ME313 Homework Assignment #4
Last Updated October 12 2000
Homework Assignment #4
Obtain equations of motion for the mechanical system
shown in Figure 3.9 of the text. Simply the equation
of motion by eliminating all internal forces, and
Place the equations of motion from the previous step
into state space format for nonlinear systems. Use
the following state variable assignements:
Find the equilibrium values of the displacements
x and theta1.
Linearize the nonlinear spring and damper about
their equilibrium "displacements".
Assign state variables to the perturbation displacements
and their derivatives. Use the following state variable
Place the linearized state equations into standard
format for linear state space systems. Do not specify
an output y (no C^T and d matrices).
Simulate the nonlinear and linear systems over the time
range 0-200 sec with a time step of 2 sec using
ode45. Plot each
state variable versus time as computed from the nonlinear
and linearized system together on the same graph.
Due Monday October 23 2000