Problem 5.

15
Figure P5.1 shows the original system of Fig. 5.35 with the relevant pressures and
volume flow rates indicated.

qi
pa
pa

Cl1 p1 Rl1 p2 Cl2 p2 Rl2 pa

q qo

Figure P5.1 Liquid-level system with pressures and volume flow rates

The liquid resistances are

p1 − p2 p2 − pa
=Rl1 = ; Rl 2 (P5.1)
q qo
and the liquid capacitances are
qi − q q − qo
=Cl1 = ; Cl 2 (P5.2)
p1 p 2
The second Eq. (P5.1) yields
p=
2 pa + Rl 2 qo (P5.3)
whose time derivative is
p 2 = Rl 2 qo (P5.4)
The first Eq. (P5.1) is combined with Eq. (P5.3) to generate
p1 =pa + Rl 2 qo + Rl1q (P5.5)
The second Eq. (P5.2) is combined with Eq. (P5.4), which results in
=q Rl 2Cl 2 qo + qo (P5.6)
As a consequence, Eq. (P5.5) becomes
p1 =pa + Rl 2 qo + Rl1 ( Rl 2Cl 2 qo + qo ) (P5.7)

Lobontiu: System Dynamics for Engineering Students

Solutions: Chapter 5 20
Applying the time derivative to Eq. (P5.7) results in
( Rl1 + Rl 2 ) qo + Rl1Rl 2Cl 2 qo
p1 = (P5.8)

The flow rate q of Eq. (P5.6) together with Eq. (P5.8) are used in conjunction with the
first Eq. (P5.2) to produce
Rl1 Rl 2Cl1Cl 2 qo +  Rl1Cl1 + Rl 2 ( Cl1 + Cl 2 )  qo + qo =
qi (P5.9)

The differential Eq. (P5.9) is the mathematical model of this liquid system where qi is
the input and qo is the output.

Lobontiu: System Dynamics for Engineering Students

Solutions: Chapter 5 21
 Problem 7.12
Based on Fig. 7.43, the following dynamic equations are written for the two rotary
plates which are connected by torsional springs:
 Jθ1 (t ) + 2kθ1 (t ) − kθ 2 (t ) =
mt (t )
  (P7.1)
 Jθ 2 (t ) + 2kθ 2 (t ) − kθ1 (t ) =
0
The Laplace transform with zero initial conditions is applied to Eqs. (P7.1), which
results in:
( Js 2 + 2k ) Θ1 ( s ) − k Θ 2 ( s ) =M t ( s )

 (P7.2)
−k Θ1 ( s ) + ( Js + 2k ) Θ 2 ( s ) =0
2

Equations (P7.2) can be written as:

 Js 2 + 2k −k Θ1 ( s )   M t ( s ) 
  =  (P7.3)
 −k Js 2 + 2k  Θ 2 ( s )   0 
Because the input-output connection for this example is:
Θ1 ( s )   M t (s) 
  = [G ( s ) ]   (P7.4)
Θ 2 ( s )   0 
it follows that the transfer function is obtained from Eq. (P7.3) as:
 Js 2 + 2k k 
 Js 2 + 2k −k   J 2 s 4 + 4 Jks 2 + 3k 2
−1
J s + 4 Jks + 3k 
2 4 2 2
=[G (s)] =   (P7.5)
 −k Js 2 + 2k   k Js 2 + 2k 
 J 2 s 4 + 4 Jks 2 + 3k 2 J 2 s 4 + 4 Jks 2 + 3k 2 

Θ1(s) Θ2(s)
Zm Zm
Θ1(s) – Θ2(s)

Mt(s) Ze

Ze Ze

Figure P7.1 Two-mesh impedance-based mechanical system

By using the mechanical impedance circuit of Fig. P7.1, the following equations are
formulated based on the impedance-form Newton’s second law of motion:

Lobontiu: System Dynamics for Engineering Students

Solutions: Chapter 7 19
Problem 3.18
Figure P3.1 shows the free-body diagrams of the mechanical system. This system has
two DOF, which are the pulley rotation angle θ and the mass m3 translation x2. For small
motions, the coordinate x1 is:
x1 = R2θ (P3.1)

x2
fe2
m2
fe2 fd
x1 m1 R1
m3
R2 f
fe1
θ

Figure P3.1 Free-body diagrams of pulley and translatory body

Newton’s second law of motion for the pulley rotation and the body translation is
expressed as:

=Jθ f e 2 R1 − f e1 R2
 (P3.2)
m3 
x2 =f − f e 2 − f d

where:

= J
1
2
( m1 R12 + m2 R22 )

 e1 k=
=f 1 x1 k1 R2θ (P3.3)
= f e 2 k2 ( x2 − R1θ )

 f d = cx2
Substitution of Eqs. (P3.3) into Eqs. (P3.2) results in:
1
 ( m1 R1 + m2 R2 ) θ + ( k1 R2 + k2 R1 ) θ − k2 R1 x2 =
2 2 2 2
0
2 (P3.4)
m3 
x2 + cx2 − k2 R1θ + k2 x2 = f

Equations (P3.4) can be written with the numerical values of the problem as:
θ =−258θ + 2963 x2 = 0

 
x2 =−64 x2 − 200 x2 + 3θ + 2 f (P3.5)

The forcing input can be specified by means of the Signal Builder block in the

Lobontiu: System Dynamics for Engineering Students

Solutions: Chapter 3 35
Sources library of Simulink®. Horizontal and vertical plot segments can be displaced
and values of the function and variable can be changed interactively. The input force in
this problem has been defined as shown in Fig. P3.2.

pr2_28/Signal Builder : Group 1

Signal 1
5

0 1 2 3 4 5 6 7 8 9 10
Time (sec)

Figure P3.2 Input created by means of a Signal Builder Simulink® source

The Simulink® diagram and time response curves θ(t) and x2(t) are shown in Figs. P3.3
and P3.4.

Lobontiu: System Dynamics for Engineering Students

Solutions: Chapter 3 36
 Figure P3.3 Simulink® diagram of the pulley-mass mechanical system

(a)

Lobontiu: System Dynamics for Engineering Students

Solutions: Chapter 3 37
 (b)

Figure P3.4 Simulink® time response: (a) pulley rotation angle θ(t); (b) linear-motion body
displacement x2(t)

Lobontiu: System Dynamics for Engineering Students

Solutions: Chapter 3 38