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    HW 3

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    sharadpjadhav
    This document contains the instructions for Homework #3 assigned in Professor Hill's Control Systems course at the University of Detroit Mercy during the winter 2014 term. It includes 5 problems involving applying inverse Laplace transforms, modeling mechanical systems using differential equations, and linearizing nonlinear systems. Students are asked to find and solve differential equations describing quarter-car suspension, vibration isolation, pendulums, and an airplane control pedal models. They are also asked to determine system parameters that would change response behaviors.

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    HW 3

    Uploaded by

    sharadpjadhav
    27 views3 pages
    This document contains the instructions for Homework #3 assigned in Professor Hill's Control Systems course at the University of Detroit Mercy during the winter 2014 term. It includes 5 problems involving applying inverse Laplace transforms, modeling mechanical systems using differential equations, and linearizing nonlinear systems. Students are asked to find and solve differential equations describing quarter-car suspension, vibration isolation, pendulums, and an airplane control pedal models. They are also asked to determine system parameters that would change response behaviors.

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    This document contains the instructions for Homework #3 assigned in Professor Hill's Control Systems course at the University of Detroit Mercy during the winter 2014 term. It includes 5 problems involving applying inverse Laplace transforms, modeling mechanical systems using differential equations, and linearizing nonlinear systems. Students are asked to find and solve differential equations describing quarter-car suspension, vibration isolation, pendulums, and an airplane control pedal models. They are also asked to determine system parameters that would change response behaviors.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    27 views3 pages

    HW 3

    Uploaded by

    sharadpjadhav
    This document contains the instructions for Homework #3 assigned in Professor Hill's Control Systems course at the University of Detroit Mercy during the winter 2014 term. It includes 5 problems involving applying inverse Laplace transforms, modeling mechanical systems using differential equations, and linearizing nonlinear systems. Students are asked to find and solve differential equations describing quarter-car suspension, vibration isolation, pendulums, and an airplane control pedal models. They are also asked to determine system parameters that would change response behaviors.

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    ENGR 4220/5220: Control Systems

    Professor Hill
    University of Detroit Mercy, Winter 2014

    Homework #3
    Assigned: January 16, 2014
    Due: January 23, 2014

    Read Sections 2.4, 2.5 and 3.1 to 3.3 of the book.


    Recommended example problems: A-2-16, A-2-17, A-2-19, A-2-21, A-3-8, A-3-13, A-3-16

    1. (20 points)

    (a) Apply the inverse Laplace transform to the following to find x(t):
    s+5
    X(s) =
    (s + 1)(s + 3)

    (b) Apply the inverse Laplace transform to the following to find y(t):
    2s + 1
    Y (s) =
    s(s2+ 2s + 3)

    2. (25 points) Consider the simplified quarter-car model of an automobile suspension given
    below where m is one quarter of the total mass of the vehicle, b is the damping in the
    suspension, and k is the stiffness of the suspension.

    The differential equation describing this system is

    mẍ + bẋ + kx = u

    where x(t) is the displacement of the car body and u(t) is the displacement of the tire, that
    is, the height of the road surface.
    Consider the response of our suspension subject to a sharp bump in the road, u(t) = δ(t).
    It turns out that the impulse response of a system is equivalent to the free response of a
    system to an initial condition on its velocity. In other words, our situation is described by the
    following differential equation where for simplicity m = 1, b = 2 and k = 4.

    ẍ + 2ẋ + 4x = 0, where x(0) = 0, ẋ(0) = 1

    (a) From the above differential equation, find X(s). Determine the poles of X(s). What
    does this tell us about the response of our car body x(t)? Can you apply the final value
    theorem to find x(t) as t → ∞? Explain.
    (b) How would you change the system parameters (m, b, and k) to make any oscillations
    in the car body damp out more quickly? Justify your answer.
    (c) Finish solving the differential equation, that is, find x(t). Does the function x(t) you
    found agree with your answer to Part (a)? Explain.

    3. (15 points) Consider the internal combustion engine m1 shown below that is attached to the
    automobile frame via elastic mounts that are modeled here as springs with stiffness k1 . The
    vibration induced by the reciprocating parts of the engine is modeled as the external force f
    and the automobile frame can be considered as fixed. One approach to reducing the vibration
    induced by the engine on the frame is to connect a second smaller mass m2 to the primary
    mass via an elastic member modeled here as having stiffness k2 and damping b. Write the
    differential equation(s) that govern the behavior of this system as described.

    2
    4. (20 points) Consider the following simple pendulum where l = 2 m and m = 4 kg. The
    mass of the rod can be neglected.

    (a) Find the equation of motion for this pendulum system. The moment of inertia of the
    pendulum about its point of attachment is J = ml2 .
    (b) Approximate the nonlinear differential equation from part (a) assuming the angle θ is
    small. What would you expect the free response of this linearized system to look like?
    (c) If you wished to reduce the frequency with which the pendulum oscillates, how would
    you modify the pendulum’s design? Explain.

    5. (20 points) A control pedal for an airplane is modeled as shown. The lever may be modeled
    as a massless shaft and the pedal as a lumped mass m = 0.2 kg at the end of the shaft where
    l = 13 cm. A spring of stiffness k = 50 N/m and a damper with damping b = 20 Ns/m
    are attached as shown where l1 = 6 cm and l2 = 7 cm. The spring is unstretched when the
    lever is in the vertical position (θ = 0). Determine the equation of motion for the pendulum
    assuming the angular motion is small such that we can approximate the spring and damper
    as moving horizontally.

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