KNF 1023 Engineering Mathematics II

KNF 1023
ENGINEERING MATHEMATICS II Laplace Transform Engineering Applications

Jethro Henry Adam

Todays Objectives:
At the end of the class, students would be able to: Illustrate the use of Laplace transforms in electrical circuits and mechanical vibrations. Solve the models of electrical circuits and vibrating mechanical systems using Laplace transforms.

Jethro Henry Adam

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS
Electrical Circuits Passive electrical circuits are constructed of 3 basic elements :a) resistors (having resistance R, measured in ohms ) b) capacitors (having capacitance C, measured in farads F) c) inductors (having inductance L, measured in henries H)

Jethro Henry Adam

ENGINEERING APPLICATIONS (continued)

Symbols of the basic elements :+ i(t)

a) resistors
+ i(t) q

-q

b) capacitors
+ i(t) Jethro Henry Adam

c) inductors

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

The circuits are also associated with variables such as :a) current i(t) (measured in amperes A)
b) voltage v(t) (measured in volts V)

The current flow in the circuit is related to the charge q(t) (measured in coulombs C) by the relationship
i= dq dt
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ENGINEERING APPLICATIONS (continued)

The relationship between the flow of current i(t) and the voltage drops v(t) across these elements at time t are
voltage drop across resistor = Ri voltage drop across capacitor =

( Ohm's law )

1 q idt = C C

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

The interaction between the individual elements making up an electrical circuit is determine by Kirchhoffs laws :Law 1 The algebraic sum of all the currents entering any junction (or node) of a circuit is zero. Law 2 The algebraic sum of the voltage drops around any
Jethro Henry Adam

closed loop (or path) in a circuit is zero.

ENGINEERING APPLICATIONS (continued)

Example 1 The LCR circuit in the Figure 1 consists of a resistor R, a capacitor C and an inductor L connected in series together with a voltage source e(t). Prior to closing the switch at time t = 0, both the charge on the capacitor and the resulting current in the circuit are zero. Determine the charge q(t) on the capacitor and the resulting current i(t) in the circuit at time t given that
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R = 160, L = 1H, C = 10-4F and e(t) = 20V.

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

R t=0 e(t) i(t) C q L

Figure 1

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ENGINEERING APPLICATIONS (continued)

Applying Kirchhoffs second law to the circuit gives :
Ri + L di + C idt = e ( t ) dt

or using i = dq/dt, :
L d 2q dq + R + Cq = e ( t ) 2 dt dt

Substituting the given values for L, R, C and e(t) gives

d 2q dq + 160 + 104 q = 20 2 dt dt
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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Taking Laplace transforms throughout leads to the equation

(s

+ 160 s + 104 ) Q ( s ) = sq ( 0 ) + q ( 0 ) + 160q ( 0 ) +

20 s

where Q(s) is the transform of q(t). Given that q(0) = 0 and q (0) = i (0) = 0, so that this reduces to

(s

+ 160 s + 104 ) Q ( s ) =
2

20 s

Q (s) =
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20 s ( s + 160 s + 104 )
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ENGINEERING APPLICATIONS (continued)

Using partial fraction,
20 A Bs + C = + 2 4 s s + 160 s + 104 s ( s + 160 s + 10 )
2

Solving for A, B, and C

A ( s 2 + 160 s + 10 4 ) + Bs + Cs = 20
1 1 8 160 ; B= ; C= = 500 500 25 500

we get A =

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

1 s + 160 1 Q ( s ) = 500 2 s 500 s + 160s + 104 4 s + 80 ) + ( 60 ) 1 1 ( 3 = 500 s ( s + 80 )2 + ( 60 )2 4 s + 60 1 1 = 2 3 2 500 s s + 60 s s +80
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ENGINEERING APPLICATIONS (continued)

Taking the inverse transform, making use of the shift theorem (Property #5),gives the charge q(t) on the capacitor
q (t ) = 1 4 80t 80 t 1 e cos 60t e sin 60t 500 3 dq current in the circuit is i ( t ) = dt

The resulting
= =

1 4 80 t 80 t 80 t 80 t 0 ( 60e sin 60t 80e cos 60t ) 3 ( 60e cos 60t 80e sin 60t ) 500 1 500 80t 1 e sin 60t = e 80t sin 60t 500 3 3

#
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Jethro Henry Adam

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Example 2 In the parallel network in the Figure 2, there is no current flowing in either loop prior to closing the switch at time t = 0. Deduce the currents i1(t) and i2(t) flowing in the loops at time t.

