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The Mathemati

al Model
To make it easier to stabilize the system a state spa e model is derived. To get this model
the energy of the di erent obje ts has to be onsidered. At rst a xed oordinate system is
introdu ed (X,Y). Then an additional oordinate system (x,y) whi h rotates with the seesaw
is introdu ed a ording to gure 1.

x1
x2

h
c

X
Figur 1: The entire system.

The following variables are introdu ed:

m1 : mass of art1 with weight : entre of mass of the seesaw


m2 : mass of art2 with pendelum x1 : translation of m1 from entre of tra k
mp : mass of the pendulum x2 : translation of m2 from entre of tra k
ms : mass of the seesaw : angle of the seesaw with verti al Y
J: moment of inertia of the seesaw : angle of the pendulum with normal to tra k
l: entre of mass of the pendulum F1 : for e applied to art1
h: height of tra k from pivot point F2 : for e applied to art2

The Kineti Energy

The position of the rst art in the xed oordinate system is given by

X1 = hsin + x1 os (1)


Y1 = h os x1 sin (2)

The derivative with respe t to time of the position is given by


X_ 1 = h os
_ _
x1 sin + x_1 os (3)

1
_
Y_1 = hsin x1 _ x_ 1 sin: (4)

The kineti energy of art1 is


1
KEm1 = m1 v1 2 ; (5)
2
where
v1 2 = X_ 1 2 + Y_1 2 = (x_ 1 + h_)2 + (x1 _)2 : (6)

Hen e
1
KEm1 = m1 ((x_ 1 + h_)2 + (x1 _)2 ): (7)
2

The kineti energy of art2 is derived in the same way and given by
1
KEm2 = m2 ((x_ 2 + h_)2 + (x2 _)2 ): (8)
2

The position of the entre of mass of the pendulum in the xed oordinate system is
Xp = hsin + x2 os + lsin( + ) (9)
Yp = h os + x2 sin + l os( + ): (10)
The velo ity is given by the following expressions
_
X_ p = h os _
x2 sin + l( _ + _) os( + ) + x_ 2 os (11)
_
Y_ p = hsin _
x2  os l( _ + _)sin( + ) x_ 2 sin: (12)
Therefore, the kineti energy of the pendulum is given by
1
KEp = mp vp 2 = fvp 2 = X_ p 2 + Y_p 2 g =
2
1
= mp (((h os() x2 sin() + l os( + ))_ + x_ 2 os() + l os( + ) _ )2 (13)
2
+ (( hsin() x2 os() lsin( + ))_ x_ 2 sin() lsin( + ) _ )2 )
At last, the kineti energy of the seesaw is given by
KEs = 0:5J (_)2 : (14)

The Potential Energy

The potential energy for obje t i is given by


P Ei = mi gh (15)
where mi is the mass of obje t i and h is the verti al position of obje t i. The potential
energy of the di erent obje ts is formulated as

P EP = mp g(h os() x2 sin() + Ip os( + )) (16)


P Em2 = m2 g(h os() x2 sin()) (17)
P Em1 = m1 g(h os() x1 sin()) (18)
P Es = ms g os() (19)

2
The State Spa e Model

The Lagrangian is given by


L=T V (20)
where
T = KEm1 + KEm2 + KEs + KEp (21)
V = P Em1 + P Em2 + P Es + P Ep : (22)
The Euler-Lagrange equations are given by
 L L
= F1 (23)
t  x_ 1 x1
 L L
= F2 (24)
t  x_ 2 x2
 L L
=0 (25)
t  _ 
 L L
=0 (26)
t  _ 
When the Euler-Lagrange equations are solved in Maple the following state spa e represen-
tation is given by

0 1 0 1
x_ 1 x1
B
B _ C
C
B
B  C
C
B
B x_ 2 C
C 
B
B x2 C
C   
B
B _ C B
C = A11 A12 B C
C + B1 F1
B C x_ 1 (27)
B x1 C A21 A22 B
B
C
C B2 F2
B
B  C
C
B
B _ C
C
 x2 A  x_ 2 A
 _
where

A12 = I4x4 (28)


A11 = A22 = 04x4 (29)
2 3
m1 hg
g hmsJ J
gh +
m2 mp
0
g +
J J
6 gm1
g mJs m2 mp
0 7
A21 = 6
6 J
m1 hg ghms J
gh +
J
m2 mp
m g 7
7
(30)
4 J J J p m2 5
m1 g
J
mg
s J

g +
m2 mp
J
g +
m2 mp
m2 Ip

B1 = 04x2 (31)

2 J +m1 h2 h2
3
Jm1 J
6 h h 7
B2 = 6
6 h
J
2
J 2 7
J m2 h 7
+ (32)
4 J Jm2 5
h Ip hm2 J
J Jm2 Ip

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