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Problems

CHAPTER 2
2.1. Write the (a) loop, (b) node, and (c) state equations for the circuit shown
after the switch is closed. Let u e, y
1
v
C
, and y
2
v
R
2
: (d ) Determine
the transfer function y
1
/e and y
2
/u G
2
.
2.2. Write the (a) loop, (b) node, and (c) state equations for the circuit shown
after the switch S is closed.
Copyright 2003 Marcel Dekker, Inc.
2.3. The circuits shown are in the steady state with the switch S closed. At
time t 0, S is opened. (a) Write the necessary differential equations
for determining i
1
(t). (b) Write the state equations.
2.4. Write all the necessary equations to determine v
0
. (a) Use nodal equa-
tions. (b) Useloopequations. (c) Write the state andoutput equations.
2.5. Derive the state equations. Note that there are only two independent
state variables.
2.6. (a) Derive the differential equation relating the position y(t) and the
force f (t). (b) Draw the mechanical network. (c) Determine the transfer
function G(D) y/f. (d ) Identify a suitable set of independent state
variables.Write the state equation in matrix form.
Copyright 2003 Marcel Dekker, Inc.
2.7. (a) Draw the mechanical network for the mechanical system shown.
(b) Write the differential equations of performance. (c) Draw the ana-
logous electric circuit in which force is analogous to current. (d ) Write
the state equations.
2.8. (a) Write the differential equations describing the motion of the
following system, assuming small displacements. (b) Write the state
equations.
2.9. A simplified model for the vertical suspension of an automobile is
shown in the figure. (a) Draw the mechanical network; (b) write the
differential equations of performance; (c) derive the state equations;
(d ) determine the transfer function x
1
=^ uu
2
, where ^ uu
2
B
2
D K
2
u
2
is the force exerted by the road.
2.10. An electromagnetic actuator contains a solenoid, which produces a
magnetic force proportional to the current in the coil, f K
i
i. The coil
Copyright 2003 Marcel Dekker, Inc.
has resistance and inductance. (a) Write the differential equations of
performance. (b) Write the state equations.
2.11. A warehouse transportation systemhas a motor drive moving a trolley
on a rail. Write the equation of motion.
2.12. For the system shown, the torque T is transmitted through a noncom-
pliant shaft and a hydraulic clutch to a pulley #1, which has a moment
of inertial J
1
. The clutch is modeled by the damping coefficient B
1
(it is
assumed to be massless). A bearing between the clutch and the pulley
#1has a damping coefficient B
2
. Pulley #1is connected to pulley #2
with a slipless belt drive. Pulley #2, which has a moment of inertial J
2
,
is firmly connected to a wall with a compliant shaft that has a spring
constant K. The desired outputs are: y
1
y
b
, the angular position of
the J
1
, and y
2

_
yy
a
, the angular velocity of the input shaft, before the
clutch. (a) Draw the mechanical network; (b) write the differential
equations of performance; (c) write the state equations; (d ) determine
the transfer function y
1
/u and y
2
/u.
Copyright 2003 Marcel Dekker, Inc.
2.13. (a) Write the equations of motion for this system. (b) Using the physical
energy variables, write the matrix state equation.
2.14. The figure represents a cylinder of intertia J
1
inside a sleeve of intertia
J
2
. There is viscous damping B
1
between the cylinder and the sleeve.
The springs K
1
and K
2
are fastened to the inner cylinder. (a) Draw
the mechanical network. (b) Write the system equations. (c) Draw
the analogous circuit. (d ) Write the state and output equations. The
outputs are y
1
and y
2
. (e) Determine the transfer function Gy
2
/T.
2.15. The two gear trains have an identical net reduction, have identical
inertias at each stage, and are driven by the same motor. The number
of teeth on each gear is indicated on the figures. At the instant of start-
ing, the motor develops a torqueT. Which systemhas the higher initial
load acceleration? (a) Let J
1
J
2
J
3
; (b) let J
1
40J
2
4J
3
.
2.16. In the mechanical systemshown, r
1
is the radius of the drum. (a) Write
the necessary differential equations of performance of this system.
(b) Obtain a differential equation expressing the relationship of the
output x
2
in terms of the input T(t) and the corresponding transfer
function. (c) Write the state equations withT(t) as the input.
Copyright 2003 Marcel Dekker, Inc.
2.17. Write the state and systemoutput equations for the rotational mechan-
ical system of Fig. 2.16. (a) With Tas the input, use x
1
y
3
, x
2
Dy
3
,
x
3
Dy
2
and (b) with y
1
as the input, use x
1
y
3
, x
2
Dy
3
, x
3
y
2
,
x
4
Dy
2
.
2.18. For the hydraulic preamplifier shown, write the differential equations
of performance relating x
1
to y
1
. (a) Neglect the load reaction. (b) Do
not neglect load reaction. There is only one fixed pivot, as shown in
figure.
2.19. The mechanical load on the hydraulic translational actuator is Sec. 2.9,
Fig. 2.22, is changed to that in the accompanying figure. Determine the
newstate equations and compare with Eq. (2.114).
2.20. The sewage systemleading toa treatment plant is shown.The variables
q
A
andq
B
are input flowrates into tanks1and 2, respectively. Pipes1, 2,
and 3 have resistances as shown. Derive the state equations.
2.21. Most control systems require some type of motive power. One of the
most commonly used units is the electric motor. Write the differential
equations for the angular displacement of a moment of inertia, with
Copyright 2003 Marcel Dekker, Inc.
damping, connected directly to a dc motor shaft when a voltage is
suddenly applied to the armature terminals with the field separately
energized.
2.22. The damped simple pendulum shown in the figure is suspended in a
uniform gravitational field g. There is a horizontal force f and a rota-
tional viscous friction B. (a) Determine the equation of motion (note:
J M
2
). (b) Linearize the equation of part (a) by assuming cos y 1
and sin y y for small values of y. (c) Write the state and output
equations of the systemusing x
1
y, x
2

