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    2.004 Dynamics and Control Ii: Mit Opencourseware

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    Fatih Tokgöz
    This document discusses rotational dynamics and control of a flywheel system. It presents the equations of motion for a flywheel experiencing different types of frictional torque: (1) Coulomb torque, (2) viscous torque, and (3) both viscous and Coulomb torque. It solves these equations of motion analytically for different cases and derives an expression for the moment of inertia of the flywheel. It also discusses using experimental motion data to determine friction coefficients via least squares fitting.

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    © All Rights Reserved
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    2.004 Dynamics and Control Ii: Mit Opencourseware

    Uploaded by

    Fatih Tokgöz
    128 views6 pages
    This document discusses rotational dynamics and control of a flywheel system. It presents the equations of motion for a flywheel experiencing different types of frictional torque: (1) Coulomb torque, (2) viscous torque, and (3) both viscous and Coulomb torque. It solves these equations of motion analytically for different cases and derives an expression for the moment of inertia of the flywheel. It also discusses using experimental motion data to determine friction coefficients via least squares fitting.

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    This document discusses rotational dynamics and control of a flywheel system. It presents the equations of motion for a flywheel experiencing different types of frictional torque: (1) Coulomb torque, (2) viscous torque, and (3) both viscous and Coulomb torque. It solves these equations of motion analytically for different cases and derives an expression for the moment of inertia of the flywheel. It also discusses using experimental motion data to determine friction coefficients via least squares fitting.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    128 views6 pages

    2.004 Dynamics and Control Ii: Mit Opencourseware

    Uploaded by

    Fatih Tokgöz
    This document discusses rotational dynamics and control of a flywheel system. It presents the equations of motion for a flywheel experiencing different types of frictional torque: (1) Coulomb torque, (2) viscous torque, and (3) both viscous and Coulomb torque. It solves these equations of motion analytically for different cases and derives an expression for the moment of inertia of the flywheel. It also discusses using experimental motion data to determine friction coefficients via least squares fitting.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 6

    MIT OpenCourseWare

    http://ocw.mit.edu

    2.004 Dynamics and Control II

    Spring 2008

    For information about citing these materials or our Terms of Use, visit: http://ocw.mit.edu/terms.

    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

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