 1-2 = 36.1 x 50 = 1805 units/s

V 2-3 = 28.9 x 50 = 1445 units/s

V 3-4 = 22.7 x 50 = 1135 units/s

Now linear acceleration,

a x =(v 7-8-v 5-6) / 150

a x = (1135-1805) /150
a x = - 4.66 units/s2

Similarly

Vg 1-2 = -2.4 x 50 = - 120 units/s

Vg 2-3 = -3.2 x 50 = - 160 units/s

Vg 3- 4 = -3.5 x 50 = - 175 units/s

Now linear acceleration ,

a y = ( V y 7-8 - V y 5-6) / 150

a y = ( - 175 – (-120) )/ 150

a y = - 0.36 units/s2

We have to find the dynamic force and moment

F = -mag

F = -10 x (-0.36)

F = 3.6N

The moment will be calculated as

M= r x F = 0.35 x 3.6 = 2.28 Nm


Assignment # 2
This is a three (called multi) DOF system with spring and damper. Oscillation will start
when Forced are applied. Nature of forces are different and applied for 50 secs. Both F1
and F3 forces behave like heaviside. Take maximum value 1000 with no delay for force F1
and for force F3, take maximum value 500 with 20 sec delay (check the supplied file for
information), F2 force behaves like sine form with amplitude 500 and delay 10 sec with
angular frequency =id

For the given system we have to find displacement , velocity and acceleration using
matlab software.

Figure 1 Spring Mass damper system

The differential equation is converted in the form of matrix The matrix can be solved using
MATLAB for which the code is also given below.
Figure 2 Matrix form

The MATLAB code with figure of displacement, velocity and acceleration are given as

clear all
close all
clc

%% Main Data

% Numerical values

ti = linspace( 0 , 80 , 10000 );

id = 17;

m1 = id/25;
k1 = id*12;
c1 = id/4;
m2 = id/70;
k2 = k1/3;
c2 = c1*4;
m3 = id/35;
k3 = k1/5;
c3 = c1/3;

x10 = id/10;
x20 = -id/20;
x30 = id/20;

dx10 = 0;
dx20 = id/2;
dx30 = id;

% Inputs

syms t x1(t) x2(t) x3(t)

u(t) = heaviside(t);

F1 = 1000*( u(t) - u(t-50) );


F2 = 500*( u(t-20) - u(t-70) );
F3 = 500*sin(id*t)*( u(t-10) - u(t-50) );

F1t = eval(subs( F1 , t , ti ));


F2t = eval(subs( F2 , t , ti ));
F3t = eval(subs( F3 , t , ti ));

figure
subplot( 1,3,1 )
plot( ti , F1t )
xlabel('time [s]')
ylabel('F1(t)')
grid minor

subplot( 1,3,2 )
plot( ti , F2t )
xlabel('time [s]')
ylabel('F2(t)')
grid minor

subplot( 1,3,3 )
plot( ti , F3t )
xlabel('time [s]')
ylabel('F3(t)')
grid minor

%% The system

A1 = [0 1 0 0 0 0];
A2 = [ -(k1+k2)/m1 -c1/m1 k2/m1 0 0 0 ];
A3 = [ 0 0 0 1 0 0 ];
A4 = [ k2/m2 c2/m2 -k2/m2 -c2/m2 0 0 ];
A5 = [ 0 0 0 0 0 1 ];
A6 = [ 0 0 0 c2/m3 -k3/m3 -(c2+c3)/m3 ];

A = [ A1 ; A2 ; A3 ; A4 ; A5 ; A6 ];
B = [ 0 0 0 ; 1/m1 0 0 ; 0 0 0 ; 0 1/m2 0 ; 0 0 0 ; 0 0 1/m3 ];
C = eye(6);
D = zeros(6,3);
x0 = [ x10 dx10 x20 dx20 x30 dx30 ].';

sys = ss(A,B,C,D);

%% The simulation

u = [ F1t ; F2t ; F3t ].';

x = lsim(sys,u,ti,x0); % <-- For position and velocity

% Acelerations

a1 = -((k1+k2)/m1)*x(:,1) - (c1/m1)*x(:,2) + (k2/m1)*x(:,3) + F1t.'/m1;


a2 = (k2/m2)*x(:,1) +(c2/m2)*x(:,2)-(k2/m2)*x(:,3)-(c2/m2)*x(:,4)+F2t.'/m2;
a3 = (c2/m3)*x(:,4)- (k3/m3)*x(:,5)-((c2+c3)/m3)*x(:,6) + F3t.'/m3;

%% Plotting

figure
plot( ti , x(:,1) , ti , x(:,3) , ti , x(:,5) )
legend('m_1','m_2','m_3')
xlabel('time [s]')
ylabel('Position [m]')
grid minor

figure
plot( ti , x(:,2) , ti , x(:,4) , ti , x(:,6) )
legend('m_1','m_2','m_3')
xlabel('time [s]')
ylabel('Velocity [m/s]')
grid minor

figure
plot( ti , a1 , ti , a2 , ti , a3 )
legend('m_1','m_2','m_3')
xlabel('time [s]')
ylabel('Aceleration [m/s^2]')
grid minor

The displacement, velocity and the acceleration does not undergo under
damped vibration.

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