Scribd
Upload
167 views7 pages

Linearization Assignment W-Solution Sa

1. The document provides 4 problems involving linearizing differential equations about equilibrium points. 2. For problem 1, the document linearizes 3 differential equations about xo=0 and xo=1, resulting in linearized equations with new variables x̂ and û. 3. For problem 2, the document linearizes a differential equation modeling water level in a tank about z=1, determining operating points and deriving a linearized equation with new variables ẑ and q̂. 4. For problem 3, the document linearizes a nonlinear differential equation modeling vehicle suspension about z=0.05m, finding operating points and deriving a linearized equation.

Uploaded by

Fikri Al Ayubi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
167 views7 pages

Linearization Assignment W-Solution Sa

1. The document provides 4 problems involving linearizing differential equations about equilibrium points. 2. For problem 1, the document linearizes 3 differential equations about xo=0 and xo=1, resulting in linearized equations with new variables x̂ and û. 3. For problem 2, the document linearizes a differential equation modeling water level in a tank about z=1, determining operating points and deriving a linearized equation with new variables ẑ and q̂. 4. For problem 3, the document linearizes a nonlinear differential equation modeling vehicle suspension about z=0.05m, finding operating points and deriving a linearized equation.

Uploaded by

Fikri Al Ayubi
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 7

2/15/2005

ME451 Linearization Assignment


1. Given the differential equation x& = f ( x, u ) . Linearize the differential equation about
xo = 0 if the function f ( x, u ) is given by
a) f ( x, u ) = x + 3u (the function is linear),
b) f ( x, u ) = x 3 + u ,
c) f ( x, u ) = e x + 2u 2
2. Given the differential equation x& = f ( x, u ) . Linearize the differential equation about
xo = 1 if the function f (x) is given by
a) f ( x, u ) = x + 3u (the function is linear),
b) f ( x, u ) = x 3 + u ,
c) f ( x, u ) = e x + 2u 2
3. A tank of cross section area A contains water that leaks out through a small opening
of area Ao at the bottom. The tank is filled with an input flowrate q . The
differential equation for the water level z in the tank is

z& =

A
q
o (2gz )1 / 2
A A

Linearize the differential equation about z = 1 for Ao = 0.01 m2 and A = 1 m2 . . For


water = 1000 kg / m 3 .
4. An undamped one degree-of-freedom vehicle with air-spring suspension with an
external vehicle input force q (t ) on has the second order differential equation model
for vehicle displacement z (t )

1
1

m&z& + Apo
= q (t )
1 z d
1+ z d

where m is the vehicle mass, A is the air-spring cross sectional area, d is the
maximum air-spring stroke, po is the initial air-spring pressure charge, and the
thermodynamic constant = 1.4 for air. Linearize the differential equation about
z = 0.05 m for a suspension unit with A = 0.01 m2, d = 0.1 m, m = 1000 kg and
po = 2 atm. where patm = 101.3 x 103 Pa and 1 Pa = 1N/m2
1

2/15/2005

Solutions
ME451 Linearization Assignment
1. Given the differential equation x& = f ( x, u ) . Linearize the differential equation about
xo = 0 if the function f ( x, u ) is given by
a) f ( x, u ) = x + 3u (the function is linear),
b) f ( x) = x 3 + u ,
c) f ( x) = e x + 2u 2
Solution:
f ( x) f ( xo , u o ) +

df
dx

( x xo ) +
x = xo

df
du

(u u o ) for all cases where ( xo , u o ) is


u =uo

chosen as an equilibrium point where x& = 0 f ( xo , u o ) = 0 .


a) For equilibrium at xo = 0 , u o = 0. f ( x) = 0 + (1)( x 0) + (3)(u 0) = x + 3u
so that the linearized ODE is x& = x + 3u
b) For equilibrium at xo = 0 , u o = 0. f ( x) = 0 + (3x 2 )

that the linearized ODE is x& = u


c) For equilibrium at xo = 0 , u o = e 0 2 = 1
x

f ( x ) = 0 + ( e )

x =0

x =0

( x 0) + (1)(u 0) = u so

2 = 0.707

( x 0) + (4u o )(u 0.707) = 0 x + 2 2 (u 0.707) so that

( )

the linearized ODE is x& = x + 2 2 u where u = (u 0.707)


Note that in all the cases above, since we linearize about xo = 0 ,
x * = ( x x0 ) = x and the change of variables required by linearization is not
apparent.

2/15/2005

2. Given the differential equation x& = f (x) . Linearize the differential equation about
xo = 1 if the function f (x) is given by
a) f ( x, u ) = x + 3u (the function is linear),
b) f ( x) = x 3 + u ,
c) f ( x) = e x + 2u 2
Solution:
f ( x) f ( xo , u o ) +

df
dx

( x xo ) +
x = xo

df
du

(u u o ) for all cases where ( xo , u o ) is


u =uo

chosen as an equilibrium point where x& = 0 f ( xo , u o ) = 0 .


a) For equilibrium at xo = 1 , u o = 1 3 .
f ( x) = 0 + (1)( x 1) + (3)(u 1 3) = x + 3u where x = ( x 1) and u = (u 1 3) .
Differentiating x& = d ( x 1) dt = x& so that the linearized ODE is x& = x + 3u

b) For equilibrium at xo = 1 , u o = 1 . f ( x) = 0 + (3x 2 )

x =1

( x 1) + (1)(u 1) = 3x + u

where x = ( x 1) and u = (u 1) so that the linearized ODE is x& = 3x + u


c) For equilibrium at xo = 1 , 2u o2 = e 1 u o = 1 2e = 0.429
f ( x ) = 0 + (e x )

x =1

( x 1) + (4u o ) u =0.429 (u 0.429) = 0 + 0.368 x + 1.72u where

x = ( x 1) and u = (u 0.429) so that the linearized ODE is x& = 0.368 x + 1.72u

Note that in all the cases above, since we linearize about xo = 1 , x = ( x x0 ) x and
the change of variables required by linearization is VERY apparent.

