Scribd Logo
Upload

Welcome to Scribd!

  • 58 views

    MIT2 04AS13 Lecture2 PDF

    Uploaded by

    Satria Wibowo

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    MIT2 04AS13 Lecture2 PDF

    Uploaded by

    Satria Wibowo
    58 views10 pages

    Original Title

    MIT2_04AS13_Lecture2.pdf

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    58 views10 pages

    MIT2 04AS13 Lecture2 PDF

    Uploaded by

    Satria Wibowo

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 10

    Car suspension model

    Mass – spring – viscous damper system

    Free body diagram (no motion) Free body diagram

    Mg Mg

    FK0 FK0
    force due to spring
    in equilibrium
    Model force because spring force due to
    changes length viscous damping
    during motion
    Force balance ➠
    8 2
    System ODE : < m x> d
    = FK + Fv d2 x
    (2nd order ordinary dt2 =) m 2 = Kx + Ku fv ẋ + fv u̇
    >
    : FK = -K(x - u) dt
    linear differential Fdv
    2 x = -fv (ẋ - u̇)
    2
    equation) =) m = Kx + Ku fv u̇ m d x + Kx + f ẋ = Ku + f u̇
    fv ẋ +=)
    dt2 dt2
    v v

    d2 x
    Equation of motion: =) m 2 + Kx + fv ẋ = Ku + fv u̇
    dt

    02/07/2013 2.004 System Dynamics and Control Spring 2013 1


    General Linear Time-Invariant (LTI) system

    dnx d n −1 x dnx dx dmy d m −1 y d1y


    an n + an −1 n −1 + an − 2 n La1 + a0 x = bm m + bm −1 m −1 + Lb1 1 + b0u
    dt dt dt dt dt dt dt
    nth-order Linear Ordinary Differential Equation (ODE)
    with constant coefficients (time-invariant)

    general solution:

    x(t) = xhomogeneous (t) + xforced (t)

    ➡ homogeneous solution: y=0 (no forcing term)


    ➡ forced solution: a “guess” solution for the system behavior when y(t)≠0

    02/07/2013 2.004 System Dynamics and Control Spring 2013 2


    Homogeneous and forced solutions
    Im(s)
    Homogeneous solution: ω

    x(t) = C0 + C1es1t + C2 es2 t + L + Cn esn t


    where in general s

    si = σ i + jω (complex number)
    σ
    Re(s)
    Forced solution: sometimes difficult to “guess”
    but for specific forces of interest, quite easy.

    For example, if y(t)=constant, then yforced=constant


    as well (but a different constant!)

    02/07/2013 2.004 System Dynamics and Control Spring 2013 3


    Commonly used input functions

    Step function Ramp


    (aka Heaviside) function
    ⇢
    ⇢ 0, t < 0;
    0, t < 0; ramp(t) =
    step(t) = t, t > 0.
    1, t > 0.
    = t step(t)

    Impulse
    Sinusoidal
    (aka delta-function
    function δ(t)
    or Dirac function)
    ⇢
    0, t < 0;
    f (t) =
    sin(!t), t 0.

    = sin(!t) step(t)
    t [sec]

    02/07/2013 2.004 System Dynamics and Control Spring 2013 4


    1st order system
    M v̇ + bv = f (t)
    mass viscous force
    damping
    one time constant
    Impulse response: τ

    equivalent to setting an initial condition v(t=0)

    v(t = 0) = v0
    1
    v(t) = v0 e t/⌧
    , t>0 0. 368 ⇡ e

    M
    time constant ⌧ =
    b

    Step response:
    f(t) is the “step function” (or Heaviside function)
    ⇢
    0, t < 0;
    f (t) = F0 step(t) =
    F0 , t > 0.
    F0 ⇣ t/⌧
    ⌘
    v(t) = 1 e , t>0
    b
    v(t = 0) = 0

    02/07/2013 2.004 System Dynamics and Control Spring 2013 5


    1st order system: step response

    steady state
    (final value)

    1
    0.632 ⇡ 1 e

    Nise Figure 4.3

    Figure © John Wiley & Sons. All rights reserved. This content is excluded from our Creative
    Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.

    2.004 Fall ’07 Lecture 06 – Monday, Sept. 17


    How is this different than the car suspension system?

    Figure © John Wiley & Sons. All rights reserved. This content is excluded from our Creative
    Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.

    02/07/2013 2.004 System Dynamics and Control Spring 2013 7


    2nd order system: step response

    02/07/2013 2.004 System Dynamics and Control Spring 2013


    8
    Mechanical system components:
    translation

    Nise Table 2.4 Table © John Wiley & Sons. All rights reserved. This content is excluded from our Creative
    Commons license. For more information, see http://ocw.mit.edu/help/faq-fair-use/.

    02/07/2013 2.004 System Dynamics and Control Spring 2013 9


    MIT OpenCourseWare
    http://ocw.mit.edu

    2.04A Systems and Controls


    Spring 2013

    For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

    You might also like