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Simulation of Dynamic Systems with MATLAB and Simulink, 2nd Edition
book

Simulation of Dynamic Systems with MATLAB and Simulink, 2nd Edition

by Harold Klee, Randal Allen
April 2016
Intermediate to advanced content levelIntermediate to advanced
815 pages
31h 29m
English
CRC Press
Content preview from Simulation of Dynamic Systems with MATLAB and Simulink, 2nd Edition
The pendulum rod is assumed to be of negligible mass as is the drag force on the bob when
exposed to air.
The bob is subject to a gravitational force W at all times along with a drag force F
D
and buoyant
force F
B
acting on it while it is submerged. The forces are shown in Figure 6.54 for both cases.
The pendulum dynamics are modeled by the different ial equation
J
d
2
u
dt
2
¼
(W þ F
B
)R sin u F
D
R, u
L
u u
L
WR sin u, juj > u
L
(6:305)
Expressions for the constant buoyant force and assumed linear drag force are
F
B
¼ gV ¼ E
4
3
pr
3

(6:306)
F
D
¼ av ¼ aR
du
dt
(6:307)
where
g is the specic weight of the liquid
V is the volume of the bob
a is the drag coef cient
Combining ...
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Publisher Resources

ISBN: 9781439836736