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Frequency Response Exercise - Sol

The document describes a mass-spring-damper system moving along irregular ground. It provides the parameter values for the system and derives the transfer function relating the output Y(s) to the input Yo(s). It then determines the amplitude ratio of the system and derives an explicit function for the output y(t).

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Luis Sarmiento
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43 views2 pages

Frequency Response Exercise - Sol

The document describes a mass-spring-damper system moving along irregular ground. It provides the parameter values for the system and derives the transfer function relating the output Y(s) to the input Yo(s). It then determines the amplitude ratio of the system and derives an explicit function for the output y(t).

Uploaded by

Luis Sarmiento
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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IME 8310 – INSTRUMENTACIÓN Y CONTROL

Frequency Response

A mass-spring-damper system is illustrated in Figure 3. This system is moving along an irregular ground
with a constant linear speed of 𝑥̇ (𝑡) = 1.5𝑚/𝑠 (thus, 𝑥(𝑡) = 1.5𝑡). The ground topology can be modeled
as: 𝑦𝑜 (𝑥) = (0.2𝑚) sin((4.189𝑟𝑎𝑑/𝑚) ∙ 𝑥). The parameter values are: 𝑘 = 150𝑁/𝑚, 𝑐 = 50𝑁𝑠/𝑚,
𝑀 = 70𝑘𝑔.

Figure 1 - Mass-spring-damper system.

The transfer function relating 𝑌(𝑠) with 𝑌𝑜 (𝑠) is:


𝑐 𝑘
𝑌(𝑠) 𝑠+
𝑀 𝑀
𝐺(𝑠) = 𝑌 (𝑠) = 𝑐 𝑘
0 𝑠2 + 𝑠+
𝑀 𝑀

Determine the amplitude ratio of the system and write an explicit function for 𝑦(𝑡).

𝑟𝑎𝑑 𝑚
𝑌𝑜 (𝑡) = (0.2𝑚) sin (4.189 ( ) ∙ 1.5 ∗ 𝑡 ( ))
𝑚 𝑠

4.189𝑟𝑎𝑑 𝑚 𝑟𝑎𝑑
𝜔=( ) ∙ 1.5 ( ) = 6.28
𝑚 𝑠 𝑠𝑒𝑔
𝑌𝑜 (𝑡) = 𝑌𝑜 sin (𝜔𝑡) = 0.2 sin(6.28𝑡)
𝑌
= 𝐴𝑅
𝑌𝑜
𝐴𝑅 = |𝐺(𝑖𝜔)|
𝜃 = ∠ 𝐺(𝑖𝜔)

𝑌(𝑡) = 𝐴𝑅 𝑌𝑜 sin(𝜔 𝑡 + 𝜃)
𝑐 𝑘
|𝑀 𝑠 + 𝑀 |
|𝐺(𝑠)| =
𝑐 𝑘
|𝑠 2 + 𝑀 𝑠 + 𝑀|

𝑐 𝑘
|𝑀 (𝑖𝜔) + 𝑀|
|𝐺(𝑖𝜔)| =
𝑐 𝑘
|(𝑖𝜔)2 + 𝑀 (𝑖𝜔) + 𝑀|

𝑟𝑎𝑑
𝑘 = 150𝑁/𝑚, 𝑐 = 50𝑁𝑠/𝑚, 𝑀 = 70𝑘𝑔, 𝜔 = 6.28 𝑠𝑒𝑔

2 2
√( 𝑘 ) + ( 𝑐 𝜔)
𝑀 𝑀
𝐴𝑅 = |𝐺(𝑖𝜔)| = = 0.13
2 2
√( 𝑘 − 𝜔 2 ) + ( 𝑐 𝜔)
𝑀 𝑀

𝑐 𝑐
(𝑀 𝜔) (𝑀 𝜔)
𝜃 = ∠ 𝐺(𝑖𝜔) = 𝑎𝑡𝑎𝑛2 ( ) − 𝑎𝑡𝑎𝑛2 ( ) = −1.89
𝑘 𝑘
(𝑀) (𝑀 − 𝜔 2 )

𝑌𝑜 (𝑡) = (0.2) sin(6.28 𝑡)

𝑌(𝑡) = 𝐴𝑅 𝑌𝑜 sin(𝜔 𝑡 + 𝜃)

𝑌(𝑡) = 𝐴𝑅(0.2) sin(6.28 𝑡 + 𝜃)


𝑌(𝑡) = 0.0469 sin(6.28 𝑡 − 1.89)

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