MM326 SYSTEM DYNAMICS Homework 1 Solution Prepared by Nurdan Bilgin and Hamza Kaml SOLUTIONS: Solution 1: for translational-mechanical
systems,
One-Port Pure Elements
Active
Passive
Velocity is A-type
Force is T-type
Dampers and All Frictions are dissipator (D-type)
Storage
Mass is capacitive elements. (A-type)
All type Springs are inductive elements. (T-type)
for rotational-mechanical systems,
One-Port Pure Elements
Active
Passive
Angular velocity
torque
Rotational dampers and all type frictions are dissipator D-type
Storage
Moment of Inertia is capacitive element. (A-type)
Rotational spring is inductive element. (T-type)
for fluid systems,
One-Port Pure Elements
Active
Passive
Pressure A-type
Volumetric Flow rate T-type
Fluid resistors D-type
Storage
Fluid Capacitance (A-type)
Fluid Inertance (T-type)
for thermal systems,
One-Port Pure Elements
Active
Passive
Temperature Source A-type
Heat Flow Source T-type
Thermal Resistance D-type
Storage
Thermal Capacitance (A-type)
Thermal Inductance (T-type)
for electrical systems,
One-Port Pure Elements
Active
Passive
Voltage Source A-type
Current Source T-type
Electric Resistors Dissipator D-type
Storage
Electric Capacitor (A-type)
Electric Inductor (T-type)
Solution 2: (From System Dynamics:An Introduction, Rowell and Wormley,1997 Problems 4.6 page 114) For each systems show in Fig. 2, establish the sign convention and draw a linear graph
Figure 2: Rotational systems
Positive velocity direction is taken as the direction of s(t)
Positive velocity direction is taken as the direction of Ts(t)
Solution 3. a) Find all active and passive element of the system and show across variables. b) Obtain the differential equations of the system in terms of room temperatures.
Figure 3: A thermal system
a,b) Step by step solution; 1. Step: Active Elements: ( ) ( ) and Passive Elements:
2. Step: Across variables: 3. Step: System Graph
B=6 N=4 S=2
4. Step: Elemental equations: (B-S=6-2=4) (1) (2) ( ( ) ( )) (3) (4)
5. Step: Structural equations: Compatibility equations: we dont need to the compatibility equations since the node across variables are used in the elemental equations. Continuity equations: N-1=4-1=3 ( ) (5) (6) (7) 6. Step: We found 7 equations and we have 7 unknown. 7. Step: From equation (5) ( ) insert into (1) and (3) ( ) From equation (6) ( ( ) ( ) ) ( ( )) multiply by ( ) rearrange, ( ) (II) ( ) multiply by ( ) rearrange, ( ) (I)
As a result, if across variables is showed as red color and active elements is showed as green color, we can write the equations as below. ( ) ( ) ( )
Solution 4. (Adapted From System Dynamics:An Introduction, Rowell and Wormley,1997 Example 4.4 page 105) A water storage system consisting of a large reservoir, three control valves, and two tanks is illustrated in Fig. 4. The system is fed by rainfall. Draw a system linear graph and write necessary equations.
Figure 4: A fluid system
Step by step solution; 1. Step: Active Elements: ( ) and Passive Elements: 2. Step: Across variables: 3. Step: System graph
B=9 N=6 S=1
4. Step: Elemental equations: (B-S=9-1=8)
( ( ( ( ( )
) ) )
5. Step: Structural equations: Compatibility equations: we dont need to the compatibility equations since the node across variables are used in the elemental equations. Continuity equations: N-1=6-1=5 ( )
Solution 5. (Exam Question 2002) Draw the oriented linear graph of the system given below and write out the basic equations which describe the system behavior completely. Reduce the equations to find the system equation in terms of the displacement of the mass M.
Figure 5: A mechanical system
Step by step solution; 1. Step: Active Elements: ( ) and Passive Elements: 2. Step: Across variables: 3. Step: System graph
B=7 N=4 S=1
4. Step: Elemental equations: (B-S=7-1=6)
( ( ( )
5. Step: Structural equations: Compatibility equations: we dont need to the compatibility equations since the node across variables are used in the elemental equations. Continuity equations: N-1=4-1=3
( ) 6. Step: We found 9 equations and we have 9 unknown. 7. Step: ( ( ) ( ( ) ) ) ( ( ( ) ) ) ( ( ) )
( ( )
( ) (
) )
( ( (
) ) )
( (
) )
( ) ( ) ( )
Let rearrange (1),(2) and (3) ( ) ( )
( )
( ) ( ) ( )
Note: We had to an unfamiliar method for you. Therefore we'll give extra points to your solution forward this point. Let apply laplace transform. From (1) ( ) ( ) ( ) ( ) From (2) ( ) ( ) From (3) ( ) ( ) ( ( * Rearrange above eq. ( ), ( ) ( ) ( ( * ( ( ( ( ( ( * ( ( ( ( ( ( ) ) )( ( ( )) )) ( ( )) ( ) ] )) ) ] + ( ) ) ) ) )) )) ( ( ( ( )) ) ) + ( ) ) ( ( ) ) ( ) ( ) ) ) ( ) ( ) ( ) ( )( ) ( ( ( ) ( )( ) ( ) ) )
( )( )
( ) ( ) (5) insert into (6)
( ( ( )
) )
( )
( (
) )
( ) +
( ),
) )( ( ( )
)) + ( )
( )
( )( [( ( * [( ) )(
( )
subsituded into (5).
( ) ( { [( ( ( [( ( ) )( ) ) )( ( ( ) ( ) ( )( ( ( )) ( ) )) ( )) ) ] ) ] ( ( ) ) ] ( )}
( ) { ( )( [( ( ( [( ( ) )( ) ) )( ] ( ( ( )} ( ( )) ( ) )) ( )) ) ] ) ] ( ( ) )
( Now, ( )
( ) is subsituded into (4)
( ) * [( ) ) )( , * [( ( ( ( [( ) + ( ( ( ) ( )( )( ( ( ( ) )( ( )) ( ) )( ( )) ( ( )( ( )) ) ] ( ( )) ) ] ) )) ( ( ) ] ) ( )) )) + ( ( )+ ) ]
* [(
( (
) )(
( ), ( ( ( ( ) ,* Let simplify the solution as, ( ) ( ) ( ) ( ) ( [( [( ) ( ( ( )( [( ( ( ) )( )) ( ( ) )) ( ) ] +) ) )( ) ) )( ( ( ( ( ( )) ( ( )) ( )) ) ] )) ) ] ) ( ( )