2/15/2005

3. A tank of cross section area A contains water that leaks out through a small opening
of area Ao at the bottom. The tank is filled with an input flowrate q . The
differential equation for the water level z in the tank is
z& =

q
A
1/ 2
o (2gz )
A A

Linearize the differential equation about z = 1 for Ao = 0.01 m2 and A = 1 m2 . For


water = 1000 kg / m 3 .
q (t )

Solution:

System

z (t )

1) The systems input is q (t ) and output is z (t )


2) Expressing the model as a function,
f (q, z , z&) = z& +

Ao
(2 gz )1/ 2 q = 0
A
A

3) Defining the equilibrium operating point for output z o = 1


Ao
q
(2 gz o )1 / 2 o = 0 q o = Ao (2 gz o )1 / 2 = 1000 0.01 (2 9.8)1 2 = 44.3 kg/sec
A
A

So that the operating point (q, z ) = (qo , z o ) = (44.3 kg / sec, 1m )


4) Performing a Taylor series expansion,
f (q, z , z&) f (qo , z o ,0) +

df
dq

(q qo ) +
q = qo

df
dz

( z zo ) +
z = zo

df
( &z& &z&o )
d&z& z = zo

A
q 1
df
d
1/ 2
=
=
z& + o (2 gz )

A A
dq dq
A
A
q 1 Ao
df
d
2 Ao g
1
1/ 2
=
z& + o (2 gz )
= 2 (2 gz ) 2 (2 g ) =

A
dz dz
A
2 A z
A
A
q
df
d
1/ 2
z& + o (2 gz )
=
=1

dz& dz&
A
A

With zo = 1, = 1000 kg/m3 for water and using the other given constants,

2/15/2005

1
df
=
= 10 3 m/kg
3
2
dq ( z , q ) (1000 kg/m )(1 m )
o o
0.01 m 2 9.81
df
2

=
= 0.0221 /sec
2 1 m 2 1
dz ( z , q )
o o
So that the function becomes,
f (q, z , z&) (0) + ( 10 3 )(q q o ) + (0.0221)( z z o ) + (1)( z& z& o ) = 0

5) Changing variables:
q~ = (q qo ) , ~
z = (z z o ) , ~
z& = ( z& z& o )
So that f (q, z , z&) (0) + ( 10 3 )q~ + (0.0221)~z + (1)~z& = 0
6) Now rewrite the model linearized equation in the standard form.
~
z& + (0.0221)~
z = (10 3 )q~

These values allow the expression of the linearized ODE model about the operating point.
z& = 0.0221 z + 0.001 q

where the new variables used in the linearized form are z = ( z zo ) = ( z 1) ,


d
q = (q qo ) = (q 44.3) and z& = ( z zo ) = z&
dt

2/15/2005

4.
An undamped one degree-of-freedom vehicle with air-spring suspension with an
external vehicle input force q (t ) on has the second order differential equation model for
vehicle displacement z (t )

1
1

m&z& + Apo
1 + z d = q (t )
1 z d

where m is the vehicle mass, A is the air-spring cross sectional area, d is the maximum
air-spring stroke, po is the initial air-spring pressure charge, and the thermodynamic
constant = 1.4 for air. Linearize the differential equation about z = 0.05 m for a
suspension unit with A = 0.01 m2, d = 0.1 m, m=1000 kg and po = 2 atm. You will need
to find atmospheric pressure in appropriate units.
Solution: patm = 101.3 x 103 Pa where 1 Pa = 1N/m2

1) The system models input q (t ) and output z (t ) .

q (t )

System

z (t )

2) Rewrite the system nonlinear model as


1 1

q(t ) = 0
f (q, z , &z&) = m&z& + Apo
1 z d 1 + z d
3) For the operating point output z o = 0.05m, find the operating point input



1
1

qo (t ) = Apo

1 z o d 1 + z o d

1 .4
1.4


1
1

3
3

= (0.01)(2)101.3 x10
1 + 0.05 0.1 = 4.20 x10
1 0.05 0.1

And the operating point is (q o , z o ) = (4.2 x10 3 m 3 sec , 0.05m )


4) Perform the Taylor expansion,
f (q, z , &z&) f (qo , z o ,0) +

where:

df

dq

df
dq

( qo , z o )

(q qo ) +

df
dz

( qo , z o )

(z zo ) +

df

= 1 ,
= m = 1000 kg
&z& (qo , zo )
d

( qo , zo )

df
( &z& &z&o )
d&z& (qo , zo )

2/15/2005

df

dz

( +1)
( +1)

zo

z o
2
1
1
+
+

=
Ap

atm
d
d
d

( qo , z o )

2.4
2.4
0.05
1.4 0.05
3
1
1
+

= (0.01) ( 2) 101.3 x10 3

= 160x10


0.1
0.1

0.1

[ (

)]

So that f (q, z , &z&) 0 + ( 1)(q q o ) + (160 x10 3 )( z z o ) + (1000 )( &z& &z&o ) = 0


5) Change variables to those for deviations about the operating point
q~ = (q qo ), ~
z = ( z z o ), &~
z& = (&z& &z&o ) so that

f (q~, ~
z , &~
z&) 0 + ( 1)q~ + 160 x10 3 ~
z + (1000 )&~
z& = 0

6) Now rearrange the result into standard form yielding,

1000&~
z& + 160 x10 3 ~
z = q~

near the operating point (q o , z o ) = (4.2 x10 3 m 3 sec , 0.05m )

You might also like