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    HW 4

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    HW 4

    Uploaded by

    Kapulurujagadeesh
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    HW 4

    Uploaded by

    Kapulurujagadeesh

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    © All Rights Reserved
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    of 3

    ME525L –Vibrations of Discrete Systems

    Homework – 4 Date: 06/11/2024 Due: 20/11/2024 (5 pm)

    MATLAB based assignment


    Section A - Compulsory
    A1) Figure of a triple pendulum is given
    below with 𝜃1 (𝑡), 𝜃2 (𝑡) 𝑎𝑛𝑑 𝜃3 (𝑡) as 3
    degrees of freedom, with T1(t), T2(t) and T3(t)
    being external torques applied at 3 hinge
    joints as shown. Take L1=L2=L3=L and
    m1=m2=m3=m.

    a) Derive the equations of motion for the


    triple pendulum using Lagrange’s method.
    Then use small angle approximation to
    linearize the EoMs.

    b) Derive the formula for natural frequencies


    analytically and verify using MATLAB for
    the values of L=0.2m and m=2kg. (use these
    values for further parts of the question)

    c) Plot all the mode shapes using MATLAB.

    d) Numerically, find out the response of the


    system to initial conditions 𝜃1 (0) =
    𝜋 𝜋 𝜋 𝑟𝑎𝑑 𝑟𝑎𝑑
    𝑟𝑎𝑑, 𝜃2 (0) = 4 𝑟𝑎𝑑 , 𝜃3 (0) = 3 𝑟𝑎𝑑, 𝜃1̇ (0) = 1 𝑠 , 𝜃2̇ (0) = −1 𝑠 , 𝜃3̇ (0) = 0 𝑟𝑎𝑑/𝑠.
    6

    e) Let 𝑇1 (𝑡) = 0.1 cos 𝜔𝑡, 𝑇2 (𝑡) = 0.5 cos 𝜔𝑡, 𝑇3 (𝑡) = −0.2. Assume damping ratio 𝜁 =
    0.05 for every mode. Using impedance method, plot the frequency response function
    Θ1 (ω), Θ2 (ω) 𝑎𝑛𝑑 Θ3 (ω) showing all three resonances.

    0.1,0 < 𝑡 < 2.5 𝑠


    f) Let 𝑇1 (𝑡) = { , periodic with 5 seconds period, 𝑇2 (𝑡) = 𝑇3 (𝑡) = 0. Find
    −0.1,2.5 𝑠 < 𝑡 < 5 𝑠
    the steady state response of the system (25 marks)

    A2) Consider the 2DoF model discussed with x and  as the DoFs. Use x1 and x2 as the DoFs
    instead of x and  and derive the EoMs using Lagrange’s method. (5 marks)
    Section B – Extra marks
    B1) Consider a cantilever beam of length ‘l’, area moment of ‘I’, young’s modulus ‘E’, density
    ‘ρ’ and cross-section ‘A’. It can be ‘very crudely’ approximated as a discrete system with ‘n’
    masses with connected springs as shown in the figure below. For the purpose of this problem we
    can consider n=5. Here each of the discrete masses are M/n, where M (= ρAl) is the total weight
    of the cantilever beam. Spring stiffness are given by kj = 3EI/(lej)3 where le is elemental length.

    Take 2 le1= le2= ….= le n= l/n.

    Let l= 0.5 m, b=20 mm, d = 50 mm, E = 210 GPa, ρ = 7800 kg/ m3.

    le1 le2 le3 le4 le5

    a) Derive the EoMs for the 5 DoF system and calculate the natural frequencies and mode
    shapes.
    b) Compare the natural frequencies of the discrete model to with the actual values (from
    µ2 𝐸𝐼
    continuous system theory) given by 𝜔𝑛𝑖 = 𝐿2𝑖 √𝜌𝐴 , 𝑖 = 1,2,3 …
    c) Compare the mode shapes of the discrete model to with the actual mode shapes by
    plotting both on the same graph (from continuous system theory) given by
    µ𝒊 𝒙 µ𝒊 𝒙 µ𝒊 𝒙 µ𝒊 𝒙
    cosh ( ) − cos ( ) − 𝜎𝑖 (sinh ( ) − sin ( )) , 𝑖 = 1,2,3 …
    𝐿 𝐿 𝐿 𝐿

    i µ𝒊 𝜎𝑖
    1 1.875 0.734
    2 4.694 1.0184
    3 7.854 0.9992
    4 10.99 1.0000
    5 14.13 1
    d) Based on the comparison of natural frequencies and mode shapes comment on how crude
    is the approximation made. How to improve the discrete model.
    e) Find the response of the system to f(t) = 20 cos (ω t) using impendence method. Plot the
    response amplitude of x5 vs ω. (25 marks)

    Note on submitting the results: Please include the hand written formulations, plots and any other
    answers that are to be written in your assignment. Please attach the all Matlab code at the end
    as appendix.

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