28/03/2021

System Dynamics and Control 1 Modeling in Frequency Domain - Problems System Dynamics and Control 2 Modeling in Frequency Domain - Problems

2.2 Using the Laplace transform pairs of Table 2.1 and the 2.3 Solve the following differential equations using Laplace
Laplace transform theorems of Table 2.2, derive the Laplace transform methods with zero initial conditions
transforms for the following time functions 𝑑𝑥 𝑑2𝑥 𝑑𝑥
a. + 7𝑥 = 5cos2𝑡 b. 2 + 6 + 8𝑥 = 5sin3𝑡
a. 𝑒 −𝑎𝑡 sin𝜔𝑡𝑢(𝑡) b. 𝑒 −𝑎𝑡 cos𝜔𝑡𝑢(𝑡) c. 𝑡 3 𝑢(𝑡) 𝑑𝑡 𝑑𝑡 𝑑𝑡
2
𝑑 𝑥 𝑑𝑥
c. 2 + 8 + 25𝑥 = 10𝑢(𝑡)
𝑑𝑡 𝑑𝑡
Assume that the forcing functions are zero prior to 𝑡 = 0−

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 3 Modeling in Frequency Domain - Problems System Dynamics and Control 4 Modeling in Frequency Domain - Problems

2.4 Solve the following differential equations using Laplace 2.8 For each of TF, write the corresponding differential equation
transform methods with the given initial conditions 𝑋(𝑠) 7 𝑋(𝑠) 15
a. = b. =
𝑑2𝑥 𝑑𝑥 𝑑𝑥 𝐹(𝑠) 𝑠 2 + 5𝑠 + 10 𝐹(𝑠) (𝑠 + 10)(𝑠 + 11)
a. 2 + 2 + 2𝑥 = sin2𝑡 𝑥 0 = 4, 0 = −4 𝑋(𝑠) 𝑠+3
𝑑𝑡 𝑑𝑡 𝑑𝑡
2
𝑑 𝑥 𝑑𝑥 𝑑𝑥 c. =
𝐹(𝑠) 𝑠 3 + 11𝑠 2 + 12𝑠 + 18
b. 2 + 2 + 𝑥 = 5𝑒 −2𝑡 + 𝑡 𝑥 0 = 4, 0 =1
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑2𝑥 𝑑𝑥
c. 2 + 4𝑥 = 𝑡 2 𝑥 0 = 2, 0 =3
𝑑𝑡 𝑑𝑡
Assume that the forcing functions are zero prior to 𝑡 = 0−

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 5 Modeling in Frequency Domain - Problems System Dynamics and Control 6 Modeling in Frequency Domain - Problems

2.17 Find 𝐺 𝑠 = 𝑉𝑜 (𝑠)/𝑉𝑖 (𝑠) for each network 2.18 Find 𝐺 𝑠 = 𝑉𝑜 (𝑠)/𝑉𝑖 (𝑠) for each network. Solve the problem
2𝐻 2Ω 1𝐹 using mesh analysis
𝑣𝑜 (𝑡) 1𝐻
2Ω 2Ω
2Ω 2𝐻 3𝐻 1𝐻 1Ω
𝑣𝑖 (𝑡) 2Ω 𝑣𝑖 (𝑡)
1
2𝐻 𝑣𝐿 (𝑡) 1𝐹 2𝐻 𝑣𝐿 (𝑡) 𝑣𝑖 (𝑡) 1Ω 2
𝐹
𝑣𝑖 (𝑡) 1𝐻 1𝐹 1𝐹 𝑣𝑜 (𝑡)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

1
 28/03/2021

System Dynamics and Control 7 Modeling in Frequency Domain - Problems System Dynamics and Control 8 Modeling in Frequency Domain - Problems

2.19 Find 𝐺 𝑠 = 𝑉𝑜 (𝑠)/𝑉𝑖 (𝑠) for each network. Solve the problem 2.20
using nodal equations a.Write, but do not solve, the mesh and nodal eq.s for the network
𝑣𝑜 (𝑡) 1𝐻

