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z& =
A
q
o (2gz )1 / 2
A A
1
1
m&z& + Apo
= q (t )
1 z d
1+ z d
where m is the vehicle mass, A is the air-spring cross sectional area, d is the
maximum air-spring stroke, po is the initial air-spring pressure charge, and the
thermodynamic constant = 1.4 for air. Linearize the differential equation about
z = 0.05 m for a suspension unit with A = 0.01 m2, d = 0.1 m, m = 1000 kg and
po = 2 atm. where patm = 101.3 x 103 Pa and 1 Pa = 1N/m2
1
2/15/2005
Solutions
ME451 Linearization Assignment
1. Given the differential equation x& = f ( x, u ) . Linearize the differential equation about
xo = 0 if the function f ( x, u ) is given by
a) f ( x, u ) = x + 3u (the function is linear),
b) f ( x) = x 3 + u ,
c) f ( x) = e x + 2u 2
Solution:
f ( x) f ( xo , u o ) +
df
dx
( x xo ) +
x = xo
df
du
f ( x ) = 0 + ( e )
x =0
x =0
( x 0) + (1)(u 0) = u so
2 = 0.707
( )
2/15/2005
2. Given the differential equation x& = f (x) . Linearize the differential equation about
xo = 1 if the function f (x) is given by
a) f ( x, u ) = x + 3u (the function is linear),
b) f ( x) = x 3 + u ,
c) f ( x) = e x + 2u 2
Solution:
f ( x) f ( xo , u o ) +
df
dx
( x xo ) +
x = xo
df
du
x =1
( x 1) + (1)(u 1) = 3x + u
x =1
Note that in all the cases above, since we linearize about xo = 1 , x = ( x x0 ) x and
the change of variables required by linearization is VERY apparent.
2/15/2005
3. A tank of cross section area A contains water that leaks out through a small opening
of area Ao at the bottom. The tank is filled with an input flowrate q . The
differential equation for the water level z in the tank is
z& =
q
A
1/ 2
o (2gz )
A A
Solution:
System
z (t )
Ao
(2 gz )1/ 2 q = 0
A
A
df
dq
(q qo ) +
q = qo
df
dz
( z zo ) +
z = zo
df
( &z& &z&o )
d&z& z = zo
A
q 1
df
d
1/ 2
=
=
z& + o (2 gz )
A A
dq dq
A
A
q 1 Ao
df
d
2 Ao g
1
1/ 2
=
z& + o (2 gz )
= 2 (2 gz ) 2 (2 g ) =
A
dz dz
A
2 A z
A
A
q
df
d
1/ 2
z& + o (2 gz )
=
=1
dz& dz&
A
A
With zo = 1, = 1000 kg/m3 for water and using the other given constants,
2/15/2005
1
df
=
= 10 3 m/kg
3
2
dq ( z , q ) (1000 kg/m )(1 m )
o o
0.01 m 2 9.81
df
2
=
= 0.0221 /sec
2 1 m 2 1
dz ( z , q )
o o
So that the function becomes,
f (q, z , z&) (0) + ( 10 3 )(q q o ) + (0.0221)( z z o ) + (1)( z& z& o ) = 0
5) Changing variables:
q~ = (q qo ) , ~
z = (z z o ) , ~
z& = ( z& z& o )
So that f (q, z , z&) (0) + ( 10 3 )q~ + (0.0221)~z + (1)~z& = 0
6) Now rewrite the model linearized equation in the standard form.
~
z& + (0.0221)~
z = (10 3 )q~
These values allow the expression of the linearized ODE model about the operating point.
z& = 0.0221 z + 0.001 q
2/15/2005
4.
An undamped one degree-of-freedom vehicle with air-spring suspension with an
external vehicle input force q (t ) on has the second order differential equation model for
vehicle displacement z (t )
1
1
m&z& + Apo
1 + z d = q (t )
1 z d
where m is the vehicle mass, A is the air-spring cross sectional area, d is the maximum
air-spring stroke, po is the initial air-spring pressure charge, and the thermodynamic
constant = 1.4 for air. Linearize the differential equation about z = 0.05 m for a
suspension unit with A = 0.01 m2, d = 0.1 m, m=1000 kg and po = 2 atm. You will need
to find atmospheric pressure in appropriate units.
Solution: patm = 101.3 x 103 Pa where 1 Pa = 1N/m2
q (t )
System
z (t )
1
1
qo (t ) = Apo
1 z o d 1 + z o d
1 .4
1.4
1
1
3
3
= (0.01)(2)101.3 x10
1 + 0.05 0.1 = 4.20 x10
1 0.05 0.1
where:
df
dq
df
dq
( qo , z o )
(q qo ) +
df
dz
( qo , z o )
(z zo ) +
df
= 1 ,
= m = 1000 kg
&z& (qo , zo )
d
( qo , zo )
df
( &z& &z&o )
d&z& (qo , zo )
2/15/2005
df
dz
( +1)
( +1)
zo
z o
2
1
1
+
+
=
Ap
atm
d
d
d
( qo , z o )
2.4
2.4
0.05
1.4 0.05
3
1
1
+
= 160x10
0.1
0.1
0.1
[ (
)]
f (q~, ~
z , &~
z&) 0 + ( 1)q~ + 160 x10 3 ~
z + (1000 )&~
z& = 0
1000&~
z& + 160 x10 3 ~
z = q~