Lab 3

Table of Contents
Question 1....................................................................................................................... 1
Question 2....................................................................................................................... 1
Question 3....................................................................................................................... 2
Question 4....................................................................................................................... 3
Question 5....................................................................................................................... 5
Question 6....................................................................................................................... 6
Question 7....................................................................................................................... 8
Question 8....................................................................................................................... 8
Scott Levac 216597
Dave Carter 210235
1
Question 1
From equation 1-1, equation 1-2 can be derived thus producing an equation for motion in
the x-direction in terms that are more useful for further derivation.
Question 2
For the constants listed below and the expression for K
p
and K
d
, equations 2-1 and 2-2
respectively, the value for K
p
and K
d
are verified.
M = 1000 kg
m = 200 kg
l = 10 m
g = 9.81 kg m/s
2
= 0.7
= 0.5
) t ( ) t ( cos m ) t ( ) t ( sin m x ) m M ( ) t ( f
) t ( ) t ( cos m ) t ( ) t ( sin m
dt
)) t ( ) t ( cos ( d
m
) t ( ) t ( cos m
dt
)) t ( sin ( d
m
dt
)) t ( sin ) t ( x ( d
m
dt
) t ( x d
M ) t ( f
0 0
2
0 0
0 0
2
0 0
0 0
0 0
0
2
0
2
2
2
+ + +
+

+
+
& &
l
&
l & &
& &
l
&
l
&
l
&
l
l
l
3Equation 1-1: Newtons
second law of motion along the
x-axis
3Equation 1-2: Equation 1-1
expressed in sum of products
form
p
p
2
p
2
p 2
K 14272
K 81 . 9 ) 1200 ( ) 5 . 0 )( 10 ( 1000
K g ) m M ( M
M
g ) m M ( K
+
+ +
1
]
1
l
l
d
d
d
p
d p
K 490 . 0
K
14272
) 10 ( 1000 ) 5 . 0 )( 7 . 0 ( 2
K
K
M 2
M
K K
2
l
l
3Equation 2-1: Expression for
2
for
which Kp can be isolated and found.
3Equation 2-2: Expression for 2
for which Kd can be isolated and
found.
Scott Levac 216597
Dave Carter 210235
2
Question 3
Assuming the first derivative of
0
= 0, then the general expression for equation 3-1 can
be found using a Laplace transform, as in equation 3-2, and finally x(t) in equation 3-3.
( )
25 . 0 s 699 . 0 s
) 0 ( 699 . 0
25 . 0 s 699 . 0 s
) 0 ( s
) S (
M
g ) m M ( K
s
M
K K
s
) 0 (
M
K K
s
) S (
0 ) 0 ( ) 0 (
M
K K
s ) S (
M
g ) m M ( K
s
M
K K
s
0 ) S (
M
g ) m M ( K
) 0 ( ) S ( s
M
K K
) 0 ( ) 0 ( s ) S ( s
0
M
g ) m M ( K
M
K K
2 2
p d p 2
d p
d p p d p 2
p d p 2
0
p
0
d p
0
+ +
+
+ +
,
_
1
]
1
+
+ +
,
_
,
_
,
_
1
]
1
+
+ +

1
]
1
+
+ +

1
]
1
+
+ +
l l
l
&
l l l
l l
&
l
&
l
& &
( ) ( ) j 48 . 0 35 . 0 s
c
j 48 . 0 35 . 0 s
c
) S (
j 48 . 0 35 . 0 S
2
) 25 . 0 ( 4 0625 . 0 7 . 0
S
25 . 0 S 699 . 0 S
) 0 ( S
) S (
1 1
2

+
+

t
t
+ +

[ ]
( )
) 5 . 36 t 48 . 0 cos( e 24 . 1 ) t ( x
5 . 36
5 . 0
37 . 0
tan
622 . 0 c
5 . 0 j 37 . 0 c
922 . 0
j 46 . 0 34 . 0
j 96 . 0
j 48 . 0 35 . 0
j 48 . 0 35 . 0 j 48 . 0 35 . 0
j 48 . 0 35 . 0
j 48 . 0 35 . 0 s
S ) 0 (
) S ( j 48 . 0 35 . 0 s c
t 35 . 0
0
1
0 1
0 0 1
0 0 0 0 0 0
j 48 . 0 35 . 0 s
0
1
o
o
+

Equation 3-1: Linear expression for the
pendulum problem.
Equation 3-2: Laplace
transform to the S domain of
equation 3-1.
Equation 3-3: General expression for the
response of the system.
Scott Levac 216597
Dave Carter 210235
3
Question 4
For the linear system:
The system in figure 5 of the lab manual can be reduced to a simple feedback loop.
Figure 4-1 shows the simplification of the block diagram, proven mathematically by
equation 4-1.
0.25 + 0.7s
1
s
2 -

