MM326 SYSTEM DYNAMICS Homework 4 Prepared by Nurdan Bilgin FORMAT, RULES AND GRADING: Format: 1.

Homeworks must be written in English 2. Extra cover page is necessary, Your Instructors name will be written in the top of the page. Your name, surname and student ID will be written in the middle of the page. Rules: 1. Homeworks must be done personally. If we suspect that there is any correlation between your homeworks, this type of homework will be excluded from evaluation. 2. Your homework will be submitted to on time. Late submitted wont be accepted. 3. All sources, except your lecture notes, should be properly referenced. 4. You should indicate all necessary explanations and details clearly in your solutions. 5. You should submit your homework personally to Automatic control lab. on 10/06/2013 until 17:30 in exchange for signing. 6. Your homework must be stapled , dont use clear file. Grading: 1. Percentage of the homeworks are %15. QUESTIONS: Question 1: (From System Dynamics: An Introduction, Rowell and Wormley,1997 Problems 5.21 page 168) It is common to mount machines and rotating equipment on shock isolation pads to reduce the transmission of time varying forces to the ground. In the system shown in figure 1 a machine represented as a mass m, has a vibrational force acting at its center of mass in addition to the gravitational force. The pad that supports the machine is made of a damping material with . The material nonlinear stiffness given by the constitutive equation , where also has damping properties that are approximately linear, that is, the damping force is proportional to the velocity across the pad.

Figure 1

a) Construct a linear graph for the system. b) Derive the nonlinear differential equation for the system in terms of x. (Hint: it is useful to differentiate the constitutive equation to obtain an elemental equation in terms of power variables.) c) If the mass of machine tool is 1000 kg, and the vibrational force has a zero average value, what is the nominal equilibrium condition for the system? d) Derive the linearized equation for small excursions from the nominal equilibrium condition.

Question 2: (Adapted From Mhendislik Sistemlerinin Modellenmesi ve Dinamii, Extended 2. Ed. Ycel Ercan page:306 and System Dynamics, 3. Ed., Ogata, page 197) Consider the , the outflow rate is liquid-level system shown in figure 2. At steady state the inflow rate , and head is . Assume that the flow is turbulent. Then we have , For this system,

Figure 2

a) Construct a linear graph for the system. b) Derive the nonlinear differential equation for the system in terms of position of M. c) Derive a set of linearized state equations for small excursions from the nominal equilibrium condition.

Question 3: (From Mechanical Vibrations 4. Ed., Rao,2004 Problems 13.6 page 966) A uniform bar of length and mass is hinged at one end , supported by a spring at , and acted by a force at , as shown in figure 3. (Hint: dont use small angle assumption.)

Figure 3

a) Construct a linear graph for the system and identify the state variables. b) Derive a set of nonlinear state equations for the system. c) Derive a set of linearized state equations for small excursions from the nominal equilibrium condition.