2𝐻 3𝐻 1𝐻 1Ω
b.Use matlab, the Symbolic Math Toolbox, and the eq.s found in
1
part a to solve for the TF 𝐺 𝑠 = 𝑉0 (𝑠)/𝑉(𝑠). Use both the mesh
𝑣𝑖 (𝑡) 1Ω 𝐹
2
𝑣𝑖 (𝑡) 1𝐻 1𝐹 1𝐹 𝑣𝑜 (𝑡) and nodal equations to show that either set yields the same TF
1
9
𝐹

2Ω 4Ω 6𝐻

2Ω
𝑣(𝑡) 8Ω 𝑣𝑜 (𝑡)
4𝐻

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 9 Modeling in Frequency Domain - Problems System Dynamics and Control 10 Modeling in Frequency Domain - Problems

2.21 Find 𝐺 𝑠 = 𝑉0 (𝑠)/𝑉(𝑠) for each operational amplifier circuit 2.22 Find 𝐺 𝑠 = 𝑉0 (𝑠)/𝑉(𝑠) for each operational amplifier circuit
100𝑘Ω 110𝑘Ω
100𝑘Ω 2𝜇𝐹 100𝑘Ω 600𝑘Ω
110𝑘Ω 4𝜇𝐹
2𝜇𝐹 4𝜇𝐹
𝑣𝑖 (𝑡) 𝑣1 (𝑡) 𝑣𝑖 (𝑡) 𝑣1 (𝑡) 𝑣1 (𝑡) 𝑣1 (𝑡)
𝑣𝑜 (𝑡) 𝑣𝑜 (𝑡) 𝑣𝑜 (𝑡) 𝑣𝑜 (𝑡)
𝑣𝑖 (𝑡) 𝑣𝑖 (𝑡)
500𝑘Ω 2𝜇𝐹 500𝑘Ω 2𝜇𝐹
400𝑘Ω 400𝑘Ω

4𝜇𝐹
4𝜇𝐹 600𝑘Ω

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 11 Modeling in Frequency Domain - Problems System Dynamics and Control 12 Modeling in Frequency Domain - Problems

2.23 Find 𝐺 𝑠 = 𝑋1 (𝑠)/𝐹(𝑠) for the translational mechanical system 2.24 Find 𝐺 𝑠 = 𝑋2(𝑠)/𝐹(𝑠) for the translational mechanical network
4𝑁𝑠/𝑚 5𝑁/𝑚 𝑓(𝑡) 𝑥1 (𝑡) 𝑥2 (𝑡)
5𝑘𝑔 1𝑁/𝑚
𝑓(𝑡)
𝑥1 (𝑡) 1𝑘𝑔 1𝑁𝑠/𝑚 1𝑘𝑔

frictionless

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

2
 28/03/2021

System Dynamics and Control 13 Modeling in Frequency Domain - Problems System Dynamics and Control 14 Modeling in Frequency Domain - Problems

2.25 Find 𝐺 𝑠 = 𝑋2(𝑠)/𝐹(𝑠) for the translational mechanical system 2.26 Find the TF for the system 𝐺 𝑠 = 𝑋1 (𝑠)/𝐹(𝑠)
𝑥2 (𝑡) 𝑥1 (𝑡) 𝑥2 (𝑡)
𝑓(𝑡) 𝐾2 = 5𝑁/𝑚
10𝑘𝑔 𝐾1 = 4𝑁/𝑚
𝑀1 𝑀2 𝑓(𝑡)
2𝑁/𝑚 5𝑁𝑠/𝑚 2𝑁𝑠/𝑚
1𝑘𝑔 2𝑘𝑔

𝑓𝑣1 = 3𝑁𝑠/𝑚 𝑓𝑣2 = 3𝑁𝑠/𝑚 𝑓𝑣3 = 2𝑁𝑠/𝑚

Hint: place a zero mass at 𝑥2(𝑡)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 15 Modeling in Frequency Domain - Problems System Dynamics and Control 16 Modeling in Frequency Domain - Problems

