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ME341 Linear Systems: I o L I o

This homework assignment involves solving multiple problems related to linear systems modeling. Problem 1 involves modeling the motion of a pilot ejecting from a plane under parachutes using damping equations. Problem 2 models a fluid clutch system using moment of inertias and derives transfer functions. Problem 3 models an accelerometer measuring device displacement using spring-damper-mass equations. Problem 4 models a machining table system using a rack-and-pinion drive with damping and derives transfer functions representing the dynamic model. Students are tasked with deriving equations of motion, transfer functions, and solving related problems for each system.

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Jeremy Boadwine
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78 views

ME341 Linear Systems: I o L I o

This homework assignment involves solving multiple problems related to linear systems modeling. Problem 1 involves modeling the motion of a pilot ejecting from a plane under parachutes using damping equations. Problem 2 models a fluid clutch system using moment of inertias and derives transfer functions. Problem 3 models an accelerometer measuring device displacement using spring-damper-mass equations. Problem 4 models a machining table system using a rack-and-pinion drive with damping and derives transfer functions representing the dynamic model. Students are tasked with deriving equations of motion, transfer functions, and solving related problems for each system.

Uploaded by

Jeremy Boadwine
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Minnesota State University, Mankato

Department of Mechanical & Civil Engineering


ME341 Linear Systems
Homework assignment 2 (Due September 21, 2020)

Problem 1: Air Force training plane develops engine trouble and the pilot is
forced to eject from the plane. The pilot weighs 90 kg and he reaches a
steady state velocity of 30 m/s with one parachute open. Assume that (a) the
air drag force on the pilot is small compared to that on the parachute; and (b)
the air drag force can be modeled as an ideal damper i.e. linearly 2
g = 9.81 m/s
proportional to the velocity.
1. Find the damping coefficient (be sure to include the units).
2. By accident, an identical second parachute opens after the pilot has already
reached the steady state.
a. If the 2nd parachute opens at t=0, determine the ODE describing the pilot’s velocity including
initial conditions.
b. Solve (using Laplace transform method) the ODE for the pilot’s velocity; final value of the pilot’s
velocity.
c. Obtain the differential equation describing the force acting on the pilot.
d. How far will the pilot fall in 3 seconds if the distance is measured from t=0 (at the instant when the
2nd parachute opens).

Problem 2: Consider a fluid clutch system that can be modeled as two


moment-of-inertias (J1 and J2) with a rotational damper (b) where ωi
and ωo are the speeds of driving (input) and driven (output) disks
respectively; and the torques, τ and τL, are specified functions of time.
1. Begin with a clearly labeled free-body diagram and derive the equations of motion for ωi and ωo.
2. Derive the transfer functions G1(s) and G2(s) such that ω0 ( s ) = G1 ( s )τ ( s ) +G2 ( s )τ L ( s ) , and show
a1s + a2
that they have the form . Determine the coefficients (T, a1 and a2) in terms of the system
s (Ts + 1)
parameters.
d ωo
3. Obtain an expression for the time response of the acceleration α ( t ) = if all the initial conditions
dt
are zero, τL = 0 and τ is a step function with magnitude M. Determine the acceleration at steady state
( t → ∞ ). 

Problem 3: Consider the simplified model of an accelerometer (small mass x (t ) xm ( t )


m, damper b and spring k) for measuring the displacement of a device k
(denoted as “base”) in the figure where the applied acceleration ( a f = 
x)
m
causes the mass m to move.
b
1. Show that the equation of motion is given by Base
Accelerometer
my + by + ky =ma f where y =x − xm
Show your working steps with a consistent free body diagram (clearly labeling the force and
displacements in each element).
2. Derive the transfer function Y(s)/A(s) where Y(s) and A(s) are the Laplace transfer of y(t) and af(t)
respectively.
3. Find the condition (in terms of parameters m, b, and k) such that the system has complex conjugate
poles, and that the final-value-theorem can be applied.

Problem 4: Consider the machining table in the figure where the motor torque τm is applied through the
rack-and-pinion to move the table against an external load force fL. In the figure, k is the spring
constant and frictional effects of the rotating shaft and sliding table are modeled as ideal dampers (br
and bt).

FL ( s )
Tm ( s )+ - X (s)
G1 ( s ) + G2 ( s )
-
ω (s)
G4 ( s ) G3 ( s )

1. With a clearly labelled free-body diagram, write the constitutive equations for all the elements and
the rack-and-pinion.
2. Show that the dynamic model of the machining table can be represented by the following block
diagram where Tm(s), X(s) and FL(s) are the Laplace transform of τm, x and fL. Determine the transfer
functions G1, G2, G3 and G4 in terms of parameters m, Jp, k, br and r.
3. If fL = 0, find the transfer function X(s)/ Tm(s).

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