NUMERICAL AND

ANALYTICAL
METHODS
WITH MATLAB
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WILLIAM BDBER
CHI- TAY TSAI
OREN MASDHY
@ Ei# E[ EHf ; ::2 1 p
NUMERICAL AND
ANALYTICAL
METHODS WITH
MATLAB@
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CHI- TAY TSAI
DREN MASDRY
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r :r . |- |:|- y r Ip ; I' |I l ' |- IIII- der s r . II al l :r I' I:l _ er Ia|l r e|:|r o- r Ir . LL' ed i. n I:l ' |is ]:r ubI|ei|I::ir . II1 =and - ' l Fl l i. I|T. l I1 ||l Il ' . Lr . r - :r . |- |:|- ' y L' l HI' I=I. l sul - der s II' |:|- er :|nis. s:|r |- n t o
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For p er r nassiun t o p hot ueo- p y ur LL5 . e mat er ial eieet r onieal iy Ir or u t his y r o- r ir , p l ease aer ess sewn. - . eop y r I|; ht - eu1 II
I[ I' |. t I:T. r :|' |"1 . ' I. "r - Ir ' Il J. L' IJ|1 I' :|I' l ' IIE|I1 II. l , ' Dl ' l ' l |' I r r - r r - r , |r II:a, - |, ' t t he l . ' I' II:||' |- 1 |- ' r :ig_ I' |. t l . ' :Ier |r iInr ' e Cent er , In- Ir , III EILTII, IE2 I5 Ir |- :sesy ' r . |- r I|:I I] r ive, |IIl a|1 1 1 . r eIs,
I|. I I. A I"=|' 2 f i, IJT- ' 3r T5 f IEI- II- I_ I[ I' . EIILTEI is . 1 nr r - t - Il r r r - |' :|r r |- III: r . r r E, ; Ir Ii; |t a. I; ir . |n t hat |' , |1 ' r . |' |. ' ir Ies Iir ' r , - r ises and r egist r at ion For . 1 ' r a|r ieI"I. '
oiuser s. For or ganizat ions t hat hay e been gr ant ed a p hot ocop y l icense by t he EEC. a sep ar at e sy st em oI p ay ment
has been ar r anged.
' I. ' I' l dI&|:|:L. |I. ' I|' . III- I:|- l iI:e: Pr ocII. r c' t |:|r - r :I:|r ]:|or a|t - e names may be t . r :|:Iem:Lr I|::. er - r r esiat er e- r I t r acl emsl r l ss, IIIIII ar e us. - ed onl y For
ident icat ion and er : p l anat ion wit hout int ent t o in f r inge.
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Cont ent s
Fr :Facel l l l l l - IIIl - l l - Il l l l - III Il l - ' l l Ixi
Ael r nowl edgr n en t s t r y
Aut hor s. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . :|r \ r ii
' - I- "Ll - l ' - I- II"- I ' - I- 1 ' - ' |
I Numer ical Model ing f or Engineer ing
I. 1 Comp ut er Usage in Ii1 ' 1 gineer ing. . . . . . . . .
1 . 1 . 1 l 1 ' I1 |' Jt il ' II; i=LI' l - |' _ ' I_ t ]IT_ 1 II t - I. ' l 1 1 or np ut er . . . .
1 . 1 . 1 ' II:t iI l ! I}' l - i1 i' i_ ' I' Usage- . . - . . - . - - . . . . . . . . _
LE The I - . r Is|r l ie1 n; 1 t Ir ; ; II Is- Ir r r l el
L3 Cr r r r r p ur er Pr ngr ar nr ning
I. - 1 1 Pr ep ar ing a ' L . r unp uier Pr ogr ar n. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
L5 l ieeun1 r nendedi r ueeeIur es t or Wr it ing a1 "t ogr a1 r 1 . . . . . .
I- t ' + Buil ding I:I1 dc1 - r . s1 n "I. "' I* ' r it ir Ig a Pr ogr am. . . . . . . . - - - - - - . - - - - - -
2 IIIIIATLAH Funr Iar neI1 t aIs. . . . . . . . . . . . . . . . . . . . . . .
1 - ] Int r r nl t nt r ion
P. . I. I The I - i- I. 3' t TI. AI"i III- ' ir 1 t IIIt ' es. . . . . . . . . . . . . . . .
2 . 2 Cor r sr r ir er ing a Pr ugr ar r iIn I' I. ' IATLAEI. . . . . . . . .
