Faculty of

Computing, Engineering and

the Built Environment

Undergraduate Programme
2015-16 Academic Year

Module: ENG6038 Dynamics and Control

School: EDMS
Module Co-ordinator: Dr M S Srai
Date: Thursday 21st January 2016
Start Time: 13:00
Reading Time: 5 minutes
Time Allowed: 2 hours

Instructions to Candidates:

There are SIX questions on this paper

Attempt any FOUR questions

All questions carry equal marks

Marks breakdown is shown in brackets

Note that marks are allocated for method, in addition to the final answer. Therefore
method and full calculations should be shown in your solutions to analytical questions

Calculators may be used provided they are in accordance with faculty guidelines
1. An in-line four cylinder engine has a 0, 180, 180, 0 piston configuration. The piston stroke,
conn-rod length and distance between each cylinder are 90 mm, 145 mm and 85 mm respectively.
Data for the components is as follows:

- con-rod of 0.77kg,
- piston mass of 0.93kg,
- distance of small end to centre of gravity of 0.1m,
- distance of big end to centre of gravity 0.045m.

For the above system

a) calculate the mass of the little and big ends assuming that all the con-rod mass is concentrated
at each end,
[5 marks]

b) show that the primary effects of the reciprocating parts cancel,

[8 marks]

c) determine the secondary effects of the reciprocating parts at the

maximum recommended operating speed of 6000 rpm.
[8 marks]

Finally, comment on the values of the spring stiffness and damper coefficient if the engine and
mountings are considered to be a single degree of freedom system.
[4 marks]
2. A machine of mass m1, of 800 kg, is supported on springs of total stiffness, k 1, of 2.4 MNm-1.
For this system, determine the natural frequency of vibration.
[2 marks]

In order to eliminate a troublesome vibration at the above frequency, the system is to be

modified by incorporating a dynamic absorber, which has a mass, m2, and spring, k2. A lumped
constant model of the combined system is as shown in Figure Q2. A trained engineer chooses
a suitable dynamic absorber from those given in Table Q2. The engineer chooses dynamic
absorber number 2. Give details of the reasons for his/her choice.
[3 marks]

For mass, m1, spring, k1, and the dynamic absorber number 2, determine the resonant
frequencies and mode shapes of the overall system, depicting the mode shapes by sketches.
[20 marks]

Figure Q2 Dynamic System

Dynamic Absorber Mass Spring Stiffness

No. (kg) (kNm-1)
1 120 320
2 60 180
3 40 80

Table Q2
3. A simply supported beam consists of a point mass of 600 kg situated 1.5 m from the
left-hand end and a uniformly distributed mass of 300 kg/m along its entire length. A
diagram of the system is shown in Figure Q3.

(a) Determine the natural frequency of transverse vibration using Dunkerley’s Empirical
Method.
[8 marks]

(b) Comment on the choice of shape function that could be used to determine the natural
frequency of vibration using Raleigh’s Energy Method,
[5 marks]

c) Find the natural frequency of transverse vibration using Rayleigh's Energy Method
assuming a vibrating mode shape of : -

y = 0.007533x - 0.003767x2

where y is the vertical deflection and x is the distance taken from the left-hand end of the
beam.
[12 marks]

300 kg/m
600 kg
y

x
1.5 m 0.5 m

Figure Q3

Take the Young’s Modulus of the beam material and the second moment of area of
the beam cross-section to be 200 GN/m2 and 1.75x10-6 m4 respectively.
4. a) A servo system with variable parameter K has characteristic equation

s3 + 4 s2 + K s + 8 = 0

Using the Routh Criterion or otherwise, identify the range of values of K for which
the system is stable.
[10 marks]

b) Obtain the forward path transfer function of a type-1 unity feedback system
with the same characteristic equation and hence state the systems steady
state error in response to step and ramp inputs
[10 marks]

c) If the gain adjusted system has a Bode plot given in Figure Q4, determine the
system gain and phase margins, explaining the significance of these terms

[5 marks]

Figure Q4
5. A Lambda control system has forward path type-0 transfer function e-sL G(s).
For a target of Lambda=1;

a) Derive an expression for the error of the unity feedback system

[10 marks]

b) Hence, using the final value theorem, or otherwise, derive the steady-state
error
[10 marks]

c) Explain the implications of this result for the form of control required for the
emission control system
[5 marks]

6. A process is required to have a peak overshoot of 20% and to settle within a 2%

band of the final value within 4 seconds. Convert these specifications into

a) those of damping and natural frequency

[10 marks]
b) s-plane pole locations
[5 marks]

c) a feedback controller gain setting for a system with open-loop transfer

function
G(s)=1/s(s+2)2
[10 marks]
 ENG6038 Dynamics and Control, January 2016

Single Degree of Freedom Systems

k c
x + 2ξ ωn x + ωn2 x = f(t) where ωn = ξ= and d  n 1 -  2
m 2 km
2r
x  e ωn (B1cos d t  B 2 sin d t)
ξ t
tanφ 
1 r2
Point Loaded Beams

WL3 WL3
Cantilever Beam  TIP  , Simply supported  M IDPOINT 
3EI 48EI
2 2
Wa b
Simply supported  OFFSET  where W is the applied load (N)
3EIL

Uniformly Loaded Beams

L4 5L4
Cantilever Beam  TIP  Simply supported  M IDPOINT 
8EI 384EI
L4
Built-in both ends  M IDPOINT  where  is the load rate (N/m).
384EI

For simply supported beam

0.564 0.5
fUDL  and fPL =
δUDL √δ𝑃𝐿

For Beam Vibrations

m( x)  y ( x) dx
L

f  0.5
 0
Hz  0.5
my
Hz
my 2
m( x)  y ( x) dx
L 2

 0

Dunkerley’s Empirical Method

1 1 1 1 1
    .......... 
f T2 f12 f 22 f 32 f n2

Numerical Integration

Trap. Rule =
h
f1  2f 2  f 3  ...........  f n 1   f n .
2