Laboratory Report

Simulation of a rotational system including nonlinearity

Alikhan Shambul ID 201103219

Purpose The main aim of this laboratory session was to simulate rotational system of motor that drives propeller. It is important to mention that the effect of nonlinearity is also considered in this case due to the airfoil resistance created by applied torque on the propeller.

Figure 1. Representation of the rotational system Procedure (Part I) The laboratory session was divided into two main parts. Firstly, we were required to build the simulation diagram of the rotational system using Simulink extension of MATLAB.

Figure 2. Simulation diagram of the rotational system.

Procedure (Part II) In the second part of this laboratory, created system was simulated i.e. tested at various input values of torque. At the very beginning the input torque value was set to change from 0 to 100 N.m.

Figure 3. Graph of angular velocity vs. time at the input torque 0-100 N.m. Procedure (Part II) A As it was mentioned before only the value of the input torque is to be changed, at this part the input torque was set to be changing from 0 to 50 N.m.

Figure 4. Graph of angular velocity vs. time at the input torque 0-50 N.m

Procedure (Part II) B At last, the input torque was changing from 0 to 200 N.m at t=1s.

Figure 5. Graph of angular velocity vs. time at the input torque 0-200 N.m. Discussion Taking into account various input values and looking at the constructed graphs above similar pattern is observed. In all cases the value of w1is always greater than the value of w2 and the gap between these two levels widens as the input torque increases. Such situation might occur due to the friction and aerodynamic resistance. What is more the dependence on the input value of the applied torque can be seen. As the value of input torque gets higher the final magnitude of both angular velocities increase and vice versa. Furthermore, one more interesting fact is that the steady state of the system is reached faster at higher values of input torque. For instance, the steady state for both values of angular velocities is reached at t=9s, t=7s, t=5s for input torque values of 0-50N.m, 0-100N.m and 0200N.m respectively. Conclusion During this laboratory session, the rotational system including nonlinearity was studied. At first the simulation block diagram was built using Simulink extension of MATLAB. Afterwards the system was tested at different values of input torque. Step responses for each case were sketched and compared to each other. Personally, I found this laboratory session very useful in terms of obtaining new skills and understanding of mechanical system because its applications for my major in mechanical engineering is very significant.

Appendix (codes) TORQUE from 0 to 100Nm >> J1 = 10; >> J2 = 150; >> K = 800; >> B = 50; >> alpha = 50; >> xlabel('Time(s)') >> ylabel('Angular velocity (rad/s)') >> text(2.5,2.8, '\omega_1'); >> text(3.5,1.3, '\omega_2') TORQUE from 0 to 50 >> J1 = 10; >> J2 = 150; >> K = 800; >> B = 50; >> alpha = 50; >> xlabel('Time(s)') >> ylabel('Angular velocity (rad/s)') >> text(2.5,1.5, '\omega_1'); >> text(3.5,0.75, '\omega_2') TORQUE from 0 to 200 >> J1 = 10; >> J2 = 150; >> K = 800; >> B = 50; >> alpha = 50; >> xlabel('Time(s)') >> ylabel('Angular velocity (rad/s)') >> text(1.5,4.5, '\omega_1'); >> text(2.5,1.5, '\omega_2')