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Lecture 07 - Tutorial

The document presents a series of examples focused on obtaining mathematical models and transfer functions for various mechanical systems, including a spring-mass-dashpot system and an inverted pendulum on a cart. It emphasizes the importance of control forces in maintaining stability in the inverted pendulum system, particularly in the context of space booster attitude control. Each example includes a problem statement followed by solutions to illustrate the concepts discussed.

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3 views15 pages

Lecture 07 - Tutorial

The document presents a series of examples focused on obtaining mathematical models and transfer functions for various mechanical systems, including a spring-mass-dashpot system and an inverted pendulum on a cart. It emphasizes the importance of control forces in maintaining stability in the inverted pendulum system, particularly in the context of space booster attitude control. Each example includes a problem statement followed by solutions to illustrate the concepts discussed.

Uploaded by

nethanpaul325
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd

Tutorial

Example 01
• obtain mathematical models of this system by assuming that the cart
is standing still for t<0 and the spring-mass-dashpot system on the
cart is also standing still for t<0.
Solution
Solution
Example 02
• Obtain the transfer functions X1(S)/U1(S) and X2(S)/U2(S) of the
mechanical system shown in the figure 2-4.
Example 03
• An inverted pendulum mounted on
a motor-driven cart is shown in the
Figure. This is a model of the
attitude control of a space booster
on takeoff. (The objective of the
attitude control problem is to keep
the space booster in a vertical
position.) The inverted pendulum is
unstable in that it may fall over any
time in any direction unless a
suitable control force is applied.
Here we consider
Solution
Solution
Solution
Solution
Solution
Example 04
• Consider the inverted pendulum system
shown in the figure. Since in this system
the mass is concentrated at the top of the
rod, the center of gravity is the center of
the pendulum ball. For this case the
moment of inertia of the pendulum about
it center of gravity is small and we assume I
= 0. find the mathematical model for the
case.
Solution

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