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2.004 Dynamics and Control II

Spring 2008

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2.004 Problem Set 1 Solutions

Problem 1. For the rotational system, we are given a ywheel spinning at rate (t), driven
by a torque T (t) that is opposed by a frictional torque Tf (t). The governing dierential

comes from the torque balance, M = J note that the sign of the frictional torque is
opposite that of the driving torque:

Collecting the terms:

T (t) Tf () = J (t)

(1)

J (t)
+ Tf () = T (t)

(2)

Problem 2. Given the above relation, we are asked to consider three separate cases for the
frictional torque Tf ():
(a) Coulomb torque, i.e., Tf () = Tc sgn(). If we assume unidirectional motion with
> 0 then Tf () = Tc . Substituting into (2):
= T (t) Tc
J (t)

(3)

(b) Viscous torque, with Tf () = B. Substituting into (2):

+ B(t) = T (t)
J (t)

(4)

(c) With both viscous and Coulomb torque, again substituting into (2):

+ B(t) = T (t) Tc
J (t)

(5)

Problem 3. We are asked to solve the above dierential equations, given initial condition
(0) = 0 and no applied torque, T (t) = 0.
= Tc , or (t)

(a) With T (t) = 0, substituting into (3): J (t)

= Tc /J. Integrating,
(t) =

Tc
t+C
J

From the initial condition (0) = 0 , we have 0 = C; substituting into the above,
(t) = 0
(b) From (4), with T (t) = 0,
Dividing through by J:

Tc
t
J

J (t)
+ B(t) = 0.

(t)
+ (t) = 0

J
1

(6)

(7)

Given the form of the above equation, we assume a solution of the exponential form,
(t) = Aet/ . Using the initial condition (0) = 0 , we have 0 = A. Dierentiating

the assumed solution, (t)

= (1/ )Aet/ , so
1
B
Aet/ + Aet/ = 0

J
Thus = J/B, so we get:
B

(t) = 0 e( J )t
(c) With both viscous and Coulomb torque, and T (t) = 0, from (5):

J (t)
+ B(t) = Tc ; (0) = 0
B
Tc

(t)
+ (t) = ; (0) = 0
J
J
d(t) 1
Tc
J
or
+ (t) = ; where
dt

J
B
Separating variables:
d(t)
1
= dt
(t) + Tc /B

Substituting in the above, (t) = (t) + Tc /B, d(t) = d(t):

d
1
= dt

t
ln = + C

t/ +C
(t) = e

Reversing the substitution of variables,

(t) = (t)

Tc
B

Tc
B
Tc

= et/ +C
= Aet/

To nd the constant, we use the initial condition (0) = 0 :

Tc
B
Tc
A = 0 +
B

0 = A

(8)

So, nally:

Tc t/ Tc
e

B
B

Tc
or, (t) = 0 et/
1 et/
B
(t) =

0 +

(9)
(10)

Problem 4. The moment of inertia of a solid cylinder of mass m and radius r about its
axis is given by J = 12 mr2 , while the mass (assuming uniform density ) is m = (r2 h),
where h is the height of the cylinder. Thus the moment expands to
J=

4
(r h)
2

(11)

for a solid cylinder. For our ywheel, neglecting the spokes and hub we may consider just
the outer ring (which given the r4 term above will dominate the inertia). Its moment of
inertia, by superposition, is the dierence between the moments of inertia of two cylinders
of radius r2 and r1 , the outer and inner radii, respectively:
J=

h 4
(r2 h) (r1 4 h) =
(r2 r1 4 )
2
2
2

(12)

For the plant described in the lab handout, r1 = 63.50 103 m, r2 = 104.8 103 m,
h = 22.23 103 m, and = 8230 kg/m3 . Thus,
J=

0.02223
(0.10484 0.06354 ) 8230 = 3.00 102 kg m2
2

(13)

Problem 5. From Problem 4, we know the form of the equation of motion for the ywheel
with viscous damping, with coulomb damping, and with both forms of damping. Given
motion data, we can take the general equation (from 4(c)) and attempt a least-squares t
to the experimental data, varying the coecients Tc and B (0 is known; it is the measured
velocity at t = 0, and J has been computed in Problem 4).

Plots for Problem 3

Coulomb damping only
J = 1, 0 = 1, Tc = 0.1
1
0.9
0.8
0.7

0.6
0.5
0.4
0.3
0.2
Pure linear decay:
goes to zero at finite time

0.1
0

10

10

Viscous damping only

J = 1, 0 = 1, B = 0.2
1
0.9
0.8
0.7

0.6
0.5
0.4
0.3
Pure exponential decay:
becomes infinitesimally small as t>

0.2
0.1

6
t

Viscous + Coulomb damping

J = 1, 0 = 1, B = 0.1, Tc = 0.1
1
0.9
Linear + exponential decay:
goes to zero at finite time,
decay approaches linear with increasing time

0.8
0.7

0.6
0.5
0.4
0.3
0.2
0.1
0

6
t

10