ME 373 System Dynamics -Exam 1 - Summary

Chi Hou Lei @ UW 2013

Mid-term exam 1
Summary
You are expected to know:
1. Derive differential equation from mass-spring-damper system.
Free Body diagram
Newtons second law
2. Solve first order and second order DE.
3. For first order system, understand the meaning of time constants as
- t-intercept of tangent at initial point
- Time for the initial value to decrease to 37%
4. For second order system, understand the meanings of damping ratio and natural frequency.
b
c
f
2
ax bx cx f
x
x
x
x 2 nx
n x
a
a
a
Compare the coefficients of x and x to obtain and n
5. Non-homogeneous DE particular solutions.
Please read pages 255 259 of textbook.
6. Particular solution depends:
Primarily on the form of non-homogeneous force term on RHS.
Secondarily on the homogeneous solution or the characteristic equations.
7. Concept of state equation
Derive state equation from differential equation.
Transfer function from state equation.
x'
y

Ax
Cx

Bu
Du

(sI

C (sI

A) 1 Bu
A) 1 B

Du

Differential equation from transfer function, by differential operator.

d
s
dt
d2
s2
dt 2

Last updated: 2013 / 03 / 15

ME 373 System Dynamics -Exam 1 - Summary

Chi Hou Lei @ UW 2013

First order system

x

char . eqn

char . root

time
constant
t

x(t )

ce

Typical graphs

Time-constant = t-intercept of tangent from initial point

Last updated: 2013 / 03 / 15

ME 373 System Dynamics -Exam 1 - Summary

Chi Hou Lei @ UW 2013

SUMMARY METHOD OF UNDERTERMINED COEFFICIENTS

To find a particular solution to the differential equation

Ct mert

ax '' bx ' cx

(lower order terms) ,

where m is a non-negative integer, use the form

t s (Kmt m

xp (t)

Km 1t m

K1t

K 0 )ert

with
s 0 if r is NOT a root of the characteristic equation;
s 1 if r is a SIMPLE root of the characteristic equation; and
s 2 if r is a DOUBLE root of the characteristic equation;
2

Recall that the characteristic equation is a

To find a particular solution to the differential equation

Ct m e t cos t

(Ct m

OR
ax '' bx ' cx

OR

more
generally

Ct e sin t

(Ct

OR
Ct m e t cos t

for

)e t cos t
)e t sin t
OR

Dt m e t sin t

(Ct m

)e t cos t

(Dt m

)e t sin t

0 , use the form

xp (t )

t s (Amt m

Am 1t m

A1t

A0 )e t cos t

t s (Bmt m

Bm 1t m

B1t

B0 )e t cos t

with
s 0 if

i is NOT a root of the characteristic equation; and

i is a (SIMPLE) root of the characteristic equation;

1 if

Notice that DOUBLE roots never exist in DE with real coefficients!!!

Extracted from: Nagle, Fundamentals of DE and BVP, p180

Last updated: 2013 / 03 / 15

ME 373 System Dynamics -Exam 1 - Summary

Chi Hou Lei @ UW 2013

Frequencies & Period

natural freq
x

2
n

rad / s

cyclical freq

fn

Hz

rev / s
fn

1
damped freq
rad / s
d

damped cyclical freq

fd

Hz

rev / s
fd

Period
s
Td

2
d

1
fd

Caution:
When

1,

Last updated: 2013 / 03 / 15

0, fd

0.