2.27 Find the TF 𝐺 𝑠 = 𝑋3(𝑠)/𝐹(𝑠) for translational mechanical system 2.30 For each of the rotational mechanical systems, write, but do
𝑥1 (𝑡) 𝑥2 (𝑡) 𝑥3 (𝑡)
6𝑁/𝑚
not solve, the equations of motion
2𝑁𝑠/𝑚 𝜃1 (𝑡) 1𝑁𝑚𝑠/𝑟𝑎𝑑 𝑇(𝑡) 𝜃2 (𝑡)
6𝑁/𝑚 2𝑁𝑠/𝑚 4𝑘𝑔 4𝑘𝑔 8𝑁𝑚𝑠/𝑟𝑎𝑑
𝑓(𝑡)
4𝑘𝑔
3𝑁𝑚/𝑟𝑎𝑑
frictionless 5𝑘𝑔𝑚2 9𝑁𝑚/𝑟𝑎𝑑 3𝑘𝑔𝑚2
𝑇(𝑡) 𝐷2
𝐷1
𝐽1 𝐽2 𝐽3
𝐾1 𝐾2
𝐾3

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 17 Modeling in Frequency Domain - Problems System Dynamics and Control 18 Modeling in Frequency Domain - Problems

2.31 Find 𝐺 𝑠 = 𝜃2 𝑠 /𝑇(𝑠) for the rotational mechanical system 2.32 For the rotational mechanical system with gears, find the TF
𝑇(𝑡) 1𝑁𝑚𝑠/𝑟𝑎𝑑 𝜃2 (𝑡) 𝑇(𝑡)
𝑁1 𝐺 𝑠 = 𝜃3 𝑠 /𝑇(𝑠). The gears have inertia and
𝐽1 , 𝐷1 bearing friction as shown
1𝑁𝑚𝑠/𝑟𝑎𝑑 𝑁
1𝑘𝑔𝑚2 1𝑁𝑚𝑠/𝑟𝑎𝑑
3
𝐽2 , 𝐷2 𝐽3 , 𝐷3
1𝑁𝑚𝑠/𝑟𝑎𝑑
𝑁2
𝐽4 , 𝐷4 𝐽5 , 𝐷5
𝑁4
𝜃3 (𝑡)

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

3
 28/03/2021

System Dynamics and Control 19 Modeling in Frequency Domain - Problems System Dynamics and Control 20 Modeling in Frequency Domain - Problems

2.33 Find the TF for the rotational system, 𝐺 𝑠 = 𝜃2 𝑠 /𝑇(𝑠) 2.34 For the rotational mechanical system, find 𝐺 𝑠 = 𝜃2 𝑠 /𝑇(𝑠)
𝑇(𝑡) 𝑁3 = 25 1000𝑁𝑚/𝑟𝑎𝑑
𝑁1 = 4
𝐽3
𝐽1 𝐷1 = 1𝑁𝑚𝑠/𝑟𝑎𝑑 𝑇(𝑡)
2 𝑁2′ = 4 200𝑘𝑔𝑚2
2𝑘𝑔𝑚 𝐽1
𝐽2 𝐷2 = 2𝑁𝑚𝑠/𝑟𝑎𝑑
𝑁1 5 250𝑁𝑚/𝑟𝑎𝑑
𝑁2 = 12 𝐾 3𝑘𝑔𝑚2
𝜃2 (𝑡) 1𝑘𝑔𝑚2 𝐽2
𝐽3 3𝑁𝑚/𝑟𝑎𝑑
𝑁2 = 50
𝑁3 = 16 64𝑁𝑚/𝑟𝑎𝑑 200𝑘𝑔𝑚2
16𝑘𝑔𝑚2 𝜃2 (𝑡)
𝐷3 = 32𝑁𝑚𝑠/𝑟𝑎𝑑

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 21 Modeling in Frequency Domain - Problems System Dynamics and Control 22 Modeling in Frequency Domain - Problems

