(1) Fury apow e2gowrdy? Wit re / (Hethemetioat Medeting in Put output fo Sistem x(t) Req: —Thensfer Function TR xe out Put Fe) . mPut steps of Solutions J). APPLY Fundamental Tews governing the sistem cy nlan C2985 Bball SH aesul a time domain ? hy form of equations in 2. Take The Tofleece thon step (#) 2, Drow & blocl dia4hom repksentS the equation: in Step (2) tL, Find TF using MeSen’s MethodMechanical S{stems / ComPonent sjmbol force units K Spring | —ww— Fepatag ors ( tineer) KK: SPNng ste ffness N/m KX: displace ment m Torsional SPKing [@ Me | Torring = Ke: 6 Kes Torsionat Spring Nem / heed stiffness Qs Anqular disPlacement hed Mass ca LP] Feetectie = ms Mass Kg 0° 2 Xe eecceleretion m/sec demPer | pe | Flempn = © % Cc of b Ce demping Coefficient] N-S/m m/sec xX: VelocitdThe fundamentat aw Jovering mechenicel system iSs aA L wgnd New ton s 2" tow) 7 external (t) inPut —> f(t) | ree | x S| Force fe) m outPut ——» X(t) disPlacerent} Req. 2 Thansfer Function Solutions Ft) Sistem xO input SMD. output SPhing - Moss - damper J Single outPut system S159) # Single MmPut | domPer (or) eshfot & Shock absorber LB age pL ass f(t) > « PhoVides Viscous friction 9 alk ( damping) Consists of si) oft Filled cy tiny Corp Lise fuzob — with smal obi fi'ces Air atten ral a)effective Force (e xternal Forces, ) SS bie we mf fw) a KX CK's Flt) = mA Ramiknrc , hx F(t) # Cinear Time InVaniont S{stem (Ll TI) lg Coefficients cals tof UTI a Osten I ore mee ; ce st ee re? « Take Co Place thensform _—_———— for equetion ($) GSsuming | | (em) cage Ol cra DA Fete initial Conditions ° pe edi cn ~ fs ms Kost CSXgt Kk Kos) 2 Fisy spece cooft + (m5%,CSek) Kos = Fis) ae )omor ° Transfer Function ( FS tt) ce yt yar ALS So an 1 ah 1 Vlado B93 SISCem Ivy? ( T- £2 —<—_—_——_ 2 Z , Cinear time Varfing S4sten‘CEXam Ple (2) disPlecement input—- UC) of | rein mene Cart disPlocement f wnat | the | mess Req. : Thensfer Function Ik( d-u) oe b(S-us) Jef 3 Fe = Doge Sotutions IC Jeu) = BCA us) = mY” bus kus my{%+bs+ks —-@ 2 TaPlace thonSform of equation (1) eSsuming + Tot Tek tral condition * Zebo Int & bSUsy+ K Uy = mS Vis) + BS YS) + k VS) & (bS+K) Us=( ms’, bS+k) Ys)| YS) an, + Thansfer Function ( a = PPP?) s Ys) [out Put ThanSfer Function ( T- F [|S SEX cm Ple (3) fen, a +X re ke obtein transfer functions: ms mg | nw eee GG) ema) eet) Ul) Ue) Solution s »\ external Forces u Ko Xi - Ka) bX, - %3) ee Ceffective Forces aL « [mel Amass(™) 2 \2 Fast 22 han =e BUY Xy = 1g Ry ky) BONS. Kz) = 1 4 au bX, Ky Xp = 4X. OK’ LK okey) 4, moss): (& Fay - 2 