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, ( ) ( ) ( ) ( ) ( [( [( ) ( ( ( )( [( ( ( ) )( )) ( ( ) )) ( ) ] +) ) )( ) ) )( ( ( ( ( ( )) ( ( )) ( )) ) ] )) ) ] ) ( ( )