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Lecture 03 ODE EM

Lecture 3

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Hamza Naeem
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6 views17 pages

Lecture 03 ODE EM

Lecture 3

Uploaded by

Hamza Naeem
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Linear Vibration Analysis

Lecture 03
Dept. of Mech, Energy and Robotics Eng.

1
Complex Numbers and Complex
Exponential
A complex number can be written with a real and imaginary
part or as a complex exponential
c  a  jb  Ae j 
a
Where
A , 
A
b
Let’s consider two complex numbers:

c1  A1e j1 , c2  A2 e j2

Multiplying two complex numbers:

Dividing two complex numbers:


2
Equivalent Solutions to 2nd order
Differential Equations

All of the following solutions are equivalent:

c  A  cos   i sin   Called the magnitude and phase form

c  a  jb Sometimes called the Cartesian form

c  Ae j Called the polar form

The relationships between A and , A1 and A2, and a1 and a2


can be found in the textbook.
•Each is useful in different situations
•Each represents the same information
•Each solves the equation of motion
3
Solution Approach to 2nd order
Differential Equations

We are going to assume the following solution for


2nd order differential equations:

x(t )  Ae st It is called exponential method.

4
Derivation of the solution
Substitute x(t )  Ae st into mx  kx  0 

  Aest  0 Characteristic Eq.

Since Ae st  0,

s   in

5
Derivation of the solution

x(t )  exponential form.

 harmonic form.

This approach will be used again for more complicated problems


6
Solving ODE

7
Methods

• Exponential Method: x(t )  Ae st

• Laplace Transform: X ( s )  L{x(t )}

• Matlab/Simulink Approach
ODE

• Homogeneous ODE: Dx(t )  0

• Non-Homogeneous ODE: Dx(t )  F (t )


H-ODE (EM)

dx(t )
Ex1)  x(t )  0 (1)
dt
x(0)  1 (2)

Assume x(t )  Ae st (3)


Insert Eq. (3) into Eq. (1), ( s  1) Ae st
0 (4)
Characteristic Eq.: s  1  0  s  1 (5)
Therefore, x(t )  Ae  t (6)
Use initial condition, Eq. (2), x(0)  A  1 (7)

Answer: x(t )  e  t
H-ODE (EM)

dx(t )
Ex2)  2 x(t )  0 (1)
dt
x(0)  1 (2)
H-ODE (EM)

Ex3) x  x  0,
 x(0)  1, x (0)  0
H-ODE (EM)

Ex4) x  x  0,
 x(0)  0, x (0)  1
H-ODE (EM)

Ex5) x  3 x  2 x  0, x(0)  1, x (0)  0



H-ODE (EM)

Ex6) x  2 x  10 x  0, x(0)  1, x (0)  0



Plotting by Matlab

• Let’s plot x(t )  e  t by matlab.


>> t=0:0.01:10;
>> x=exp(-t);
>> plot(t,x)
1

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.1

0
0 1 2 3 4 5 6 7 8 9 10
Plotting by Matlab

• Plot other solutions.

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