Fess. ) a Ka OX - Xp) 4 BOG Xp) = Ky Xp Ay G ——e (f) 2 Oe Ky ky mg Xe BAL (Kae ks) X2 —- ® . Take the Caflace thensform of the equations (3.2) assuming Zero initial Condi tionss Usy + [bS eke] Xels)= [my ste bS + Ck, + Kay] Kiso —- 9 U a ss) KD Ks —y————_— ae M2 'ebS owen | $ter[bS+K2] Xt « [ms%s bS + earl] X05) » Block Diaqhoms © Usy 4 ~——@ _ 4a bse ks | Xel M2 S*+bS+ (Ky+ks) - HO] bsek, | Ge mS bS+Ky+ky My5*+ bse Karka | | bS +k, ’————_ + Thansfer Function s X18) 990 © Us) 4 ty Oey — LJ pee ee) Ki msteasrheke Ue pg, 2S _ p(k) m.544bS+ Kirk, mys4+ bSeKerks KO m5". bS+ Kerk3 Us) (m5 4 b5ekst ka)( mySksbSe Kee ka) - (bS+ ke) zi Xp) _ FPP UW } )( es _) Xe ( 92 +bS+ Kirk2 / \ mz 5% pS+ Kae Ks Ue) ( yf She) Cbs+ka) : rn, 9% bot Ki tke mgS%s bS+ Karks X49 bo+hke . Zz UGS) (mse bse ky +2) ('meS+ B+ Kat 3) - cosets)Electiicet systems penn (LR Circuits) units A ohm() L— henrs (4) CeaPacitor c a vine £5 ie dt cue fored (FI Con denser) Vc } v(t) + Basic Tews Governing electhicatl Cikcuits abe s C\inchhoffs Tews LL. Wirchoff?S Cubrent Taw (KCL) oF [rit] > The algebraic Sum of all Cubsents entering and Ceaving enede iS Bho esi se Qe) loll 9 Us IJ ol Lal os yall € sara ye es glus pasoh => The Sum of Cubrents entering «node iS equal te the sum of Cubrents Leaving the Some Node- colLill Zaz csglun pall U5 1a)l =1)Lill C92? kets A pail Cyubd Cro Ley lal ° ° ° ° Wot Ip-Ig- lg = 0-0 ig ob 'y I, Yr i I oo. 'g B+ lg = Ig t+ lg HL. Kirchoffs voltage tow (vt) [ $22 ] > olfebraic Sum of the Volteges abound any tooP in an electhic Cikcuit 1S Zero csi dels (sedi 398) VoTtS Js ye! Egecall yap esalus Closed TooP > The sum of the Voltage dhoPs iS equal to the Sum of the Voltage bises hound ce LooP,input c R _. / inPut > e. [wt] 1 es :) c Co outPut Sf] outPut | | Voltage Req. Thensfer Function Solution s + &PpPl4 AVL tothe Systems a) ° toe = er 6 SHE, Ri + Die dt @ —+ ® eo = £5 ith dt » Tolhe the laPlace thonsform of equations ( 442) assuming Zebo initiol conditions: 3 Es (s) - LOIw+ R Ts) + re Tis) By f,ty- (LS +R + ge) Te @E; (s) f Lis) LS+R+ & Els) = 2 Ils) —-® CS Ii) L Es) cs input + Block Die gram ° E,(s)-— E, (8) —> out put . As) | 4 Tis) t Ew) LS+Are cS ~ « Thonsfer Function « E,(S) L p 4 “Fe is+Ret 6 cs 4 TFe— Lcs?, acor+h' a iio Put input > Ve(t) vttae . yy Wl Gye i) © outPut = Vo (t) i ae } Voltage Req. : Thonsfer Function Solution ¢ = oPPLY KCl: *ePPld lAvis a 4 Wl = Ry ii) + + Scie - iw) se —-O $ topes ; . St hte ii) dt = R, i) +4 5 gen dt -@ Ce Vo (4) = 25 ie dt —+@ 2 Toke loPlace thansform for €9Uctions( t,2,3) essuming