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To be presented to : Mr. Wan Mohd Wardi bin
Wan Abdul Rahman
GROUP MEMBERS
MUHAMMAD HASMADI B. HASSIM
CD100095NG KEI HOACD100333NIK NUR MARDIAH BINTI NIK MD YUSUFFCD100071NOOR ALIAA BINTI NAWAWI
CD100216
FACULTY OF MECHANICAL ENGINEERING AND MANUFACTURINUNIVERSITI TUN HUSSEIN ONN MALAYSIA
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i. To identify the plant parameters, and ii. To determine the transfer function of two
degree of freedom (DOF) rectilinear plant.
i. To configure the two degree of freedomrectilinear plant for system identification
purposesii. Calculate the plant parameters, andiii. Find the transfer function of two degreeof freedom (DOF) rectilinear plant.
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2 DOF
PLANT
FromLaplace
Sum Of AllForces
F=MA
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Also can be expressed in this form for individual componentsof transfer function where is the natural frequency and is the damping ratio
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Spring :Low stiffness = 200N/mHigh stiffness = 800N/m
Encoder 1 & 2 Dashpot Electromechanical plant System interface software Real-time controller & I/O
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Spring stiffness = 200N/m Encoder 1 & 2
With mass (2kg)
Without mass
With dashpot Spring stiffness = 800N/m
Encoder 1 & 2
With mass (2kg)
Without mass With dashpot
Velocity
A total of 13 graphsMust be obtained at
the end of thisexperiment
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With mass took longer time to oscillate andvise versa.
Higher stiffness cause spring to oscillatemore compare to low stiffness.
With dashpot, spring will oscillate lesscompare to without dashpot.
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With mass : High momentum
High vibration
High inertia
Took longer time Low frequency
Low speed
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Without mass low momentum
low vibration
low inertia
Took less time high frequency
high speed
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With dashpot low momentum
low vibration
low inertia
Took shorter time for neutralize high frequency
high speed
Absorb vibration
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K = 200N/m With mass, Encoder #1
Hzstime
cyclesf 062.2
88.3
8
956.12)062.2(2211 fdm Rad/s
112
11
1 m
d
nm
srad/978.12058.01
956.12
2
058.0
80
1400ln
)8(2
1ln
2
10
11
n
mXX
n
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K = 200N/m Without mass, Encoder #1
Hzstime
cyclesf 4
75.1
7
133.25)4(2211 fdm
112
11
1 m
d
nm
srad/206.25076.01
72.2
2
076.0
50
1390ln
)7(2
1ln
2
10
11
n
mX
X
n
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K = 200N/m With mass, Encoder #1
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K = 200N/m Without mass, Encoder #1
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The plant parameters can be determined. The transfer function rectilinear plant can be
identified.
Able to understand the control of vibration oftranslation mechanical system
Understand the application of damper.
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Automatic Train
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Car suspension and absorber system