Chapter 08.04 Runge-Kutta 4th Order Method for Ordinary Differential Equations-More Examples Industrial Engineering Example 1 The open loop response, that is, the speed of the motor to a voltage input of 20V, assuming a system without damping is dw 20 = (0.02) — + (0.06) at If the initial speed is zero (wo(0)= 0) .and using the Runge-Kutta 4* order method, what is the speed at ¢= 0.88? Assume a step size of r= Solution ci = 1000~3w dt Sf(tw)=1000-3w 2 + 2k, +2ky +k, Ve k= Slt.) = f(0,0) = 1000-30 =1000 An +thw, +4 =f o-{4x04}0+/ | (000)<0.4 ) = f(0.2,200) = 1000-3200 =400 dt 14) k =d|ht gh Wet seh | 08.04.108.04.2 Chapter 08.04 1 1 \) =f0o{ $04} 0-( L()<04)) = f(0.2,80) = 1000-380 =760 ky =f (ty +iywy + kh) = f(0+(0.4),0+((760)x0.4)) = f(0.4,304) = 1000-3304 =88 a=W ha, + 2k, + 2k, +h Jh =0 + £(1000 + 2x (400)+2(760)+(88))<0.4 = 0+ £(6408)x 0.4 27.2 rad/s ay; is the approximate speed of the motor at 1=f, =) +h=0+04 =04s (0.4) = w, = 227.2 rad/s 04, w, = 227.2 Slt. mi) = f(04, 227.2) 000-3 227.2 184 Aa tony +h} 2 2 =s{ose{Fxos 272+{4¢184)x04)) 2 ) k= Ar + Shaw + =s(os+{[ x04} zmr2+ (Fear 36)x04)| 67)Runge-Kutta 4th Order Method for ODE-More Examples: Industrial Engineering S(t, + haw, +h) = f(0.4+0.4, 227.2 + (241.98x0.4)) £(0.8, 323.99) 1000-3 323.99 28.019 , +2 +2k, +2, +h, Die aGisa +2 (127.36)+ 2 (241.98)+ 28.019) 0.4 =! 2272+ Z(1085 ixo4 = 299.54 rad/s 1vy isthe approximate speed of the motor at 121 =1, +1-04+04=085 10.8) = w, = 299.54 rad/s The exact solution of the ordinary differential equation is given by wna) 3 3 The solution to this nonlinear equation at (0.8) = 303.09 rad/s 0.88 is 08.04.3, Figure | compares the exact solution with the numerical solution using the Runge-Kutta 4* order method using different step sizes.08.04.4 Chapter 08.04 350 300 250 200 150 Motor Speec (rad/s) 100} Exact Ss 02 03 04 05 06 O07 O08 Time (s) Figure 1 Comparison of Runge-Kutta 4 order method with exact solution for different step sizes. Table 1 and Figure 2 show the effect of step size on the value of the calculated speed of the motor at = 0.85. Table 1 Values of speed of the motor at 0.8 seconds for different step sizes. Step size, ir | w{0.8) Ey le1% Os 155.89 51.434 o4 3.5535 1.1724 02 0.12988 0.042852 OL 0.0062962 | 0.0020773 0.05 0.00034702 | 0.00011449Runge-Kutta 4th Order Method for ODE-More Examples: Industrial Engineering 08.04.5 350 300 250! 200 Motor Speed (rad/s), (0.8) 150 00>—G702 0304.05 08 07 08 Step Size (s) -Kutta 4" order method. Figure 2 Effect of step size in Rung In Figure 3, we are comparing the exact results with Euler’s method (Runge-Kutta 1* order method), Heun’s method (Runge-Kutta 2" order method) and the Runge-Kutta 4" order method.08.04.6 Chapter 08.04 400) 350) 300} Euler Method, 250} 200} 150) Motor Speec (rad/s) 100) 50} 0 O01 02 03 04 O58 O06 OF O8 Time (5) Figure 3 Comparison of Runge-Kutta methods of 1", 2™, and 4" order.