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ENGINEERING APPLICATIONS (continued)

R1 = 20 t=0 e(t) = 200V L1 = 0.5H i X L2 = 1H i1 i2 R2 = 8 R3 = 10

Figure 2

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Applying Kirchhoffs first law to node X gives :
i = i1 + i2

Applying Kirchhoffs second law to each of the two loops in turn gives :
R1 ( i1 + i2 ) + L1 L2
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d ( i1 + i2 ) + R2i1 = 200 dt

di2 + R3i2 R2i1 = 0 dt

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ENGINEERING APPLICATIONS (continued)

Substituting the given values for the resistances and inductances gives
di1 di2 + + 56i1 + 40i2 = 400 dt dt di2 8i1 + 10i2 = 0 dt

(1)

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Taking the Laplace transforms and incorporating the initial conditions i1(0) = i2(0) = 0 leads to the transformed equations

( s + 56 ) I1 ( s ) + ( s + 40 ) I 2 ( s ) =
8I1 ( s ) + ( s + 10 ) I 2 ( s ) = 0

400 s

Hence,
I2 ( s ) =
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3200 3200 = s ( s + 74s + 880 ) s ( s + 59.1)( s + 14.9 )

2

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ENGINEERING APPLICATIONS (continued)

Resolving into partial fractions gives
I2 ( s ) = 3.64 1.22 4.86 + s ( s + 59.1) ( s + 14.9 )

which, on taking inverse transforms, leads to

i2 ( t ) = 3.64 + 1.22e 59.1t 4.86e 14.9t

From (1), that is,

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di 1 i1 ( t ) = 10i2 + 2 8 dt

# #
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i1 ( t ) = 4.55 7.49e 59.1t + 2.98e 14.9t

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Mechanical Vibrations Mechanical translational systems may be used to model many situations, and involved 3 basic elements:a) masses (having mass M, measured in kg) b) springs (having spring stiffness K, measured in Nm-1) c) dampers (having damping coefficient B, measured in Nsm-1)
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ENGINEERING APPLICATIONS (continued)

Symbols of the basic elements :x1 F F M x x2

a) Mass
x1 F

b) Spring
.
x2

c) Damper
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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

The associated with variables are :a) displacement x(t) (measured in m) b) force F(t) (measured in N) Assuming we are dealing with ideal springs and dampers (assuming that they behave linearly), the relationships between the forces & displacements at time t are :mass : spring : d 2x = Mx dt 2 F = K ( x2 x1 ) F =M

( Newton's law ) ( Hooke's law )

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dx dx damper : F = B 2 1 = B ( x2 x1 ) dt dt Jethro Henry Adam

ENGINEERING APPLICATIONS (continued)

Example 3 The mass of the mass-spring-damper system in the Figure 3(a) is subjected to an externally applied periodic force F(t) = 4 sint at time t = 0. Determine the resulting displacement x(t) of the mass at time t given that
x(0) = x(0 ) = 0, for the two cases

(a) = 2
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(b) = 5
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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

F1(t) = Kx(t) . F2(t) = Bx(t)

K = 25

B=6

M=1 x(t)

F(t) = 4 sint

M F(t) = 4 sint

(a) Figure 3
Jethro Henry Adam

(b)
.
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ENGINEERING APPLICATIONS (continued)

As indicated in Figure 3(b), the forces acting on the mass M are the applied force F(t) and the restoring forces F1 and F2 due to the spring and damper respectively. Thus, by Newtons law,
M x ( t ) = F ( t ) F1 ( t ) F2 ( t )

Substituting the given values, gives

x ( t ) + 6 x ( t ) + 25 x ( t ) = 4sin t

as the differential equation representing the motion of the system.

