MAE 318 Homework 1

Due by the beginning of class on Sept. 5, 2017

Problem 1: Classifying and simulating a model of a 1-DOF rotational system

Note: You may use the code posted on Blackboard as a template for the MATLAB code
that you need to write for parts (c) and (d).

Consider a simple pendulum that consists of a thin rod of length l with a pendulum bob of
mass m. The pendulum is suspended from a pivot. A nonzero control input torque T is
applied at the pivot, and a damping torque (from friction) with damping coefficient b
also acts at the pivot. The equation of motion of the pendulum is:

! + + sin =

(a) Use the definitions from Lecture 1 to answer the following questions and justify your
answers. Is this 2nd-order ODE:
i. Linear or nonlinear?
ii. Time-varying or time-invariant?
iii. Homogeneous or nonhomogeneous?
(b) Now assume that is small, and use the approximation sin in the equation of
motion. Define the state variables of the system and the control input u. Convert the
equation of motion into two 1st-order ODEs that are functions of the state variables and
the control input.
(c) Suppose that the pendulum starts at rest with its angle initially at = /10 rad. There
is a unit step input torque of T = 1 Nm. Use the MATLAB function ode45 to
numerically solve the two 1st-order ODEs in part (b) from time 0 s to 10 s with
parameters m = 0.5 kg, b = 0.5 kgm2/s, l = 1 m, and g = 9.81 m/s2. Plot () and
= / versus time t in one figure and include a legend that identifies each plot.
Label the figure axes. Hand in your code and figure with your homework.

(d) Plot the phase portrait of the pendulum using the trajectories of () and = /
that you obtained in part (c). Briefly describe what the phase portrait indicates about the
pendulums motion as time increases to infinity. Hand in your code and figure with your
homework.

Problem 2: Deriving the equation of motion for a 1-DOF rotational system

Write the equation of motion of a pendulum consisting of a thin rod of length l that is
suspended from a pivot, with an applied torque T at the pivot. The rod has a mass of m
that is uniformly distributed along its length. Hint: The inertia I of a thin rod about an
end point is ml2/3.

Fall 2017 Prof. Berman

Problem 3: Deriving equations of motion for a 2-DOF translational system
In many mechanical systems, there is flexibility between one part of the system and
another. The figure below depicts such a situation, where a force u is applied to the mass
M and another mass m is connected to it. The coupling between the objects is often
modeled by a spring with a spring constant k and a damper with a damping coefficient b
(although the actual situation is usually more complicated).

(a) Draw the free body diagram of each mass and use these to derive the two 2nd-order
equations of motion that govern the time evolution of the mass displacements, x and y.
(b) Define the state variables of the system and the control input. Convert the two
equations of motion from part (a) into four 1st-order ODEs that are functions of the state
variables and the control input.

Fall 2017 Prof. Berman