2 . 3 ' Ihe Iy l . A' l ' LAI:l Pr ogr am
. . 7 _ I- 1 Iir r r gr am Eszamp - 1 r _ ' s. . . . . . . - . . - . . . . . . 1 I' I
CID ' - - "I ' - . - I"- II- . |I"I
1 1 - 5 Debugging a I7 ' r ugr an"I- - - - - - . . - - - - . 1 ii
1 - 5 iI=I_ 1 IiI[ ' |- iII:t l |l iTt iIIi' PIur s. . . - . . . . - . L. 1 [ "I
Pr t iject s. . - . - . - . - . . . . . . . . . . . . . . . . . . . . . . . EFI
I1 - . :Ier e|Iees. . . . . . ==I=i
3 Mat r ices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ="' - . i5
I- l Har r is [ l p er :it ir Ins. - . . . - . - . - -
f iy sr er sinFI. ine; I|' Ft 1 1 1 ; it ir I|1 . s
. - i. E' . . I The r es Funcr iuu
3. 3. 2 The G auss El ir nin- . uion Funet iur r . . . . . . . . . - 1 1 5 1 '
3. 1 1 - 3 Esar np l es
Ii
' Ii' I I Cont ent s
3. 3 G auss El iminat ion. . . . . . . . . . . . . . . . . . . . . . . . . f i _ i
5 . - iiThe G auss]or dan Met IIod. . . . . . . . . . . . . . . 5 I
3. 5 I' * - Iur nber of ol ut inns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 EI
5 . 5 Inver se Mat r ix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 - AI
5 . 2 The Eigenval ue Pr ohl em . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - . 5 EI
Exer cises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 ' 2 .
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . "2 2
He Fe r ence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - . 2 5
4 Hoot s of Al gebr aic and Tr anscendent al Equ at ions. . . . . . . . . . . . . . . 2 2 '
I. l The Sea r ch Met hod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 2
4. 2 Eisect icin Iit l et hod 2 ?
- 1 1 . 5 I * ~ Iewt or t Rap hson Met hod. . . . . . . . . . . . . . . 2 l '
i. =I ' l he Faer o Funct ion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SiI
I- I. - ' - 1 . 1 Examp l e Pr ogr ams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ed
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . "E5
Fieier ence. - - - - - . - . . . . . . . . . . . . . . . . . . . . - . :I3
5 Numer ical Int egr at ion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E|' 5
5 . ] I""ILl ITIt . ' - I' IC; EIl Int egr at ion and Sinip snnis Rul e . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . El ":i
5 . 2 Imp r op er Int egr al s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - . ' :2 i' I
5 . 5 I' I ' IATLAIi' s Quad Funct ion. . . . . . . . . . . . . . . . . . . . . II. Iil
I. - iiMATLAE s DELQUAD Funct ion IIJI
Exer cises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I U2
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I [ I3
D Numer ical Int egr at ion of r dinar y [ Iiier cnt ial EqIIat ions. . . . . . . l II5
5 - 1 _ l I' t C Init ial Val ue Pr obl em . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 [ I5
5 - 2 The Ft ]- ur t h- I- Il r der Hunge- Hut t a Met hod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - 1 I1 l 2 '
5 . 3 Sy st em oFTwo Fir st - Ut der F. qi1 at ions. . . . . . . . . IIIIII
5 . - ' 1 1 A Singl e Secor r d- Ur der E- t 1 uat ion. . . . . . . . . . . . . . . . . . . . . . . l il ii
5 . 5 l ' vIATL. FI. B s DUE Funct ion IIIJ
5 . 5 Or dinar y DiITer ent i. - II Equat ions That Ar e I"- Iot
Init ial Val ue Pr ubl er ns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II2
5 - 2 f iol ut ion of a Tr i- Diagonal Sy st em oi? Linear Er . 1 uat ions. - . . - II2
5 - - Ii l _ 1 IiI' IIe- r r , ance For mul as l l ? -
5 . EI Deect ior ioia Iieani I1 3
Pr oject s I2 ]
T SiInt l Iir Il c. . . . . . . . . - . . . . . . . . . . . . . . . - . . . - . . . . . - . . . . . . . . . . . I- II
2 . ] Int r oduct ion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I- il l
2 . 2 Cr eat ir r g a Model in Sir nul inl t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 - iii
2 . 5 Ty p ical Buil ding E- Iocl t s in Const r uct ing a I' ~ . r Iodel . . . . . . I- IE5
Cont ent s I vii
2 . - "II Const r uct ing and Iiunning t he II- Iodel
2 . 5 Const r uct ing a Subsy st em
2 . 5 Using t he r nuxand t en E- Iocl t s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
2 . 2 Ihe Iiel ay El ocl t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
2 - 3 The Swit ch E- l ocl t . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - -
2 . 3 Tr igonor net r ic Funct ion El ocl t s
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - -
Cu I- I' l l - III- III- I- II- I- I- II I- II- I- IIIII- I- III- II- II I II I- I- I- I- III
3. 1 Cur ve- Fit t ing CIbiect ive. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. 2 Ivl et hod oILeast Squar es . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
3. - 3 Cur ve Fit t ing wit h t he Exp onent ial Funct ion . . . . . . . . . . . . . . . . . . . -
3- 4 i' i- ' I. IILTLAEr ' s Cur ve- Fit t ing Punct it :- t 1 - - . - . - - - - . - - - - - - -
3- 5 Cubic
3. 5 The Funct ion Int er p l For Cubic Sp l ine Cur y e Fit t ing. . . . . .
