Protse the Foad. GON NR Smee Unt - System Concepts SASTEM CONCEPTS : Artomatic — control “ploy Ss Sov Se Nana of js and scfente- { Applications of tonto aystime : * Spa vehtole ’ sqeton 1 Miata guidance syste © Robots sytton = ea : ee eee : Alng Unduabi es. * Automobtl Laci bites . . oe ¥ fonbol of prewvoa rmpevatus , Rumidtty, Vecomtly Ov induil Fink afgrt}rtont work tw automata. fonhiod war by - Tames wath for speed torb sol 4 stam Engine . 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No exmor dubedtsa + Gnactusah and Untabtable. i a4 denithive 16 El end envireninent af Me Bandws dth is small g. Suse pe te ters buck SERVOMECH Antsm$ - [rocitton Hot 4 jeod back: ‘alosed- Anoop - system - any wn lp aypeds tlp- {ib & taken : Ofp — meosnrement a od Krwoa dat ecto? as neu oy : Higa Attuvate 2 Telfable . 2 dgstisbant» fone aenititve bs, dpatigantd anol — envéronment ab danges - Band width & tage : Compt calzd ts dustan, and a % servo ms ter tent vol wang tonkaod system In s0hich Bet oatpul So Bu mechantenl oattton 0A Be Rime dotvattve: suth of Veloothy oz §=atcelration:of ev VOmo tox powered oy Genova x. 44 © SE wneictan % The toad whose postion de to te tontoltad Generted to tu stat gf motoa by mune a + feitred ood position Op 2 ack SH F/p racine ¥ Adal ood positon O, is a I fesd-beek — quiet an ervey Sgr # Olfeena in bewo positions tus Hh fh ambit pted ord given to ff eld op gts Vowging th aml Sndusnd and fone the Spd. ¥ Rot at®on fh moter stebs hun enon alged a zoo. Ce ag ela taht l Feod bask po tentlomatig :Naplate brantfiten Pains > oO 4c) Unit tin pele E(t) Unit akep ult) + m4 @7 V1 -at e " ak e t —ak at te 1 en -ak ns ee t -O tre Sinwt wmswttae guts Ruot . ; ei we toi tos hut i Baca 1b. iad ae See: ae Va. ~at (eray2 4a . cog est * otk w LDA yt) - AT Gray? 4 oe We Ltd gH s AOERES ee cqus) ef a- tl) at / : ai. Lp (4e9)} = arts ~ s$lr> - pe) att : Pervcrere OF SuPRaPOSITION Ann Homougnerty 1 - i 4a a sth modtt fas actbonses ryt) ord ke any anputa a,(Q) and %g Lt) respectively, Her the ays Ausp te the Mneo, tombinalton of these Sa pole ay Wt ag Ty lt) given doy thy Heneas ombtraifon of the dreltvitdaal outpste yl where a, and AQ Oe prateals” wet A de a A reod sysiir mutt) yuo ag) Lf yo a a UX) ay) Ya Le) \ ? | ygtt) = 04 tt) + % Yat) 22)‘s Aethemadtta Medits tonto “agatama |. 2 A contsch - sytem geno dlg consists "| tleeteal end ronchantenl components « # We should fave equtvalent represent obfor the Sree eee ae ct 6 physteol Syste, ha having vastons components and obtarn eek of masher altcal eq na tons of, She syslm to noper ea en She 4ysbm: - * tom thae equaltons we obtain the Hans far tun eckton 4 the ayptim ‘ > Teansrer Function §~ JTeansrer Tuncrion % - 3 She fared function of a _agplare dale as the tatio of the top: Aranifehn of of outpss, do the toplare Lanai of dnpub wk Zero anttial eondttions - (ee eee 7 we Loplace sans pan of Sd i 2 2 : ; with zexc Sint blah to nde fo: i: fet we inde head ont : ~Vefeod ba tls system . ss of ve {ib 5% accuracy tn tracking « atah 7 * efectio 4 disbwbance atgral . 