VAAL UNIVERSITY OF TECHNOLOGY

FACULTY: ENGINEERING AND TECHNOLOGY

DEPARTMENT: INDUSTRIAL ENGINEERING, OPERATIONS MANAGEMENT
& MECHANICAL ENGINEERING (IEOMME)
SUBJECT: VIBRATION AND CONTROL ENGINEERING (EMVEC4A)
EVALUATION: MINI-PROJECT (TEST 3)
DUE DATE: 15 OCTOBER 2023
EXAMINER: Prof. B.X TCHOMENI
MODERATOR: Dr. H. NGWANGWA

Instructions: Show all calculations clearly and neatly. The simulation analysis should
be done via MATLAB. The submission must be on Blackboard in PDF format. No
submissions will be accepted after the deadline.

Suggested Outline
Assume your reader is a competent engineer
Title Page
I. Introduction
• Introduce the problem and its challenges
• Give a brief summary of the methods using flow-chart

II. Results
• Give detailed description of the results
• Include MATLAB figures with comments that support your findings

• Conclusion coming from the method used and obtained results

• References and Appendix (if needed).

Designed, compiled, and edited by Prof. B. Xavier Tchomeni.

PROBLEM: THIS PROBLEM COMBINES A CONTROL SYSTEM AND A
MECHANICAL ENGINEERING SYSTEM.

The proposed problem showed that physical systems can be modelled mathematically with
transfer functions. Typically, systems are composed of subsystems of different types, such as
electrical, mechanical, and electromechanical.
The relationship between the output angular rotation of the hip joint and the input torque supplied
by the leg muscle is described by the human leg's transfer function. Figure 1 illustrates a simplified
model for the leg, considering an applied muscular torque Tm(t) in the  direction, viscous
damping at the hip joint (D), and inertia around the hip joint (J). Furthermore, a nonlinear torque
is generated by a component of the leg's weight, M1g, where M1 represents the mass of the leg,
and g is the acceleration due to gravity. For simplicity, we assume that the mass is evenly
distributed, and the center of mass is located at L/2, with L being the length of the leg.
The first case study uses our ongoing example of the Motor-Gearbox-simple pendulum position
control system to show how to represent each subsystem as a transfer function.

Part 1- Step
A standard DC motor can be represented by a basic circuit containing an armature resistance Ra
and inductance La. The input for the system is the DC motor voltage, vb (t )  K b d m (t ) dt where
vb is the back electromotive force (back emf); Kb is the back emf constant. The armature speed of
a DC motor is regulated by the armature voltage ea=K1ev. When current flows through the
armature, it produces a magnetic field that generates a torque, T, which causes the armature to
rotate. The electrical diagram of the equivalent armature circuit model is depicted in Figure 1. (a).
According to Kirchhoff's Voltage Law, the total sum of electrical potential differences around a
closed loop in a circuit is zero.

  m (t ) Tm (t )

 

Figure 1(a)
1-Applying this principle to the circuit illustrated, to obtain the differential equation for the
armature circuit.

Designed, compiled, and edited by Prof. B. Xavier Tchomeni.

If the torque developed by the motor expressed as Tm (t )  K t ia (t ) is proportional to the armature
current. Where Kt is a constant of proportionality, called the motor torque constant, which depends
on the motor and magnetic field characteristics.

2- Obtain the transfer function  m ( s ) Ev ( s ) between the motor shaft angular displacement  m and
the error voltage ea
 m ( s) Kt Kb

Ev ( s ) J m La s  ( J m Ra  Dm La ) s 2  ( Dm Ra  K b K t ) s
3

Now that we are able to find the transfer function for rotary motor systems, we realize that these
systems, especially those driven by motors, are rarely seen without associated gear trains driving
the load. The following section covers this important topic.

Part 2-Gear ratio Step to follow

Gear trains are frequently employed to decrease speed, amplify torque, or achieve optimal power
transfer efficiency by aligning the input member with the designated load. Take into account the
gear train configuration depicted in Figure 1(b). In this arrangement, a motor imparts motion to a
load via the gear train. Assuming that the gear train shafts exhibit rigid stiffness, indicating no
deformations and that the number of teeth on each gear is proportional to the gear's radius, compute
the corresponding values for the equivalent moment of inertia and the equivalent viscous-friction
coefficient. These values are determined both with respect to the motor shaft and in relation to the
load shaft. In Figure 1(b) the numbers of teeth on gears 1, 2, 3, and 4 are N1, N2, N3, and N4
respectively. The angular displacement of shafts 1, 2, and 3 are  m ,  G and  L respectively. The
moment of inertia and viscous-friction coefficient of each gear train component are denoted by
J a , Ca , J G , CG , and J L , CL

G (t )

m (t )

 L (t )

Figure 1(b)

Designed, compiled, and edited by Prof. B. Xavier Tchomeni.

In gear trains, the equivalent gear ratio is obtained by multiplying the individual gear ratios when
there are no lossless gears.
2.1 Reflect the impedances (Jm, JG, and Cm, CG) on the output shaft as shown in Figure 1(b).

Eliminating  G and  m by writing the resulting equation is terms of  L and its time derivatives.

2.2 Find the transfer function  L ( s ) Ev ( s) of a system in such cases, where  L ( s ) is the angular
rotation of the leg about the hip joint.
2
2.3 Determine the response  L (t ) of the system if  L ( s) 
s  2s 2  2s
3

Part 3-Step to follow Equations of Motion

Now the input speed is defined, the equations of motion for the electrical pendulum system (Figure
2) can be formulated by applying the Lagrangian formalism.

  m (t ) TA (t )
 L (t )

  

Figure 2
3.1 Show from Figure 2 that the system admits two degrees of freedom in generalized coordinates
X and θ.
3.2- Express the total kinetic energies of the spring-pendulum mass
3.3- Express the total potential energies of the spring-pendulum mass
3.4- Use Lagrange’s energy method to derive the equations of motion for this system.
3.5-Develop the state-space model and study the motion using MATLAB while varying the
parameters M, and k1, considering k1 = k2. if θ =  L (t )

3.6- Find
a. The eigenfrequencies.
b. The eigenvectors.

Designed, compiled, and edited by Prof. B. Xavier Tchomeni.

 Recommendation on the Final Report
The final report should concisely and clearly describe the work completed, following the format
outlined below. Sections and subsections should be numbered.

1. Cover Page
2. Executive Summary - A summary of one page or less that outlines the project and its results.
3. Table of Contents
4. Project Description - This section should cover mechanical, electrical, and software design
aspects. Subsections should focus on the following elements:
- Description of the control scheme, including the motion profile
- Writing guide for schematics
- Calculations
- Free Body Diagrams (FBDs) and differential equations
5. Test Results - This section should present simulation results and describe the tests performed to
assess overall performance.
6. Conclusions - A brief summary of the overall results, highlighting the strengths and weaknesses
of the study.
7. Recommendations - Suggestions for improving solutions to complex problems.
8. Appendix - Simulation program if necessary.
9. Final reports will be evaluated based on various factors, including the clarity of the solution
principles and theoretical documentation (i.e., how clearly the work has been explained and
documented).

The MATLAB code for running the solutions (using Runge–Kutta this time) must
be presented

Hint: Choose your own initial condition!

ALWAYS REMEMBER THAT ENSURING ACADEMIC INTEGRITY AND AVOIDING

PLAGIARISM IS ESSENTIAL FOR MAINTAINING CREDIBILITY IN RESEARCH
AND WRITING.

Designed, compiled, and edited by Prof. B. Xavier Tchomeni.