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Taking Laplace transforms throughout leads to the equation

(s

+ 6s + 25 ) X ( s ) = sx ( 0 ) + x ( 0 ) + 6 x ( 0 ) +

4 s + 2
2

where X(s) is the transform of x(t). Given that x (0) = x (0) = 0, so

4 s2 + 2

(s

+ 6s + 25 ) X ( s ) =
2 2

X (s) =
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4 ( s + )( s 2 + 6s + 25)
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ENGINEERING APPLICATIONS (continued)

In case (a), with = 2, gives
X (s) = 8

(s

+ 4 )( s 2 + 6 s + 25 )

Using partial fraction,

8 As + B Cs + D = + s 2 + 4 )( s 2 + 6 s + 25 ) ( s 2 + 4 ) ( s 2 + 6 s + 25 ) (

Solving for A, B, and C, we get

A=
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16 56 16 8 40 ; B= ; C= ; D= = 195 195 195 39 195

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

16 56 16 40 s+ s + 195 195 + 195 195 X (s) = ( s2 + 4) ( s 2 + 6s + 25) 4 4 s + 14 2 8s + 20 = + 2 2 195 ( s + 4 ) 195 ( s + 6 s + 25 ) 4 4 s + 14 2 8 ( s + 3) 4 = + 2 195 ( s 2 + 4 ) 195 ( s + 3) + 16

Taking inverse transforms gives the required response

x (t ) = 4 2 ( 7 sin 2t 4 cos 2t ) + e3t ( 8 cos 4t sin 4t ) 195 195

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ENGINEERING APPLICATIONS (continued)

In case (b), with = 5, gives
X (s) = 20 ( s + 25)( s 2 + 6s + 25)
2

Using partial fraction,

20 As + B Cs + D = + s 2 + 25 )( s 2 + 6 s + 25 ) ( s 2 + 25 ) ( s 2 + 6s + 25 ) (

Solving for A, B, and C, we get

A=
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2 2 20 12 ; B = 0; C = ; D = = 15 15 25 15
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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

2 2 12 s s + 15 15 15 X (s) = 2 + 2 ( s + 25) ( s + 6s + 25) s 2 s + 12 2 1 = 2 + 2 15 ( s + 25 ) 15 ( s + 6 s + 25 ) s 2 1 2 ( s + 3) + 6 = 2 + 2 15 ( s + 25 ) 15 ( s + 3) + 16

Taking inverse transforms gives the required response

x (t ) =
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2 1 3 cos 5t + e 3t 2 cos 4t + sin 4t 15 15 2

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ENGINEERING APPLICATIONS (continued)

Example 4
Consider the mechanical system shown in Figure 4, which consists of two masses M1 = M2 = 1kg, each attached to a fixed base by a spring, having constants K1 = K3 = 4Nm1 respectively, and attached to each other by a third spring with K2 = 5/2 Nm1. Let x1 = x2 = 0 at the equilibrium position. Using the Laplace transforms, determine the positions of the masses at time t (x1(t) and x2(t)). Suppose that frictional effects, f2(t) = 0 (no external driving force acts on M2 and f1(t) = 2[1 H(t 3)] acts on M1.
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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

K1 = 4 M1 = 1 K = 5/2 M2 = 1 2 K1 = 4

x1(t)

x2(t)

(a)
F1 = K1 x1 F2 = K2(x2 x1) M1 .. x1(t) M2 F3 = K3 x3

.. x2(t)

Figure 4
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(b)
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ENGINEERING APPLICATIONS (continued)

By Hookes law, the restoring forces acting on the masses are indicated in Figure 4(b). The restoring forces on M1 is
K 2 ( x2 x1 ) K1 x1

and on M2 is K 2 ( x2 x1 ) K 3 x2 .