2% dow sonst lt vb bo parainater vaitabion - Yeduetlon fh get ot the ampere of Aethe seid: : do nok we tye {le detavse tt Envveases tre evv0r Agroh ad dive By output de that bety-Modell? tmechantcal dustam $ - Gn - mecharvcad upton Matton ours + diferent kype a (1D Trans Lational motion @ Rotational metion- ; motion an ‘a abatght Line « Motion “about a row aws- a Analysts qf michontcal trans Jettonal sytem - +A mechanteat éysturn ah tohich the motion fone place ay a straight dine & coled as © reushan Branvlattonal —aystim: # There stp ioine axe chonackerised td Atsblatament , Atrwor veloctky and Hints actetenation x The dloments involved in He analysts Avanstattonal Siptem sa) Mass 6) SPRING oa x Wetght ¢ mashanteal system ts Aepesednd big oat ¥ Floste difearation 4 De ody A apr egentad sy apting + Fatchion ont alt an mothontad system 3 repr esentid dosh - por [Bosk-pot ia pielon moving inotde cal? os {ila ayith Weeous fut] - / y when force in apphid be mach- fraulabtonal syster , it ts of dy ofpoatng pores due to mass, 4a’ chifors and clos tier ty. & Accord’ tp Newtons Jou “ Me gum a fonces acting a dndy Is gee" on “ She sure of applted fous ais & ws do dur of obpostng fort on a body".' mbolk vsed ta franitgtforal — aysten® erry Re ees ee San m/tece, 2 ‘P ae Bas dv dx = Aeveenabion hm [see 7 at ake ee el Newton * 7 {me Opposing fore. offrced man of Be dodgy. yds predtng " alas tacity of vooy No dye 8 f y pieilon M = Mans tg, ke abifinest of fj = Veo qeton A , Force rlane oquatton af fanatatd _elarunts’ x) Mass (m)*- ) + Man dee RE rs translation! moblon fe ae fae x der a force at Neuston, 2 Dt oppriid tot : { a dfploumnt 2 talus plac” Repran J uh a ditzecbfon of appaid ie peheren Dx A force fmm ( due te most) ee ea the applied fone. } f. sAppiced orca 5m = Sepoatng foro dus ty wast ’ ’ tind Cee & : at J tm M. aa “a } I 'iokinever there ts matfon fatcfon east» [Vis tous feet on, Stati purction. Covlowh geetoe J bidominetis* i to ap dendan woth {laid fe hud ee Fifetion te rqratented by Aash-pot ox damper, Piston moving | then a fora applted te it, He doshwok offers an opps fore 4! te ty veloctly - Pe ee $> —a}-+ AL = Sppeativon fora - B tb ae 5 4,8 ‘By aewtore seiord dao def y= Be £1) Das upot © en Friction <0 wo “tohan 4 dachpot tas Ales pla tement at poly endl « epposing fora” bo tf differential Velo thy ba be re-, wee tbe A Cy-28) at te Bed Gynt): ty nu tors Law 4: fe= Bd Ge ar Sg ae 2) crews Gt Gn mochant cal sydtem th eve mony AR a achi dus to an etasti Gb on balk. token force So opbitna to pte Be offers am sponta force wal Afsplocmd * te oe “ae bh he Rx we « > % then opt for dsblatement ak ho th ends, Ken hese fore to xl tm ditterantind — atabtocement ti & (Ae 2a) ba 4 qk k (4 ~%2 ag 60m k Aster bly -ag)Yocdine ty inn terntnn TAL eae Step 1s cuntthy the mast clement up as Draw He free boay Bagrars coor Moss deperately, 7 Bppoatng fore opposite sect oe on “abs and movk all foveet acti ty ond aren au im af pepplied force. a op Racornant Velou' dof applied free] 3 aq wath Ih alffpaenttot —equaliow of cath fe? heed _" dtage am by oppeytng Newtons tows - ‘otip 4% Take op low drars form ct AtYs exorded eqn rat bls op ond hp and ebbain oc Rove Cn tals xls) at? } a Le ean | ‘ Lp ara, Vo. gteyray ) J i mid [re bly Pa ae Nagar] ah Me mathantecal equations | the marhant cob aystam od dak eerie de Ee | \> tsSeve tapuk to fora = ptt); ofp % ABsbdace ment =Xa si TP: Loplaw 4 o/p [ LE wy = x9 =e . 