Zebo ini tiol Condi trons sV,(s) = Ry Tis) + = (Ts - Iw) —+@ (8) Gs } t gel Its) - 1,9] = RT + at T,(s) 3 . a 4 Le Gs I, = ( Gs + Ry+ as) - I, (3) = T,(s) > : 4S — > eet here& L W (5) = —— TL,(9) —_- @ C)S Ie 4 Vo(S) C25« Bloch Dieqhems its) : + | 38 Vo (s) erie) ! + Thensfer Function ( Toa > #44 (Gy, Gp +4 H) ae bespceie Ze Forwan d feed a cs Vo (S) Vil) (RE SeA)( 2, Ry Set) - ee 2 (TFs EROS AED & T-FeExomPle (6) oy inPut : | a =. a ny inPut —+ e+ ut Put out Put-—+ & | walter | Reqs Thonsfer Function Sotution s : Re « APPLS lAcTs 1 en) ie i oa Ry e; ; & . APPLY AVES . i? Gog (fnltets) > fh f «22S 2 : ple SSidt —-@ 1 Ry (fie) = 2S be dt —+@ 2 —-@ ° 4 : eee ie LGidt Tate ToPloce thensform for the equations (1,23 ceSSuming Zeho initial Conditions ¢Lor. E, (3) 2 A,( Tes Leen) 1 8s Lent 4° 7 4 ; . Els) + Ry Icls) = (Ry + Roe Gs! ho ! E;(s) A L — ? Ry + Rew a | a ( L______| R, a oo if Ry ( Tey - Lets) = “CS no a Ay Ty = (Re it = (s) + C29 ) I. Tis) fe | - Re + os Fis) Ri we = Lis els) = '% 2614 Os 1 (Ry *) I(s) E,(3) |, Block Dic {rams Be » 272) : oP (Gy +4 Hy, He) _. Closed Lo oS a Feed Forward beck J Aye Ror 7 Ror oe Le (4+ RN Be) (Rye RecA Rar Za) Ry 1+ Rare eee os a) 1 ge) Rec ATF. : Fo) (A, #Ree Ay Rye A) - 8 - ape LSS8t NC Re Ces +3) etna, a ftp. LRGs + Hl Reers +3) u (RIGS +4) Re Sef) + RIES / eS ye(Fluid systems) C Cid fevet 545 lem ) Valve (A) «Jes inflow bate (m/sec) : Note (m?/ sec) * Cepaci tence (c) of (m) the tonk fo equal te © gs outflow bete whe head tts Choss- sectionst gz cr Capacitence (™) ares (A) 1: i Re Resistance ( s/m’) Notess 7 Wot . chonge in heed “dh ———— at 4d - I, = c SAY y Tonk Ale Nueeee dt ~ 7 eke - Wott, Q - chanse in level difference Chenge in flowhete y anes throu Volve { Vrefoe - Wetter : a avs sVolVve di Uslas ge a iTReq.s LL, His) GS) i_, Gols) Ql) Solutions + Tanks oe _ Flow - ¢. ited . 4-4- cd 8 Ge cen) Ghee aed : heed heed Flow Valve ¢ betas - after = R- Enea ol a h -0 = R-% @ + Toke the taPlece thensform of equations ( 4,2) assuming Zeho initiat Conditions® 2 Gd - Qi = CS Hy ~— ® Gus) Hes)o His) - R Qs) —- ()) Hes) | Gs 8 R » Block dicqhams Gis) © Thansfer Functions : H w, He. pe oo fe G15) As | b (al 2 es (<3) Gey +( LN ql i) Ge. ee? Coie . Hs) : (a) Qs _ 4 Ge ye (Ay dy) LSS et FfExomPle (8) 4 ™ l Ry Req. s Ge) p29 Gis) Sefution « tame 1-42 4 SE « Velvelt) 8 hy - he = Re Wy h tenkig) 2 Y-4e- © ae w a N oO ry Valve (2) 3 hy - 0 Take the laPlece thonsform for th Zero initial Conditionss assuming & BQ - Qe = Cs Als) Mw x os Qs) Hyts) - Hy(s) = R, Qs) Z| WS) on) —-@ —- @ —@ 2 equations ( £34) —@ —-9s Gio - Oys) = CiSHoIs) _- @ Qs) Has) = Ry G, (9) Hats) L Qas) Re + Block Diedkame Hgts) rz B'S Ga wg $1 C) zy} ae | to thansfer Function: i Forwerd Paths Ps Shame L t L _ fer be CRS er cp RES ts =/ touching TooPs * t +t, | Non- stt- 4 c,R,& Re S Ae 4- 2t+2tt ee ea a) z CRs CaR2s Roe | VR CeRe R touches ot CoofS => Ay =4 ° 2 5 Ay A — aR . Fe G Ri Ce RAS) b by bo, Ras OR C, Res" a b+ ops” ces J C,R, Cy Ry SF (egy +6, +6 R2) 94 Sige =(pxemPle (3) enput —» Ve ie nel na ' Volter | Utoye B 3 ik outfit —» x { disPlecement } t ven Ce : Ls f- 1 on * pb + Constent Ve 7) EY f 3 Fence Pho duced in —____“" +) the bod : Req s Thans fer Function solution? electrical Sistem + opplf KVTs Vet) = R Taye e div —_-@ dt {stems Relation bet ween alectricat / mechanical s —__- ® fi = & 1) Mechanical Sistem 7° opply, Newton's 2" tam! (2 fe - 2 Foe je , be 2 f(t) KX-BX = MX” (a eee f(t)—+ O 4X" + BX +kX = fit) lace thonsform for the equations (3 A laf a a inti + tion? | assuming Zero jnttiol Cond a Vils) © Alt Ls ls) ; ave [Re LS] Ts) vils) i Its) i LS+R © Fls)- # Its) ne Is) [+ | Fis) — 6 2 Pms?+BS+/4] Xe - Fo Fos) L Xo) ms*+BS+ Ik - Blech Dieirams Vils) Ea Is) Z| Fo s Xs) LS+Rh [Eee ms% BSrk » Thanster Functions Xe Vie) (mst, BS +k)( L194 R)rem Ple (i?) SS (J) inesti. 7 inPut—» Tey / Tow} (Bp) out Put ——- Xct} { displacement } Req.e Thensfer Function Sol ution s Mechanical system ( Rotationot) + Je” fay 8,6° = fective Forces) external Forces » Tay - fy @ - B20" = J6” Te) - fy R= TO°+ 820° _, @Mechanical system (Linear) « externot fective (effective Forces, rf ' m x” m — m lr] an IK X Bx 2 Fog. = 2 Fee. f +ve » tlt) Kx -B, x 2 Xx" Ciena op nee —+ @ Relation between The two systems xc) = Ru) — the lePlace thonsfohm for the equations (183, o ini + Take assuming 2h tiet Conditions+ R Fisy — ® als) ce [Js Bo] As) = BL Y J a t "Ts? BesFos) = [ms?+ B,S+ ki] Xs x | 5 Xis) = R As) a J Rp « Block Die4tams Tis) Gs —__- @ ——] {i _|ms* B,S +k, ¢——~ — L—___——~ tThonsfen Functions R X¢s) J Ss BS Tis) 4, Bi tosts seh) JS’ B2S Kos) Rfiodeling of DC. moter Reis Te. 8s | Selutions p(t) = Kk Q= kp w — @ g(t). Ry itt) + t, Le”, e,(t) —+@ dt Tw A tet) —-9 JQ + CQ = Tw 6 * Teking the LePlece thensform of the equations oy? onditionSs (48 4) assuming Zebo initial © nditi E,(d= Kp Ss) —+ ©Es) «| Re +b ey Is) + Fils) —+6 Ths) _ 1 iets @ ; 8) Lr7s+ co] Os = Ts) + Bloclh Dieshem? Eo(s) 1) To [+ Os) 7 Rig + bes d 797+C8 Ep) » Thensfen function ( oO. 28 bo )? 4 8a ( om) (a) ( sates) Eos) [4 Kbs es) $+ sacs (C,$+ Re) oS"