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k1
k2
f
k3
234
k1
k3
k2
k4
L/2
m
x
f
b
z
Object
5. For the system shown in Figure 5.123, the inputs are the forces f1 and f3, and the outputs are the
displacements x1, x2, and x3. Draw the necessary free-body diagrams and derive the differential
equations of motion. Write the differential equations of motion in the second-order matrix form.
6. Consider a quarter-car model shown in Figure 5.124, where m1 is the mass of the seats
including passengers, m2 is the mass of one-fourth of the car body, and m3 is the mass of
the wheeltireaxle assembly. The spring k1 represents the elasticity of the seat supports,
k2 represents the elasticity of the suspension, and k3 represents the elasticity of the tire.
z(t) is the displacement input due to the surface of the road. Draw the necessary free-body
diagrams and derive the differential equations of motion. Write the differential equations
of motion in the second-order matrix form.
k2
k1
b2
m1
k3
b1
f1
x1
m2
m3
f3
k4
x2
x3
Mechanical Systems
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x1
m1
k1
b1
x2
m2
k2
b2
x3
m3
k3
7. The system shown in Figure 5.125 consists of a uniform rod of mass m and length L and a
translational spring of stiffness k at the rods tip. The friction at the joint O is modeled as
a damper with coefficient of torsional viscous damping B. The input is the force f and the
output is the angle . The position = 0 corresponds to the static equilibrium position when
f = 0.
a. Draw the necessary free-body diagram and derive the differential equation of motion
for small angles .
b. Using the linearized differential equation obtained in Part (b), determine the transfer
0 ) = 0.
function (s)/F(s). Assume that the initial conditions are (0) = 0 and (
c. Using the differential equation obtained in Part (b), determine the state-space
representation.
8. Consider the inverted-pendulum system shown in Figure 5.126. The system consists of a
bob of mass m and a massless rod of length L. Two springs of stiffness k are connected to
the middle of the rod. The position = 0 corresponds to the static equilibrium position.
a. Draw the necessary free-body diagram and derive the differential equation of motion
for small angles .
b. Using the differential equation obtained in Part (a), determine the state-space representa
tion. Assume that the outputs are the angular displacement and the angular velocity V.
O
B
L/2
f
C
m, L
236
L/2
O
9. Consider the system shown in Figure 5.127. Assume that a cylinder of mass m rolls without
slipping. Draw the necessary free-body diagram and derive the differential equation of
motion for small angles .
10. The pulley of mass M shown in Figure 5.128 has a radius of r. The mass moment of inertia of
the pulley about the point O is IO. A translational spring of stiffness k and a block of mass m
are connected to the pulley as shown. Assume that the pulley rolls without slipping. Derive
the equation of motion using (a) the force/moment approach, and (b) the energy approach.
11. Consider the mechanical system shown in Figure 5.129, in which a uniform rod of mass m
and length L is attached to a massless rigid link of equal length. Assume that the system
is constrained to move in a vertical plane. Denote the angular displacement of the link as
1, and the angular displacement of the rod as 2. Derive the equations of motion for small
angles using (a) the force/moment approach, and (b) the energy approach.
k1
k2
a
r
C
m, L
2
Mechanical Systems
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12. Consider a half-car model shown in Figure 5.130, in which IC is the mass moment of inertia
of the car body about the pitch axis, mb is the mass of the car body, mf is the mass of the
front wheeltireaxle assembly, and mr is the mass of the rear wheeltireaxle assembly.
Each of the front and rear wheeltireaxle assemblies is represented by a massspring
damper system. The input is the force f, and the car undergoes vertical and pitch motion.
Derive the equations of motion using the force/moment approach.
13. A rack and pinion is a pair of gears that convert rotational motion into translation. As
shown in Figure 5.131, a torque is applied to the shaft. The pinion rotates and causes the
rack to translate. The mass moment of inertia of the pinion is I and the mass of the rack is
m. Draw the free-body diagram and derive the differential equation of motion.
Consider the massspringdamper system shown in Problem 9 of Problem Set 5.2, in
14.
which the cam and follower impart a displacement z(t) in the form of a periodic sawtooth
f
c
Ic,mb
ksf
xb
ksr
bsf
bsr
xf
xr
mr
mf
kr
kf
a
1.5
t (s)
238
function (Figure 5.132) to the lower end of the system. The values of the system parameters
are m = 12 kg, b = 200 Ns/m, k1 = 4000 N/m, and k2 = 2000 N/m.
a. Build a Simulink model based on the differential equation of motion of the system and
find the displacement output x(t).
b. Build a Simscape model of the physical system and find the displacement output x(t).