Faculty of Computing, Engineering and the Built Environment

EXAMINATION SOLUTION SHEET

Question Module Title: ENG 6038 Dynamics and Control Exam date: Jan 2016 Marks
No/Part
1.
a)
a = 0.1 m b = 0.045 m

mB
mL

𝑚 𝑇 = 𝑚𝐿 + 𝑚𝐵 𝑚𝐿 𝑎 = 𝑚𝑏 𝑏

Substitution yields :
𝑎
𝑚 𝑇 = 𝑚𝐿 + 𝑚𝐿
𝑏
𝑚𝑇 0.77
𝑚𝐿 = 𝑎 = = = 0.2390 𝑘𝑔
1 + 0.1
𝑏 1 +
0.045

𝑚𝑏 = 𝑚 𝑇 − 𝑚𝑎 = 0.93 − 0.2390 = 0.6910 𝑘𝑔 [5]

0o, 180o, 180o, 0o Engine Configuration

b)
S
S
P
P

P P

S S
Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title: ENG 6038 Dynamics and Control Exam date: Jan 2016 Marks
No/Part

𝑟
𝑥̈ = −𝑟𝜔2 (𝑐𝑜𝑠𝜃 + 𝑐𝑜𝑠2𝜃)
𝐿

Primary forces cancel,

Primary moment cancels,
[8]

c) Total mass of reciprocating parts = 0.93 + 0.239 = 1.17 kg

2𝜋
𝜔 = 6000 𝑥 ( ) = 628.3 𝑟𝑎𝑑/𝑠
60

Secondary moments cancel

Secondary forces add

0.045
𝑀𝑎𝑥 𝑓𝑜𝑟𝑐𝑒 = 4 [1.17 𝑥 0.045𝑥628.32 ( )] = 25.8 𝑘𝑁
0.145 [8]

Rotating at twice engine speed.

Comments

i) spring stiffness chosen such that initial compression length is not excessive.
ii) natural frequency of system much lower than the out-of-balance loads for engine.

TR

Operating
speed of
engine

[4]
[25]
Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title: .ENG6038....Dynamics and Control Exam date: …Jan 2016 Marks
No/Part

For this to be true either the coefficient matrix or the column vector is zero. The
latter is a trivial solution i.e. the mass are stationary. If the former is true then the
determinate of the matrix is equal to zero . The characteristic equation is therefore : -

(-m1ω2 + k1 + k2)(-m2ω2 + k2) - (-k2)2 = 0

m1m2ω4 - [(m1 + m2)k2 + m2k1]ω2 + k1k2 = 0

Which equation is a quadratic in ω2 and gives two values for which ω for which free
vibrations are possible. Given the case m1 = 800 kg, m2 = 60kg, k1 = 180 kN/m and
k2 = 2.4 MN/m get : -

48000ω4 - 298.8x106 ω2 + 4.32x1011 = 0

ω4 - 6225ω2 + 9x106 = 0 gives

 = 47.78 rad/s (1st mode) and

62.78 rad/s (2nd mode).

Using these known values of  then : -

X2 k2  m1ω 2  k 1  k 2
 
X1  m1ω 2  k 2  k2

X2 60000
  1.46 for the 1st Mode and
X1  60(47.78 2 )  60000

X2 60000
   0.40 for the 2nd Mode
X1  60(62.78 2 )  60000
Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title: .....Dynamics and Control UG3 . Exam date: …June 2010. Marks
No/Part

1.46 -0.40

Node
point

1
[20]

nd
st 2 mode [25]
1 mode
ω= 74.95
(ω = 29.85 rad/s)
rad/s
Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title: ENG 6038 Dynamics and Control Exam date: Jan 2016 Marks
No/Part
3.a)
300 kg/m
600 kg

1.5 m 0.5 m

𝑊𝑎2 𝑏 2 (600𝑥9.81)(1.5)2 (0.5)2

𝛿𝑃𝐿 = = = 1.5766𝑥10−3 𝑚
3𝐸𝐼𝐿 3𝑥200𝑥109 𝑥1.75𝑥10−6 𝑥 2

5𝑊𝐿3 (5)(300𝑥9.81𝑥2)(2)3
𝛿𝑈𝐷𝐿 = = = 1.7518𝑥10−3 𝑚
384𝐸𝐼 384𝑥200𝑥109 𝑥1.75𝑥10−6

0.5 0.5
𝑓𝑃𝐿 = = = 12.592 𝐻𝑧
√𝛿𝑃𝐿 √1.5766𝑥10−3

0.564 0.564
𝑓𝑈𝐷𝐿 = = = 13.475 𝐻𝑧
√𝛿𝑈𝐷𝐿 √1.7518𝑥10−3

1 1 1 [8]
= + 𝑇ℎ𝑢𝑠 𝑓𝑇 = 9.200 𝐻𝑧.
𝑓𝑇2 2
𝑓𝑃𝐿 2
𝑓𝑈𝐷𝐿

The choice of shape should the same boundary conditions as the deflection of the beam
b) namely, gradient max. at the two ends and zero at midpoint and maximum deflection at the
mid-point. [5]

c) Deflection at point load with UDL only.