2.42 For the motor, load, and torque-speed curve, find the TF 2.43 The motor whose torque-speed characteristics drives the
𝑅𝑎
𝐺 𝑠 = 𝜃𝐿 𝑠 /𝐸𝑎 (𝑠) 2
load shown in the diagram. Some of the gears have inertia. Find
𝑇(𝑁𝑚) 5𝑘𝑔𝑚 𝑅𝑎
𝑁1 = 50 the TF 𝐺 𝑠 = 𝜃2 𝑠 /𝐸𝑎 (𝑠)
100 𝑒𝑎 (𝑡) 𝐽1 𝐷1 = 8𝑁𝑚𝑠/𝑟𝑎𝑑
𝑁1 = 10
50𝑉 𝜃𝐿 (𝑡)
𝑒𝑎 (𝑡) 𝐽1 = 1𝑘𝑔𝑚2
𝐷2 = 36𝑁𝑚𝑠/𝑟𝑎𝑑 𝐽2 𝑇(𝑁𝑚)
𝑁2′ = 10
𝜔(𝑟𝑎𝑑/𝑠) 𝑁2 = 150
150 18𝑘𝑔𝑚2 5 𝐽2′ = 2𝑘𝑔𝑚2
5𝑉 𝑁2 = 20 𝐷
𝐽2 = 2𝑘𝑔𝑚2 𝐽3
𝑛(𝑟𝑝𝑚) 𝑁3 = 20
600/𝜋 𝜃2 (𝑡) 16𝑘𝑔𝑚2 32𝑁𝑚𝑠/𝑟𝑎𝑑

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

System Dynamics and Control 23 Modeling in Frequency Domain - Problems System Dynamics and Control 24 Modeling in Frequency Domain - Problems

2.44 A dc motor develops 55𝑁𝑚 of torque at a speed of 600𝑟𝑎𝑑/𝑠 2.62 The figure shows a crane hoisting a load. Although the actual
𝑅𝑎 at 12𝑉. It stalls out at this voltage system’s model is highly nonlinear, if the rope is considered to be
𝜃𝑚 (𝑡)
𝑁1 = 12 with 100𝑁𝑚 of torque. If the inertia, stiff with a fixed length 𝐿, the system can be modeled using the
𝑒𝑎 (𝑡)
𝑁2′ = 25
damping of the armature are 7𝑘𝑔𝑚2 following equations 𝑥𝑇
𝐹Ԧ𝑇
𝜃𝐿 (𝑡) and 3𝑁𝑚𝑠/𝑟𝑎𝑑 , respectively, find 𝑚𝐿 𝑥ሷ 𝐿𝑎 = 𝑚𝐿 𝑔𝜙 𝑚𝑇
𝑁2 = 25
𝐽𝐿 the TF 𝐺 𝑠 = 𝜃𝐿 𝑠 /𝐸𝑎 (𝑠), of this 𝑚𝑇 𝑥ሷ 𝑇 = 𝑓𝑇 − 𝑚𝐿 𝑔𝜙
𝑁3 = 72 motor if it drives an inertia load of 𝑥𝐿𝑎 = 𝑥𝑇 − 𝑥𝐿 𝜙
105𝑘𝑔𝑚2 through a gear train 𝑥𝐿 = 𝐿𝜙 𝑚𝐿
𝑥𝐿𝑎 𝑥𝐿
where, 𝑚𝐿 : the mass of the load
𝑚𝑇 : the mass of the cart
𝑥𝑇 , 𝑥𝐿 : displacements as defined in the figure
𝑓: the rope angle with respect to the vertical
𝑓Ԧ𝑇 : the force applied to the cart

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

4
 28/03/2021

System Dynamics and Control 25 Modeling in Frequency Domain - Problems

2.62
a.Obtain the TF from cart velocity to rope angle Φ(𝑠)/𝑉𝑇 (𝑠)
b.Assume that the cart is driven at a constant velocity 𝑉0 and
obtain an expression for the resulting 𝜙(𝑡). Show that under
this condition, the load will sway with a frequency 𝜔0 = 𝑔/𝐿
c.Find the TF from the applied force to the cart’s position
𝑋𝑇 (𝑠)/𝐹𝑇 (𝑠)
d.Show that if a constant force is applied to the cart, its velocity
will increase without bound as 𝑡 → ∞

HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien