EN40: Dynamics and Vibrations Homework 7: Rigid Body ... · 2. ROBOT ARM KINEMATICS The figure...

transcript

EN40: Dynamics and Vibrations

Homework 7: Rigid Body Kinematics

School of Engineering Brown University

1. FORCED VIBRATION OF ENGINE IDLING

The Subaru Legacy has an unusual horizontally-aligned four-cylinder engine. The engine is connected to lateral motor mounts by 4 springs and 4 dashpots, as shown in the figure. When idling, slightly differences in the firing of the individual cylinders lead to an effective rotor forcing of the engine, with an effective mass imbalance of 0.4e m kgmΔ = at a frequency corresponding to 600 / π RPM. The total mass of the engine is M=200kg. Brand new, each spring has stiffness k=12800N/m and each damper has damping coefficient λ=400 N-s/m.

0 0.5 1 1.5 2 2.5 30

⎟⎠

⎞⎜⎝

⎛ ΔmmeX

/ nω ω

0.20.25

1.1 What are the natural frequency and damping coefficient ς for the engine?

From formulas / 4 12800 / 200 16 /n k m rad sω = = × = .

The damping coefficient is / 2 4 400 / 2 4 12800 200 1/ 4c kmζ = = × × × = (2 POINTS) 1.2 What is the typical steady-state amplitude of the lateral vibrations of the engine?

The forcing frequency is 2 600 / / 60 20 / / 20 /16nrad sω π π ω ω= × = ⇒ = . Doing the calculation with the formula,

( ) ( )22 2 2 2 2 2/ ( / ) / / 1 / 4 / 1.86 1.86 / 0.0037n n nX me m X me m mω ω ω ω ζ ω ωΔ = − + = ⇒ = Δ = . Or

more quickly reading off the graph / ( / )X me mΔ is about 2… (3 POINTS) 1.3 The main problem is not the engine vibration, but the forces caused on the attachment points to the

body of the car. These attachment fixtures fatigue under load. What is the approximate amplitude of the force exerted on one damper attachment point for the new car?

The force is / cos( ) 29.6cos( )cdx dt cX t t Nω ω φ ω φ= + ≈ + (3 POINTS)

1.4 As the car ages, the spring stiffness gets smaller. How does this change the vibration amplitude? (increase, decrease, the same?)

This decreases nω so the operating point shifts to the right on the curve, and the amplitude decreases.

(2 POINTS) 2. ROBOT ARM KINEMATICS The figure shows a robot arm. Point C on the arm is required to move horizontally with constant speed 1m/s. This is accomplished by rotating links AB and BC with appropriate angular speeds

,AB BCω ω and angular accelerations ,AB BCα α . The goal of this problem is to calculate values for

,AB BCω ω , ,AB BCα α at the instant shown. 2.1 Determine formulas for the velocity vectors ,B Cv v of points B and C, in terms of ,AB BCω ω . Applying the rigid body kinematics formula gives

/ ( ) / 2 ( ) / 2B A AB B A AB ABω ω= + × = × + = − +v v ω r k i j i j ( ) / 2C B BC AB BCω ω ω= + × = − + +v v k i i j j

(3 POINTS)

2.2 Determine formulas for the acceleration vectors ,B Ca a of points B and C in terms of

,AB BCα α , ,AB BCω ω .

( ) / 2 ( ) / 2

( ) / 2 ( ) / 2B A AB AB AB

α ω ω

= + × + − × × +

= − + − +

a a k i j k k i j

i j i j

2 2( ) / 2 ( ) / 2C B BC BC BC

AB AB BC BC

α ω ω

α ω α ω

= + × − × ×

= − + − + + −

a a k i k k i

i j i j j i

(3 POINTS)

2.3 Hence, calculate the required values of ,AB BCω ω , ,AB BCα α We know that C =v i . Using the i and j components of 12.1 gives two equations for ,AB BCω ω

2 / / 2 0 1 /AB AB BC BCrad s rad sω ω ω ω− = + = ⇒ = We also know that C =a 0 which gives

VCx = 1m/s aC = 0

( )( )

( ) / 2 ( ) / 2

( ) / 2 2( ) / 2

1 2 1 2 2 1 2 2 /4 2 2 2 2

AB AB BC BC

α ω α ω

− + − + + − =

⇒ − + + − + − =

⇒ = − +

= − = + + = +

i j i j j i 0

i j j i j i 0

(4 POINTS) 3. PRIUS POWER SPLIT DEVICE (PSD) In class we saw a demonstration of the Prius’ Planetary Gear Set (http://eahart.com/prius/psd/). 3.1 At the lowest speeds (<42 mph), the ICE does not have to provide any power. Which components of the PSD are spinning, and in which direction? Gear plate – NOT moving. Outer Ring CW (-) Sun Ring CCW (+) Planets CW (-) (1 POINT) 3.2 In this configuration, what is the gear ratio between the sun gear (rotational speed ωs) and the outer ring (rotational speed ωr) in terms of the radius of the sun gear, rs, and the radius of the planetary gear, rp? Since the plate is not moving, we can say:

vA= ωsrs= ωprp vB= ωrrr= ωprp Thus, ωsrs= ωrrr From geometry, rr=rs+2rp ωs= [(rs+2rp)/ rs]ωr Gear Ratio: [(rs+2rp)/ rs] Also accepted: [rs /(rs+2rp)] (3 POINTS) 3.3 Now the outer ring is not rotating (the car is not moving) but the ICE engine continues to run! What is the gear ratio between the sun gear and the gear plate (rotational speed ωpp) in terms of rs and rp?

vA= ωsrs as before (because O remains fixed)

From our kinematics equations: yB= yC + |rB/C| sin θ vB= vC + rp dθ/dt cos θ however let’s examine the point at which θ=0: vB= vC + rp dθ/dt vB = ωpp(rs+rp) + rp dθ/dt We can also write down how B depends on A: yB= yA + |rB/A| sin θ vB= vA + 2rp dθ/dt cos θ however let’s examine the point at which θ=0: vB= vA + 2rp dθ/dt vB = ωsrs + 2rp dθ/dt If the outer ring remains fixed: vB = ωrrr = 0 -2ωpp(rs+rp) = 2 rp dθ/dt ωsrs = - 2rp dθ/dt eliminating dθ/dt: 2ωpp(rs+rp) = ωsrs ωs = [2(rs+rp) / rs]ωpp

gear ratio: [2(rs+rp)/ rs] (or inverse) (3 POINTS) 3.4 For the configuration where all components are rotating, derive a relationship between ωr, ωs, and ωpp in terms of rs and rp. We can use the same solution method as above except B is not stationary: Starting with these 2 equations from 3.3: vB = ωpp(rs+rp) + rp dθ/dt vB = ωsrs + 2rp dθ/dt Eliminate dθ/dt and substitute vB=rr ωr = (rs+2rp) ωr (rs+2rp) ωr = 2(rs+rp)ωpp - rs ωs (3 POINTS) 4. TRIFILAR PENDULUM (1 POINT EACH PART – SEE SCANNED SOLNS ATTACHED)

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plot (thetaO, t real- )

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? function of the eom in terms of the normafized time "tau"function dwdt:eom (t, w)

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? event function to detect when theta crosses zero with positiveslope

function Ivalue, stop, dir]:detecL zero crossing (t, w)vafue:w(1);c+nn-A.r uvv v,

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EE 1.03

EN40: Dynamics and Vibrations Homework 7: Rigid Body ... · 2. ROBOT ARM KINEMATICS The figure...

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