3. 2 Cur ve Fit t ing wit h Four ier Ser ies
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
Ct p t imiaat ion .
El . I l nt r oduct ion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
3- 2 I. - Inconst r ainer - I Ct p t imiaat it in Pr obl ems - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
3- 5 It - Iet hr it l nFS- t eep est Descent
3. 4 Cl p t ir nit at ion wit h Const r aint s
I- 3 l ' vIATLAE' s Cl p t ir nir at ion Funct ion
Exer cises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
Hef er ence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Par t ial El ' iII:er eI1 t i:- II Equat ions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Iil . I The Cl assiiicat it in ot Par t ial DiITer enr iaI Eqir ar ions
IIl . 2 Sol ut ion by Sep ar at ion of "Var iabl es. . . - . . . . . . . . . . . . . . . . . . . . .
1 3. 2 . ] The Vibr at ing
1 U. 2 . 2 Unst eady Heat Tr ansf er I [ Bar i. . . . . . . . . . . . . . . . . . . . . . . . . . . . -
1 [ I. 2 . 3 Unst eady Heat Tt anszier II { Cy l inder }
II]- LI Unst eady Heat Tr ansf er in 2 - El
III- - I Per t u r hat ion Theor y and S- our ir - I 3l Paves. _ - - - . - - - - - - - - - - -
IILS Review of Finit e Dif icr ence Fot mt r
IIl . 5 Exat np l e oIAp p Iy i|Ig Finit e DiITer ence Ivl et hods t o Par t ial
Diiier ent ial Equat ions
1 U- 5 . 1 ' l he Exp l icit Met hod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
1 [ I. 5 . 2 ' II' 1 el m|:|- Iicit I' v' Ict hr - it - I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - .
Pr oject s - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
PIIPIPI
IIIIIIII
I I I I L L I I I I l l
I J I I L J L I L L Ll -
a J a a a - a I L - I- -
JIILIIIII
a - a a a - - a - a - -
in- il l l i
a a I I L L L I L L an
. . . . . . . . . . . .
I' I' II' l FI'
IPIPIPI
IIIIIII
I I I I I I I I I L l l
J J I I L L L I L L LI-
n I | I L - I I L I L-
I' Il I' l I' I'
PIIIPIP
IIIIIII
I I I I I L I I L L l l
Ll l l r l l l a
l l IIIIIIIII
J L I J L L L I L I III-
| J I I I L I I L l ul u
I - I I a - I a - I - -
1 46
1 - I5
I- - I5
I43
I- = iEI
If - U
IS2
I5 5
I5 3
I5 5
1 5 3
1 5 3
I5 2
I5 - I
I5 4
I5 2
1 2 1
I2 1
I2 2
I2 3
I2 5
I2 3
I32
I32
1 35
1 32
I32
I33
I33
IEI2
ISIS
2 i"l 5
2 II
2 1 2
2 1 2
2 1 3
2 2 3
2 2 I
viiiI Cont ent s
1 1 I' i' l ' II' I' l iI' II' I' l ' III' il i' II' I' i' IIIIi' I' II I
I I. I It er at ion in Pip e Fl ow Anal y sis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
I I- 2 "Ihe CaussSeit - Iel Met hod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
I I- f l The Har t - l y Cr oss l ' I. t Iet hocl - - - - - - -
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
Hef er et t ces
I2 Lap l ace Tr ansf or ms .
I2 . I Lap l ace Tr ansf or m and Inver se Tr ansf or m
I2 . 2 Tr ansf or ms of Der ivat ives. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I2 . - I Cl r dinar y Ll il f er ent ial Equat ions. Init ial Val ue Pr obl em
I2 . - =iA Shif t ing Theor em . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
. . . . . . - 2 5 S I2 - 5 The Ll nit St ep Funct ion
I2 . 5 I. ap Iace Tr ansf or m of t he Unit St ep Ft t nct ion. . - . . - . - - . - - . - . . . . . . . . . . . . . . . . .