By Newtons law of motion,

M 1 x1 = F2 F1 = K 2 ( x2 x1 ) K1 x1 + f1 ( t ) M 2 x2 = F3 F2 = K 3 x2 K 2 ( x2 x1 ) + f 2 ( t )

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Substituting the given values, gives
5 ( x2 x1 ) 4 x1 + 2 1 H ( t 3) 2 13 5 = x1 + x2 + 2 1 H ( t 3) 2 2 5 x2 = 4 x2 ( x2 x1 ) + 0 2 5 13 = x1 x2 2 2 x1 =

as the differential equation representing the motions of the system.

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ENGINEERING APPLICATIONS (continued)

Taking Laplace transforms throughout leads to the equation
2 (1 e 3s ) 13 5 s X 1 ( s ) sx1 ( 0 ) + x1 ( 0 ) = X 1 + X 2 + s 2 2 5 13 s 2 X 2 ( s ) sx2 ( 0 ) + x2 ( 0 ) = X 1 X 2 2 2
2

where X1(s) and X2(s) are the transforms of x1(t) and x2(t).

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Given that x1 (0) = x2 (0) = x1 (0) = x2 (0) = 0, so
2 (1 e 13 5 s X1 ( s ) = X1 + X 2 + s 2 2 5 13 s2 X 2 ( s ) = X1 X 2 2 2
2 3 s

Solve these to obtain

X1 ( s ) = X2 (s) =
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2 13 1 3 s s + (1 e ) 2 s s + 9 )( s + 4 ) ( 2
2 2

1 (1 e3s ) ( s + 9 )( s + 4 ) s 5
2 2

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ENGINEERING APPLICATIONS (continued)

Solve for X1(s) :Using partial fraction,
2 13 1 3 s s + (1 e ) ( s + 9 )( s + 4 ) 2 s 2
2 2

13 13 2 s 2 + (1)(1) 2 s 2 + (1) ( e 3 s ) 2 2 = 2 2 2 ( s + 9 )( s + 4 ) s ( s + 9 )( s 2 + 4 ) s = As + B Cs + D E Fs + G Hs + I J 3 s + 2 + 2 + 2 + (e ) ( s2 + 9) ( s + 4) s ( s + 9) ( s + 4) s
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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Solving for all the coefficients, we get
1 1 13 A= F = ; C = H = ; E = J = ; B=D=G =I =0 9 4 36
s s 1 1 13 1 X1 ( s ) = 2 2 + 9 ( s + 9 ) 4 ( s + 4 ) 36 s s 1 + 2 ( e3s ) + 1 s 2 s+ 4 ( e3s ) 13 1 ( e3s ) 9 ( s + 9) 4( 36 s )

Taking inverse transforms gives the required response

1 1 13 x ( t ) = cos ( 3t ) cos ( 2t ) + 9 4 36 1 13 1 + cos ( 3 ( t 3) ) + cos ( 2 ( t 3) ) H ( t 3) 9 4 36

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ENGINEERING APPLICATIONS (continued)

Solve for X2(s) :Using partial fraction,
1 3 s (1 e ) s + 9 )( s + 4 ) s ( 5
2 2

= =

(s

+ 9 )( s 2 + 4 ) s

5 (1)(1)

(s

5 (1) ( e 3 s )
2

+ 9 )( s 2 + 4 ) s ( e 3 s )
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Ks + L Ms + N O Ps + Q Rs + S T + 2 + 2 + + 2 ( s + 9) ( s2 + 4) s ( s + 9) ( s + 4) s

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KNF 1023 Engineering Mathematics II

ENGINEERING APPLICATIONS (continued)

Solving for all the coefficients, we get
1 1 5 K = P = ; M = R = ; O =T = ; L = N =Q = S =0 9 4 36
s s 1 1 5 1 X1 ( s ) = 2 2 + 9 ( s + 9 ) 4 ( s + 4 ) 36 s 5 s 1 2 ( e3s ) + 1 s 2 s+ 4 ( e3s ) 36 1 ( e3s ) 9 ( s + 9) 4( s )

Taking inverse transforms gives the required response

1 1 5 x ( t ) = cos ( 3t ) cos ( 2t ) + 9 4 36 1 5 1 + cos ( 3 ( t 3) ) + cos ( 2 ( t 3) ) H ( t 3) 9 4 36

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