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ME352 Flywheel Assignment

This document contains a flywheel assignment submitted by Avi with roll number 180164. It includes: 1) Code for solving the differential equations modeling a flywheel system using ode45. 2) Graphs of theta dot vs time for different values of mc and Lc parameters, showing an optimal solution of mc=3 and Lc=1/300. 3) A graph of theta dot vs time for the optimal mc and Lc values, but varying the moment of inertia J, showing greater oscillations and faster decrease in theta dot for lower J values.

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Avi Alok
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58 views7 pages

ME352 Flywheel Assignment

This document contains a flywheel assignment submitted by Avi with roll number 180164. It includes: 1) Code for solving the differential equations modeling a flywheel system using ode45. 2) Graphs of theta dot vs time for different values of mc and Lc parameters, showing an optimal solution of mc=3 and Lc=1/300. 3) A graph of theta dot vs time for the optimal mc and Lc values, but varying the moment of inertia J, showing greater oscillations and faster decrease in theta dot for lower J values.

Uploaded by

Avi Alok
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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ME352

Theory of Mechanisms and Machines


Flywheel Assignment

Name: Avi
Roll No: 180164
Code
function dydt=sol3(t,y)
%Constants
M = 10; k = 1000; c = 20; mf = 4; J = 1; L = 0.25; mA1 = 0.15; mB = 0.06;
ms = 0.3; r = 0.1; mA2 = 0.1; g2=(mB*L)/(mA1+mB);
mC = 3; Lc = 2; %0.02<mc<3 0.001<Lc<2
g1=(r*mA2-Lc*mC)/(mf+mA2+mC);I1=mA2*(r-
g1)^2+mC*(g1+Lc)^2+J+mf*g1^2;
%independent variables
th=y(1); thd=y(2); x=y(3);xd=y(4);
%angular velocity and velocity
th2=asin(-r*sin(th)/L);
xs=x+r*exp(i*th)+L*exp(i*th2);
c1=i*r*exp(i*th);c2=i*L*exp(i*th2);
P=[-c2,1];
Q=xd+c1*thd;
P=[real(P);imag(P)];
Q=[real(Q);imag(Q)];
R=P\Q;
th2d=R(1);
xsd=R(2);

ag1=-(thd^2)*g1*exp(i*th);
Mt1=mf+mA2+mC;
Mt2=mA1+mB;
ag2=-(thd^2)*r*exp(i*th)-(th2d^2)*g2*exp(i*th2); %CHANGE
I2=(mA1*g2*g2 + mB*(L-g2)*(L-g2));
P1=[M,0,0,0,1,0,0,0,0,0;
-Mt1,-Mt1*real(i*g1*exp(i*th)),0,0,1,0,1,0,0,0;
0,-Mt1*imag(i*g1*exp(i*th)),0,0,0,1,0,1,0,0;
-Mt2,-Mt2*real(i*r*exp(1i*th)),-Mt2*real(i*g2*exp(i*th2)),0,0,0,-1,0,1,0;
0,-Mt2*imag(i*r*exp(i*th)),-Mt2*imag(i*g2*exp(i*th2)),0,0,0,0,-1,0,1;
0,0,0,ms,0,0,0,0,1,0;
1,real(c1),real(c2),-1,0,0,0,0,0,0;
0,imag(c1),imag(c2),0,0,0,0,0,0,0;
0,-I1,0,0,g1*sin(th),-g1*cos(th),-(r-g1)*sin(th),(r-g1)*cos(th),0,0;
0,0,-I2,0,0,0,g2*sin(-th2),g2*cos(th2),(L-g2)*sin(-th2),(L-g2)*cos(th2)];

Q1=[-k*x-c*xd;
real(Mt1*ag1);
imag(Mt1*ag1);
real(Mt2*ag2);
imag(Mt2*ag2);
0;
real((thd^2)*c1/i+(th2d^2)*c2/i);
imag((thd^2)*c1/i+(th2d^2)*c2/i);
0;
0];
R1 = P1\Q1;
dydt = [y(2);
R1(2);
y(4);
R1(1)];
In command Window

op = odeset('reltol',1e-7,'abstol',1e-7)
[t,y] = ode45('sol3',[0 t], [1;20;0;0], op)
Theta dot vs time graph for different values of mC and LC used :
1st figure is the required figure and the 2nd has other graphs I made which
were good enough but not optimal and the 3rd graph is a closeup of 2. In our
first try I started with mc*lc=ma2*r And then tried to reduce the moment of
inertia. Doing this I found a good solution mc=3 lc=1/300 and to verify this I
went out of bounds and found a similar solution with less Moment of Inertia
which was better. But as I couldn’t find a particular reason for this, I tried using
iterative methods. I drew a mean curve for theta dot and then selected one
with the least slope. But I couldn’t do this iteratively (ode 45 doesn’t accept
other arguments) so ultimately, I manually did the iterations and found the
above answer.
Theta Dot vs time graph for optimal value of Lc and mC, varied over J.

Observations -
1. It can be seen from the graph that the amplitude of oscillations is more
for J = 0.2 when compared to J = 1.
2. It can be seen that the value of theta dot decreases more rapidly for
J = 0.2 when compared to J = 1.
It seems as J*alpha is a term in the torque equation. If J increases alpha
decreases in magnitude and resultant theta dot variation also decreases.

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