4 loplan “Ip The) Fe) stp tt St tas boo mas dtement ‘My and Ma, , Sbp 22 Draw te free body dtage am ca tos MM, m i he $b) {ka : Te f ~) Shep es With Me at re “Ne May 4 are {ee KA tka ke Carta) f tha, = Bed By ranitons aw fin aki {bit phe t4ba=0 Mau + kay + B)-4 Cyaan) + Ka (aa) + Bo . abe at On takérg Anpliace solth Cero Sntttal eonditions oe gt: M82 x 4 exit + BST ara] 4 ke feed xsl] + By SX 1S) 20, x, @) [nist + ky + BS + ka + By 8) =) CBs t ka} x, 6S) [ Meo + s(B)4Ba) ACK4 Fa) = XG) [aistka XQ) = %2t)- [as +kal a rege GA On mab) de : a [uye? +508, 482) +Caak |P43 Bee body atagram bl mon Ma 3 et) | 4 2 bs | am |e ie By nuotins Jaw | tbs JOD = fngs fbi 4 {ka + dbs, ] ] fit) = Ma. day dr on baking dop dow. tellh Xero dndbfal tondt tom - FOS) - Mg S? Xa 8) +B, 8 [ys -xi to] + ra [dtd -«ilt)) +83. SX 9 (8) 2 FO) = xal) [G8 4B, +85)s +a] OT asttal . on substi be bing x, 8 from ean ; FG) = X99 [ mas? 4 (eytedetka) ~ tal) [eis + ka) [8 s+ ka] + Bd (ra) & ky Gg-t)+ Bydta- dt dt ] ] ] | jee eee oe | [™ st IS" 4SCB BED 4 Ck , (3) = Xgl3) | masts (BBS + ka] [r, as cK WEB + Cris ta)| b : ms Bys+tq] * Ms? 450 R48 4% fo Top Of syslim iss Be) + Ch) + ha/) XQ09 Ws? + s[pia Ba) + [yaks] FS ) : ) | ! [Met Con besa SP 4 C84 B | {C% 1 Ds tka] Mers stoned ost] } ) !ad Yad Ha — 6yslro 6 ene CMn sy : pYe Freed body “sna 4 ™, i 4) = bmi 4 tb + hk 4 fka- mM 4 {ka {w= My Ph B. dy + ky + ka, Cyr-ga) at de Taka Aap lave -Y2 Us) a : 82,00 +Be YD + YO pe. fa | wy 2. Fld 2 WO) [ ms? + Bs + K+ kal — kates - Free body Alagsam of Ma fra kp= 0 Mg ka: qratd = Ma.d®ya + Kal¥o-Yrd = © at? en tak? doplate = ‘1 Mgrs ¥g arf ove] Y¥l8) [Mae + kg] = kaVl) = 0° Yas) [my.c° AE ka | = kg VD 1 @O= wh. [yeaa ) +O“Subang Gon en MO we gt: 2d FS) = -Y9®) [a8 +a] [misty Bet kates] - kg Ya) _ | ] ] = | FE) = ¥9 (3 [' Masks) (mc? +Bs 4 et aD *| e ce | ) Ka Yas). ka FES & >) CMs? +804 kyo kD Cgs?4 kg = bho 13: Dekermene Me TE 48) gy xgld | #03) Ftd 7 tw ba : bp 4 4 kr) asl Mi Big, ka. ition. { 41 8 a= SS NNN Ba ims JO= frit this {bra a fbi Ki eal + Bind Garg 4 Bry On oe Lap late « a . FE)> Myo v0) 4 eC) 4 Bra (XCD Xgl) + BINED FU): WD) eh 4 ky +s C tare - Bia, S X26) rim fU)= Medeapa ty Aig 4 me te ae <— {ma — 4ke 4ro a + $Ka4 thos thiano. ee — tha Ma Maed?ag + Katy + Bate 4 Bad, (aa-ay =? lt > ae raed Taking doplow - - _ (| fo My Stxg ld) Fey to] 4 Ba SalD + Bias lxalD -™ J tet) [ 8” i Bia) s By asXi (Of =° a LD Yel). Bias -®: Mp8? +5 CBa4Bia)t ka Sabsemting © wo ean @D we nO) | Ms® 4 C84 Ba) s+ kJ ~ (eiade 2 F eae Ma8*4 (RorBiads tka, 4ORg + Bids +ka) |— Bip dw ¢ 2 Mss? (Be+Bi) ¢ tka HOWE 24 cB Bids 4 Ft) (Ma x65) Mast + (Bo4 Bids 4 ka FLS) Tm 340 : is Bir Bids + KF] [Ma shy Coe + Beds 4ts|- From eqn (8) HE = tet) [Mas? tka 4s Cag4 Bia] ® > SY Biaspee BT pn dae Hd = rec Masts s (Bo+ Bia thal, ae | ae naan’ so mee ~ Bas Yat). eG . , PCD cohaice “e245 C Ras Bid +kyk (Bad) lig 43 - : wath te ean qd moblon vin § domain . Ao as the Ter k ae f> alt) [fap 3 ym — Be Sa By ; : : avd B. Let ar de dtaptacemant at — menting peat of k a. Thre shontd - be a mas Aw. ke Ba’ bee as abume = mos |My = Jo & ond Ba. ) ) ; : Fe tly pen th | an qt) tint {by + dbo | ) ; ) ) ) | ™ b 2 Aa + Both fa We LT OE ioplace « P= Megtx tO 4 g,-sx G3) + Ba £ KD - xu] FS) > xD [ust CB rtas) — 828 7.Free ABoan arn ay Spee gems mentee Ae 4K 4 ce «t+ dbo k— tba . : ° kCa)- + gad (u- es eg daploce k x0) + w4Outd) _xto| so « (3) [e+ a5) — Bs XH 2° EC) TF: taplace ef ol? Lf x) eee r tit > Laptau le 1 | From = eqn : x 05) = 5 fagtoks k+ B95 : nb ote. | ® . @ xcs] Mat Ce+B.s | _ By be Bas Xt) FCS) = PB) >. 09 Ic us?» Cones|[HBs) - © 3] et k+ Bag i K+ Bad ea xls) 3 k+ BS £8) ee [ Cretscepeand [+225] - fo.s3 |D) Analy «ts 4 methantal_ Actational 2 ystams + J i A mechanical system Se anhtch Ee motion Y « a jtaku place about « fixed axis fe Glad Aotatioral tuto j ap plied - 1, yt Hern the poker a ea. 4 7 Ie And be canse of teAque T we fave # angudos, atuplowne e- : ¥ wlog Velo ct4y = ae } a. ’ ¥ los, acteboration og -d” 7 Maw %& Aepiaced hg . 4 ese! aay pe Pfctt on *y rotational Be choral tooth’vent - Num ( od faee) 1 # Spring foratonal i kK N= / aod + hen Fee yee qua ee alee ie temic be Ty repeater gen en shawl wins gy TU * ) MASSE wy TMi fonsfdy a mas wilt moment % instta > J dea drque TP be opplted® and Bu mas erp lene a ang wlax Atsp lacerent O° Torque, v = uv Heh Ppp et forces dus to momant @: A, anesthe Nee a a = dus to voorad A : 3 TF oe, % ice eee: ij = J-4te ] ] ;B) Bash -Pot t- nee Doak pot opters ob peated 4s ae angle HA “e R Ths &.d6 aT 6B “4: dt TE, tee 8 28). ©) Sprtrg a k Tk & angulos dts lacareant : Ts kO° k +Y 8 ‘2 a Procodune * ~ D &vaw fie ody dtogeam, 3) Brow oppedteg® Inequss 3) Atop dace ment, “val , aeeto 4) wate arte eqn: 5) Take Lpptnce ond gird THF aw wn dial! oo of Trag he : Note o- L[e] = (8) L [ds - s 6(s) dt [ee] fettm TT Mn otk the arth eqn Pht ain du To a the - byptere ; k 1 eee Bie, fee Be was Ti Rove is blo tamant 8 & Gee body adage om 4 vy Thy Te +: Tht Te | Te TPO + x ,-©) Tey Re +k 0,6) - 8 ancteg the uth retationad system - we 2 “Toke Jophoce rl: 7,80 Tl) ~ i [ T,624 Ky- £88) OD Free. hod Agron ae . : ca Tk Te x0? tea tht Hare - Ca Ja Ako = r x. (e-8) 7 Bae le d = : ote. wd] 48.6: OD) + psi e yee pl) [ + BS +Igs a ko 8, t) = 66) [ke s+ Is >® eee ee Pr ODO wm O- Kk: TU) 0) [ea os te) [ 75%) - row ke 3 16). 9 fossa [ne +8] - | ecco sseeeeea eee kK _ ols) _ kK pac cena TU) Ceagse Too | (8 ae)Pbetat. Fara pe/r1s> —f= } idk qfas ge Ya Te 4 The = pr T: ke + (9-O+ Bad 4 by, Th kt daptaw . a sete + Hee ~0 4 828 [O® - ous) TH) = OLS) [ne +k + Sas] - OOP + Bias] oO: LK te2, Th Te : > =O 6 Tks Tora +T, t Yr = - kLO- 6) + Badle-6)) +. 