0
25 . 0 s 7 . 0 s
1
) s ( H
25 . 0 s 7 . 0 s
s
s
1
s
s 7 . 0 25 . 0
1
s
1
) s ( H
s 7 . 0 25 . 0 ) s ( H
s
1
) s ( H
) s ( H ) s ( H 1
) s ( H
) s ( H
2
2
2
2
2
2
2
2
1
2 1
1
+ +
+ +

+
+
5Figure 4-1: Reduced block diagram

from that shown in figure 5-1
3Equation 4-1: Derivation of the
transfer function associated to with
the block diagram in figure 4-1 and
5-1
Scott Levac 216597
Dave Carter 210235
4
The non-linear system shown in figure 4 of the lab manual and shown again with
annotations in figure 4-2, can be shown to be mathematically equivalent to equation 4-2.
Consider that:
u is
v is
&
w is
& &
Examining the signals entering the adder at y:
z carries the signal cos K
p
{ holds cos K K
d p
&
x
y
v u w
z
{
|
}
~
5Figure 4-2: Non-linear system
Scott Levac 216597
Dave Carter 210235
5
| is sin cos ) ( ml
2
&
} is + sin g ) m M (
The output from y = z + { + | - }, so
y implies cos K
p
+ cos K K
d p
&
+ sin cos ) ( ml
2
&
- + sin g ) m M (
Considering the signal from ~:
~ implies + +
2
cos ml ) m M ( l
Thus, simplifying the first two terms of y, the output at x (which equals w =
& &
)
implies that
+ +
+ + +

2
2
d p
cos ml ) m M ( l
sin g ) m M ( sin cos ) ( ml cos ) K ( K
& & &
& &
Substituting in equation 1 from the lab manual, which stated that ) K ( K f
d p
+
&
, it is
found that
+ +
+ +

2
2
cos ml ) m M ( l
sin g ) m M ( sin cos ) ( ml cos f
&
& &
Isolating for cos f , we achieve
+ + + cos f sin g ) m M ( sin cos ) ( ml )) m M ( l cos ml (
2 2
& & &
Rearranging,
+ + + cos f cos ml sin cos ) ( ml ) m M ( l sin g ) m M (
2 2
& & & & &
After factoring out the ) m M ( + term, and reordering the factors in the remaining terms,
this takes the exact form of equation 6 from the lab manual:
+ + cos f cos ml ) )( )(cos (sin ml ] l sin g )[ m M (
2 2
& & & & &
Question 5
The reproduction of figure 4 and 5 of the lab manual for the purposes of simulation in
MatLab is quite simple. The block diagram for the non-linear model (figure 4 of the lab
manual) is shown with annotation as figure 4-2. Figure 5-1 depicts the block diagram for
the linear model.
3Equation 4-2
Scott Levac 216597
Dave Carter 210235
6
Question 6
Table 6-1 gives a summary of the results obtained by plotting the responses to figure 4-2
for the non-linear model and figure 5-1 for the linear model. Refer to Appendix A for full
page graphs.
Figure 5-1: Block diagram of linear
model. Refer to lab manual, figure 4
Scott Levac 216597
Dave Carter 210235
7
Table 6-1
Non-linear model Description Linear Model
3Fig 6-1a: non-linear model of the
second order system when
0
(0) = 0.
4Fig 6-1b: linear model of the
0
(0) = 0.
0
(0) =
0.01.
0
(0) =
0.01.
0
(0) =
0.1.
0
(0) =
0.1.
0
(0) =
0.2.
0
(0) =
0.2.
0
(0) =
0.5.
0
(0) =
0.5.
0
(0) = 1.
0
(0) = 1.
Scott Levac 216597
Dave Carter 210235
8
Question 7
Equation 3-3, shown here again as equation 7-1, can be used in conjunction with figure 6-
1a through 6-6b as the basis for comparison between the experimental results and those
anticipated by purely mathematical means.
Table 7-1
Theoretical Experimental
0
x(0) x() x(0) x()
0 0 0 0 0
0.01 0.0099534 0 0.01 0
0.1 0.0965434 0 0.1 0
0.2 0.19569 0 0.2 0
0.5 0.498326 0 0.5 0
1.0 0.995465 0 1 oscillates
Question 8
The system does indeed seem to be restoring the pendulum to 90
except, however in the

case of
0
= 1. In this case, the non-linear model shows that the pendulum keeps rotating
instead of returning to the right angle position. In fact, if the simulation were continued to
t = 60s, still we see no evidence of the pendulum returning to a right angle position.
For all other cases observed in this experiment, it is evident that the pendulum returns to
a right angle position as time progresses and
0
approaches 0.
) 5 . 36 t 48 . 0 cos( e 24 . 1 ) t ( x
t 35 . 0
0
o
+
3Figure 7-1: General equation for
response to the linear model.

Lab 3

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5Figure 4-1: Reduced block diagram

except, however in the

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