𝑥3 𝜔𝑥 4 𝜔𝐿3
𝑑𝑒𝑓𝑙𝑒𝑐𝑡𝑖𝑜𝑛 𝐸𝐼𝑦 = 𝜔𝐿 − − 𝑥
12 24 24

1 𝑥3 𝜔𝑥 4 𝜔𝐿3
𝑠𝑜 𝑦 = [𝜔𝐿 − − 𝑥]
𝐸𝐼 12 24 24
Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title: ENG 6038 Dynamics and Control Exam date: Jan 2016 Marks
No/Part
3) cont.

1.53 (300𝑥9.81)1.54
(300𝑥9.81)(2) −
12 24
1
𝑠𝑜 𝑦 =
200𝑥109 𝑥1.75𝑥10−6
(300𝑥9.81)(2)3
[ − 𝑥 1.5 ]
24

1
𝑠𝑜 𝑦 = [1655.44 − 620.79 − 1471.5]
200𝑥109 𝑥1.75𝑥10−6

𝑦 = −1.2481𝑥10−3 𝑚

Deflection at point load due to both loads is 2.825 mm downwards.

Fitting a parabola y = a0 + a1x + a2x2 using the boundary condition x = 0, y = 0

yields ao = 0. With x = 2 m y = 0 m and x -= 1.5 m y = 0.002825 m gives a1 =
0.007533 and a2 = -0.003767.

y = 0.007533x - 0.003767x2
𝐿 2
∫ 𝑚(𝑥)𝑦(𝑥)𝑑𝑥 = (600)(0.002825) + 300 ∫ 0.007533𝑥 − 0.003767𝑥 2 𝑑𝑥
0 0

2
𝑥2 3
= 1.695 + 300 [[0.007533
2
− 0.003767 𝑥3 ]]
0

= 1.695 + 1.3856 = 3.0806 kgm

𝐿
∫ 𝑚(𝑥)[𝑦(𝑥)]2 𝑑𝑥
0
= (600)(0.002825)2
2
+ 300 ∫ [5.6746𝑥10−5 𝑥 2 − 5.67546𝑥10−5 𝑥 3
0
+ 1.419𝑥10−5 𝑥 4 ] 𝑑𝑥

2
= (600)(0.002825)
−5 −5 −5
5.6746𝑥10 5.67546𝑥10 1.419𝑥10
+ 300 [ 𝑥3 − 𝑥4 + 𝑥5]
3 4 5
Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title: ENG 6038 Dynamics and Control Exam date: Jan 2016 Marks
No/Part
3.c) cont

2
= (600)(0.002825)
−4 −4 −4
+ 300 [1.51322𝑥10 − 2.2694𝑥10 1.51322𝑥10
−5
+ 9.0816𝑥10 ]

= 0.00478854 + 0.00455694 = 0.0093478 kgm2

= 0.0093478 kgm2.

√Σ𝑚𝑦 √3.0936
𝑓 = 0.5 = = 9.089 𝐻𝑧 [12]
√Σ𝑚𝑦 2 √0.0093478
[25]
Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title Dynamics and Control Exam date: Jan 2016 Marks
No/Part

4
(a) From first column of Routh array 2 < K for stability [5]

1 K
4 8
(4k-8)/4 0 [5]
8

(b) s3 + 4 s2 + K s =- 8 [5]
 1+ 8/(s(s2+4s+K) =0
 G(s)= 8/(s(s2+4s+K) [5]

Bode Diagram
Gm = 9.54 dB (at 0.707 rad/sec) , Pm = 32.6 deg (at 0.375 rad/sec)
c) 50

0
Magnitude (dB)

-50

-100

-150
-90

-135
Phase (deg)

-180

-225

-270
-2 -1 0 1 2
10 10 10 10 10
Frequency (rad/sec)

Gain Margin=10 dB, indicates that the closed loop system is stable with [5]
acceptable margin.

Phase Margin=30 Degrees , a bit low

Faculty of Computing, Engineering and the Built Environment
EXAMINATION SOLUTION SHEET

Question Module Title Dynamics and Control Exam date: Jan 2016 Marks
No/Part

5
(a) For closed loop system: E(s)=R(s) - Y(s)
= R(s) - G(s)e-sL. E(s)
Hence E(s)=R(s) /(1+e-sL G(s)) [10]

(b) From final value theorem, ess= Lim s->0 {sE(s) }

= s.1/s(1 + G(s))} for R(s)=1/s since e-sL ->1
= 1/(1 + 1) =1/2, since G(s) finite (=1) for type 0
[10]

(c) The I term in a PI controller is required as it increases the system type

number by 1, ensuring zero error for a unit step input to minimise emissions [5]

(a)  ln [5]

rad/s [5]

(b) s=jj3 =-1+/- 1.73j

 [5]

(c) From root locus or otherwise:
K=Product of distances to poles / Product of distances to any zeros [5]

Gain = product of distance to poles 0,-2.-2 from s=j3 ~ 2x2x2=8 [5]