8- a6 « tgs d&s - 6 Toki Le T. at ge : ’ .6 (s) +i, 50! k [Oca Bre] — 42.5004] 1) [ k + Bas +hst+Bs | 8,9 [x4 Bas] oo 8b) = 66) [ kts Coo+® 11.8 | Gy ss eee eee ee eeeeseeeeseed eee eee ane eeCeeeeeee reyes Ceeeeeg eee ereeee a ees eee fee ae K+ Bias bi O aa 1° (item sored BPs] 00 fr Deas) 18) = wf) GiGi.) [7 bat pe BO ek (ket 85) 4+ Bras 15) | | [ea +6 (Bate 4K Ts sBiatel _ wesdas Wd ns Jvak- ge [> Ee = Miae + Bh +k fer Va) dk 5M) et ar mo v, My aint be Mp aYg + kgf Vaso dea B24 ba ee ay ail (a, 414 a) wy anolo.gains olerbs oS ay we ae ve): Liat 4 Rts a, | toa -6 our ra ay Ka tye a + Rota ae (4) ae oe \ lav mow Ao oo, Anse uy OR te Ra a eo ati evans ca,fore ~ Covent wrong. — R . 4: M. av ft WME HE: Bot g kos fw ie ae Se Fo Medd 4B. 4 K { Bd de Yo tedt 2 Rt a {fat at £ = Code ae 1 ear: de R if Force - tut for Problim 4 b- {Ws Mead + BY, F & JO-UD de de Ge qed + G+ AL ( Ce-ed.ae ak e . O- Mae ds y fey [us at +8, 4 ks ( (i, Jol! a¥ | = Cg, Oe av e.{OH Med - BW teat 4g kre [B-v2 de - ar B= Mardis, ks [vs -&) altLentatead © Analogous 4 muchanttad aotatfonal Sy bari'- ; Fo thus = ae hwo type oh analogs i 2 — turrent aval b w8r4, “I, bh) Totqus - volt ana Dee ee | oe - Volk oa ona toay 2. ) tonst ds the meth habSonal ayeteny gore en % j ! : ae ee gy BC Atbplatimad) So gun Ne Pt, TARO, oS +o © i ae for P ven Tien Sy 0 (wuts stacy 0 > t ) iota aK [Pak © Tae ondk 8 wet cohen Se ae | eased ae wos dO a fe doy + aca vy te) olt at 7 i Bo> R Opies Ke w >Frobtern 1 Dra the FOV analogous ar ek ages dee Pap, ao afr 9 SS a ae ae o® TY. Gis py. 6 Tf, Ts Tey Bhan 7 GR GS ae Tht, | Tk J? 4+ ks Og. 7 & 16. Anais @qutv oraligous a \ “wet) = vy A8a, + Be A 4B, La, ¥a) ar® at aye . outa ak vieys bi dt a pent, rect tae Aa. ae eS [eG : 2 d- bg dqe, + Rada y X¢ 1 ne ax® tt a wat De tabs a Rote +t [cta-Tae + eeu aHoque ame Ag sdb UO , gr the mech ant Cal ayslen Yhe eqns te HAD BOE yj Oak BO dk e uy the eq uty aut &yur ca J mn fe tea ta ate itt ng “AL : aye t } a + Lied t+ co de i ) : . “at © tommpmn @ 2 @. : B= ee ian ae ] 7 > <¢ Ot pede ) ap.2at = | : 7k a= as ~ a ezag ®% » e ae & > O>e Fon, Puolstam 4 aE BE cut anologous ckt os os dello & ae eg Oe fap + See Ff er | Cees ! ar Ri Ly on Ca. AC® qeaeaieaenate: ele \e-s at ae ce La > . a) ; » feos cr= eco : ws B Q Ws ; ve Eat ; ' te Taw, + & Ifo; ae + B09, -» 2) ’ fe a ’ ‘ i 1 o. Tde 4 ky (Ca HddE + py (War 1) 7 + Ba, (wa-~ WS) eo: TrzAws ak £ Bale,-MD 4 Ka |e alt - Tey ere: Cty tay wld. Lyd 4 t [Se tarat + R ac tH: Ader + L ferrenat + (er~ Cay atte dk R, 9 tarden 4 1 f Cea-edat 4 oe “Hr Paes at e g, aeJock Bagram aeduchton techné que’. Bask dorments rf Mocks aRamat'ics A Spstcle be ches. Brockes a) Taantte, funckfow elements 418 Samed ints +) Take cunts HDAvwoWws- | fermig point Dfake a ponds 9 ndol aires dps m!- ; phtork. which — fontatrs 0 one block , one samme Foie pd one take off point % old tanantal fee cf © P ‘ oe $ wet — a otf Mae } css) e+ LT of errr Ate of elt) BY) = lopou of 41 atgnal BU ] Cu) 2 gut food path Te F _ : We E quay 4+lb path oe ae FQ = RD E BESO ; BH = cH) Hs) 3.@ * i @.: da) © : BE = 9) 4D) & qn @® FQ)- eg £ Cts) wD from ® EO> 6) BG als) SobA om ©: cl) > et) + (8) HO als) CO: Rr eta t GH) @ HD oy Poa ra): oD & cy 5 aD es) 13. 4) + be ve ith — frrve afbube der block Afoge avn . “scduteon ne Rule 1} Asoative tarvds- ee ae ROS Re) AR RRSP Sahay trode Ane | Rg + - . 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