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3 L sin 1 4
3 L sin 2 4
First, we write the moment equilibrium about the pivot point of the left pendulum from the free body diagram,
3 3 && L(sin 1 sin 2 ) cos 1 L = ML2 1 4 4 . 9 2 && 2 ML 1 + MgL sin 1 + KL cos 1 (sin 1 sin 2 ) = 0 16 M L = MgL sin 1 K
Then for the right pendulum,
3 3 && L(sin 1 sin 2 ) cos 2 L = ML2 2 4 4 && + MgL sin 9 KL2 cos (sin sin ) = 0 ML2 2 2 2 1 2 16 M R = MgL sin 2 + K
Assume the angles are small, we have sin 1 1 , sin 2 2 , cos 1 1 , and
cos 2 2 . So the linearized equations of motion becomes,
2) Solution:
The state variables are i1, i2, i3, v1, and v2. Three loop equations and two node equations are written:
v1 = L1
di1 dt
v2 = L2
di 2 + v1 dt
di3 dt
v 2 = L3 i 2 = C1
dv1 + i1 dt
i = i3 + C 2
dv 2 + i2 dt
Substituting from equation (1) and (3) into Equation (2) gives
L 2i3 = L 2i 2 + L1i1 + K
(6)
where K is a function of the initial conditions. This equation reveals that one inductor current is dependent upon the other two inductor currents. Thus, this circuit has only four independent physical state variables, two inductor currents and two capacitor voltages. We define the four independent state variables as x1=v1, x2=v2, x3=i1,x4=i2, and the control variable is u=i. Three state equations are obtainable from Equations (1), (2) and
(4). The fourth equation is obtained by eliminating the dependent current i3 form Equation (5) and (6). The result in matrix form is
0 0 0
1 C1 L1 L3C 2 0 0
1 L2 x1 x 2 y = [1 0 0 0] x3 x 4
1 C1 x 0 L 2 + L3 1 1 L3C 2 x 2 + C 2 i x3 0 0 0 x4 0
(7)
3) Solution:
(a) Input: V(t) States: Energy storage elements in the given electromechanical system are (1) Capacitors, C2 (2) Capacitor, C1 (3) Spring, k1+k2
MEEN 651 Summer 2004 (4) Mass M. Therefore, there are four states: y1 = VC 2 y 2 = VC1 = v y3 = x & = Vm y4 = x (b) For current loop 1, we have (1)
V (t ) VC 2 Ri VC1 = 0 V (t ) y1 Ri y 2 = 0 1 i = (V (t ) y1 y 2) R
and , (2)
(3)
(4)
1 1 &2 = y (V (t ) y1 y 2) (TVm) C1R C1 1 1 &2 = y (V (t ) y1 y 2) (Ty 4) C1R C1 (c) For mechanical system, we have
&= F M& x & + (b1 + b 2) x & + (k1 + k 2) x = Fm M& x Thus, from (1),(5), we have & 4 + (b1 + b 2) y 4 + (k1 + k 2) y3 = Tv My &4 = y . 1 {Ty 2 (k1 + k 2) y3 (b1 + b2) y 4} M (6) (5)
1 C 2R 1 C1R 0 T M
0 0 0 k1 + k 2 M
1 y1 C 2R T y 2 1 C1 y3 + C1R V (t ) (7) 1 0 b1 + b 2 y 4 0 M 0
4) Solution:
Let the position vector of the cart be chosen as x. The velocity and the acceleration of
& and & & . The position, the center of mass of the slider with mass, M be denoted as x x
velocity and acceleration vectors of the center of mass of the pendulum is given by
l X g = x sin 2 l Yg = cos 2
& l & l sin & =x & cos X g 2 2 & & + l cos & = l sin Y g 2 2
(1)
(2)
&& l && l& cos & + l sin & 2 l sin && = & & X x cos g 2 2 2
(3)
(4)
The nonconservative forces in this case result from the input force and the system damping, so the generalized forces are
& x = f (t ) bx = 0 Kinetic and Potential Energy Functions (5) (6)
T=
(7)
1 1 l 2 & 2 l&2 1 & l&x &2 & 2 + m( & cos & sin ) + + lx ml 2 ( M + m) x 2 2 4 4 24
(8)
Choose horizontal plane as potential datum, since the cart moves only in the horizontal direction, the potential energy of the system is determined entirely by the angle of the pendulum, given by
l V = mg cos 2
Hence, Lagrangian function is given by L = T V =
(9)
1 1 l 2 & 2 l&2 1 & l&x & 2 mg l cos & 2 + m( & cos & sin ) + + lx ml 2 ( M + m) x 24 2 2 2 4 4 (10)
d L 1 1 && + 2 mll& & + 1 mlx & 1 ml cos & & sin & ml&x & cos x ( ) = ml 2 & dt 2 2 3 3 2
L =0 x
The Lagrangian equations are
d L L & ( ) = f (t ) bx & dt x x
d L L ( ) =0 & dt
&& l & 2 l cos && l& cos & l sin ) = f (t ) & + bx & + m( sin x ( M + m) & 2 2 2 4 8 2ml cos & && mll& & + 2mgl sin = 0 & ml 2 x 3 3
(13) (14)
Substituting (11), (12) into (13), (14) gives the governing equations of motion of system
(15)
5) Solution:
(a) To determine the equilibrium values, the derivative terms are equated to zero. Hence we get,
y (1 x 2 ) = 0, y = 0, or x 2 = 1
and x(1 + y 3 ) = 0, x = 0, or y 3 = 1. Therefore, there is no unique equilibrium value for the system. (b)
MEEN 651 Summer 2004 Define new variables, x(t ) = x(t ) x0 , y (t ) = y (t ) y 0. Applying Taylor series expansion to the first non-linear equation, we get
& (t ) = y (1 x 2 ) x = 1 + x
y = 1
( y (1 x 2 )) ( x(t ) x0 ) + ( y (1 x 2 ) ( y (t ) y 0 ), x = 1 x = 1 x y y = 1
y = 1
(1)
Similarly applying the Taylor series expansion to the second nonlinear equation, we get & (t ) = x(1 + y 3 ) x = 1 + y
y = 1
& (t ) + 3y (t ) = 0 y Equations (1) and (2) represents the linearized differential equations of the system.
6) Solution:
& T. (a) This is a second order non-linear differential equation in . Let x = Thus we have
Therefore, we get
7) Solution:
(a) To obtain the operating point, equation all the derivative terms to zero. From the first equation, we get
sin = 0, = n . We choose the first equilibrium point, 0 = 0. From the second equation, we get x0 = 0 . Define three new variables (t ) = (t ) 0 x(t ) = x(t ) x0 F (t ) = F (t ) F0 . Applying Taylor series expansion for the first equation, we get
&(t ) cos (t )) &(t ) cos (t )) & &(t ) = 0, (ml& x (t ) + (ml& x x x =0 x =0 & & x =0 =0
(1)
&&(t ) cos (t )) &&(t ) ml & (t ) 2 sin (t ) x =0 & (t ) 2 sin (t )) (ml (ml (t ) x =0 x =0 =0 && =0 =0 & (t ) 2 sin (t )) & (t ) = F (t ) + F0 (ml x =0 &
=0