MM326 SYSTEM DYNAMICS Homework 3 Prepared by Nurdan Bilgin, Naser Babaei and Fettah Kodalak 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 28/05/2013 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: (Adapted from System Dynamics, 3 ed. Karnopp,Margolis and Rosenberg Problems 5.8). Consider the simple model of a vehicle shown below, where the suspended mass is M; the main suspension stiffnes is K; the damper coefficient is B; the tire mass is m; the tire spring stiffness is k; and the velocity input from the roadway is V(t). Write the state equation according to the method given at your lesson notes.

Figure 1

Question 2: (Adapted From Mhendislik Sistemlerinin Modellenmesi ve Dinamii, Extended 2. Ed. Ycel Ercan page:306) According to the method given at chapter 9, Obtain state equations.

Figure 2

Question 3: (From System Dynamics:An Introduction, Rowell and Wormley,1997 Problems 6.3 page 198) A ball screw linear actuator is shown in Figure 3. The actuator a DC electric motor, with an electromotive coupling constant ,armature resistance R, and inductance L, and driven by a voltage source . The motor drives a threaded shaft with N threads/cm on which the ballnut moves linearly.The mechanical load is a mass m which slides on a surface with viscous damping coefficient B.

Figure 3 a. Construct a model for a ball-screw that relates the shaft torque and angular velocity to the nut linear velocity and force. Write the equations for the transduction process and show that they are energy conserving. Is this a transforming or gyrating relationship? b. Generate a set of state equations that describe the dynamics of the system!!.

Question 4: (From System Dynamics:An Introduction, Rowell and Wormley,1997 Problems 6.7 page 199) A permanent magnet dc motor may be modeled by the lumped system shown in Fig. 4, where Rf and Lf are the electrical resistance and inductance of the field winding, e b is the backemf, and J and B are the inertia and viscous damping of the rotor and its bearings. The motor performance has been specified by the manufacturer in terms of the relationships T=K mi and vb=Kv.

Figure 4

a. Draw the linear graph and normal tree for the system, assuming that the motor is driven from a voltage source. b. Drive a set of state equations.