I2 - 2 I- Tonvol ut ion - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
I2 . 3 I. ap Iace Tr ansf or ms Ap p l ied t o Par t ial Fl il f et ent ial Eqt t at inns
I' I' i' I- I I i
I- l ' II' III
IIIIIl r
IIII. I II
I. a. II. II. I.
2 3. 5
2 35
2 35
2 33
2 t iI
2 - I3
2 49
2 - ' - l . l '
2 5 5
2 5 2
2 - SI]
2 5 1 1
2 5 3
2 2 1
I2 . "* . l Lap l ace Tr at t st br t t t s and Cot t t p l exVar iabl es
1 2 . * . l ' . I Fiesidues and 2 2 3
Exer cises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 3I
Ref er ences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . H2 3- 2
I3 An Int r oduct ion t o t he Finit e El ement Met hod 2 3- S
IS- I Finit e El ement l vl et hod f or St r ess Anal y sis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - . - 2 33
If :- 2 St r uct ur al Mechanics Pl ane St r ess Anal y sis . . . . . . - 2 t - IS
IE' t . 3 The Shap e Funct ion f or a I- inear Tr iangl e P. Ier nent . . . - . . . . . . . . . . . . . . . . . . . . 2 33
1 - ii. - 5 . ] - S- Node Tr iangul ar El ement f or 2 - D St r ess Anal y sis 2 . l ' I- I
1 - 5 - - 5 . 2 Shap e Funct ion in Ar ea Coor dinat es
1 3. 3. 3 Finit e El ement For mul at ion Using ' l ' r iar t gul ar
El ement s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
If :- AI Finit e El ement - Anal y sis I- ising l "vIATL. AE~ ' s PEIE Tool l "- Iox
1 3. 5 St r t t ct t t r al Mechanics Pl ane St r ain Anal y sis
I- I- 5 Model Anal y sis oI2 - [ J St r uct t t r cs
IS. 2 Finit e El ement At t al y sis f or Heat Tr ansf er
Pr oject s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
. . . . . . . . S4I Hef er e nces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I4 Cont r ol . .
I- =' - I- 1 Int r oduct ion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I- 1 1 . 2 It ep r esent at ion of Sy st ems in MAIILAE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 1 1 - 2 - I Tr ansf er Funct ion Rep r esent at ion. - - - - - - - - - - - - - - - - - - - - - .
1 5 2 - 2 Eer t t - Pt t l c- Cain For mat of Tr ansf er Funct ion
Rep r esent at ion. . . . . . - . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 - =' I. 2 - S St at e Sp ace Rep r esent at ion
. . . . . . . . 2 5 . l 2
- . . . . - - 2 :. I ; l
. . . . . . . 5 2 II
. . . . . . . S2 I
. . . . . . . . 5 2 5
. f l Ft ' 1 l
S5 3
S45
S- I5
343
. . . . . . . E' t 5 IJ
. . . . . . . 5 5 2
Con t ent s I
1 4. 3 CIosedLoop Sy st e|ns. . . . . . . . . . . . . . . . . .
1 4. 3. 1 DC Mot or ModeIir 1 g. . . . . . . . .
1 4. 3. 2 El ocl t Diagr ams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
1 4. 3. 3 MA' l ' LAl ; I Tool s f or Dening t he i_ Il osedLoop Sy st em. . .
I4- 4 MATLAEI Tool s f or t he Per l it :- r mance Anal y sis
of CIosed- Loop Sy st ems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
1 4. 4- 1 F- l oot Locus Pl ot s - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - . -
1 - I. - I- 2 l "' ~ Iy t |uist
1 4. 5 l Vl ATLAl 3' s SISCIr ooI
1 4. 5 . 1 Exar t t p l e t o E- e Used wit h Sl SCIt ool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 4. 5 . 2 SISC- t ool Main
1 4. 5 . 3 Using SISI. - It ool t o Design t he Cont r ol l er f or Examp l e
at E- cginning oFTl ' t is
I4- 5 Ap p l icat ion of Simul inl - t in Cont r ol s and Dy namic Sy st ems. . . . . . - . -
1 4. 5 . 1 Examp l e of Cont r oI nFt he Fl t t id l . eveI in Coup l ed
1 4. 5 . 2 Design of a Feed- For war d Loop Using Cl p t int al it y
Cr it er ia. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
1 4- 5 3 Act ive Susp ension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
1 - ' - LIS- 4 Samp l ed Dat a Cont r ol
1 4. 5 . 5 Imp l ement at ion nFADC and EIAC in Simt l l inl t . - . . . . . . . . . . . .