_
yy, and y x
1
.
2.23. Given the mechanical systemshown, the load J
2
is coupled to the rotor
J
1
of a motor through a reduction gear and springs K
1
and K
2
. The
gear-to-teeth ratio is 1: N. The torque T is the mechanical torque
generated by the motor. B
1
and B
2
are damping coefficients, and y
1
, y
2
,
y
3
, andy
4
areangulardisplacements. (a) Drawamechanical networkfor
this system. (b) Write the necessary differential equations in order to
solve for y
4
.
Copyright 2003 Marcel Dekker, Inc.
2.24. In some applications the motor shaft of Prob. 2.21 is of sufficient
length so that its elastance K must be taken into account. Consider
that v
2
(t) is constant and that the velocity o
m
(t) Dy
m
(t) is being
controlled. (a) Write the necessary differential equation for determin-
ing the velocity of the load o
J
=Dy
j
. (b) Determine the transfer
function o
J
(t)/v
1
(t).
CHAPTER 3
3.1. (a) With v
c
(0

) 0, what are the initial values of current in all elements


when the switch is closed? (b) Write the state equations. (c) Solve for
the voltage across C as a function of time from the state equations.
(d ) Find M
p
, t
p
, and t
s
.
R
1
R
2
2 k O C 50 mF L 1 H E 100 V
3.2. In Prob. 2.12, the parameters have the following values:
J
1
1:0 lb ft s
2
B
1
0:5 lb ft=rad=s K 0:5 lb ft=rad
J
1
1:0 slug ft
2
B
2
3:35 oz ln=deg=s
Solve for y
b
(t) if T(t) tu
1
(t).
3.3. In Prob. 2.10, the parameters have the following values:
M
1
M
2
0:05 slug L 1 H l
1
10 in: K
1
K
2
1:2 lb=in:
R 10 O l
2
20 in: B
1
B
2
15 oz=in:=s K
i
24 oz=A
With e(t) u
1
(t) and the systeminitially at rest, solve for x
b
(t).
3.4. In part (a) of Prob. 2.18, the parameter have the following values:
a b 12 in: C
1
9:0 in:=s=in: c 10 in: d 2 in:
Solve for y
1
(t) with x
1
(t) 0.1u
1
(t) in. and zero initial conditions.
3.5. (a) r(t) (D
3
6D
2
11D6)c(t). With r(t) sin t and zero initial
conditions, determine c(t). (b) r(t) [(D1)(D
2
4D5)]c(t). With
r(t) tu
1
(t) and all initial conditions zero, determine the complete
solution with all constants evaluated. (c) D
3
c 10D
2
c 32Dc 32c
10r. Find c(t) for r(t) u
1
(t), D
2
c(0) Dc(0) 0, and c(0) 2. One of
the eigenvalues is 2. (d ) For each equation determine C( jo)/
R( jo) and c(t)
ss
for r(t) 10 sin 5t.
Copyright 2003 Marcel Dekker, Inc.

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