1 4. 2 Simul inl t l s Dat a Acquisit ion Tool box
1 4. 2 . 1 Anal og l np t t t
1 4. 2 . 2 Anal og Cl ut p ut . . . . . . .
1 4. 2 . 3 Digit al Inp ut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 4. 2 - 4 Digit al Ciut p ut - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
Pr oject s - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - . -
ix
35 5
35 3
35 2
35 3
35 ]
35 1
35 3
35 2
35 2
32 1 - I
32 1
32 2
32 2
335
331
334
332
4LI5
4I- I5
41 1 2
4U3
4U3
41 2
F. ndnot es. . - . . . . . . . . . . . . . . 4I2
Ap p endix
Ap p endix
Ap p endixC
Index
41 3'
42 3
42 9
439
Pr ef ace
I have been t eaching cot t t p ut cr ap p l icat ions it t mechanical et t gincer ing { MEI at
Fl or ida At l ant ic Univer sit y [ _ FAl - l l Ibr many y ear s. The Dep ar t ment of Mechanical
Engineer ing at FAU oif er s t wo cour ses in comp ut er ap p l icat ions in l ' vl E. Il he f ir st
cour se is usual l y t al - t en in t he st udeot is sop homor e y ear . whil e t he second cour se is
ust t al l y t al - t en in t he st udent ' s junior or senior y ear - St udent s ent er ing FAT- I f r om
t he cont mt t nit y col l eges a r e given cr edit f or t he Iir st cnt t r se if t hey have comp l et ed
a cour se in C or C+ + . Pt ot h comp ut er cl asses ar e t aught as a l ect ur e- cor np ut er l ab
cour se. The l vIATLAE- ' 5 sof t war e p r ogr am is used in bot h cour ses. To f amil iar ise
st udent s wit h engineer ing- t y p e p r obl ems. ap p r oximat el y sixt o seven engineer ing-
t y p c p r oject s ar e assigned dur ing t he semest er - St udent s have. dep ending on t he
dif l icul t y of t he p r oject . eit her one or t wo wecl - t s t o comp l et e t he p r oject . S- iocc I
have r r t r r f ound a sat isf act or y I' vIATI. Al 3 t ext f or t he t y p e of cour se t hat I t each. I
have wr it t en st . t p p l eme|t t ". t r y t nat er ial manual s f or t hese cour ses. which st udent s ar e
r equir ed t o p ur chase f r om our dep ar t ment ol iice. l bel ieve t hat t he best sour ce f or
st udent s t o comp l et e my assigned p r oject s is my Sup p l ement ar y Mat er ial Manual .
As a r esul t . I have conver t ed and exp anded t his mat er ial int o a t ext bool t . which
ot her school s may use. ' l ht - ' t ext hool - t incl udes many of t he p r oject s t hat l have
FISSIjj_ :' |1 ' I. I[ I Til l |TI:|- " Cl 3. S- S' I"_ "S I[ 1 "||- ' - I' i' l ' S- EVI:' |' EIIl J. - "E' E. |' S. l |' 1 I- II. IIL1 l Tl I' I[ ' I I l ' l :5 |"t - "E F- I. S1 l ' II. l i; "I' . l l I"I"|- ' IIIl CII- I 1 T1 :|. " CIIII- '
Ieagt t es t n cont r ibut e t n t he t ext bool - r . Dr . T. C. Tsaihas cont r ibut ed a chap t er
on t he f init e el ement t net hod using MATLAII I_ MATLAl 3' s Par t ial Dif f er ent ial
Equat ion Tool box"jI and Dr . Cl r en Masor y has cont r ibut ed a chap t er on cont r ol
sy st ems using MA' l LAl :I i"l ' t . - IA' l LAl : - "s Cont r ol Sy st em ' I' ool box". I.
l l he advant age of using t he l ' v1 A' l - LAI3 sof t war e p r ogr am over ot her sof t war e
p r ogr ams is t hat it cont ains buil t - in f unct ions t hat numer ical l y sol ve sy st ems of
l inear et juat ioos. sy st ems of or t iir iar y dif f er ent ial et jt it at it ins. r oot s of r r anscent ient al
equat ions. int egr al s. st at ist ical p r obl ems. op t imisat ion p r obl ems. cont r ol sy st et ns
p r obl et ns. st r ess anal y sis p r obl ems using f init e cl et t t et t t s. and many ot her t y p es of
p r obl ems encount er ed in engineer ing. A st udent ver sion of t he MATLA3 p r o-
gr am is avail abl e at a r easonabl e cost . However . t o st udent s. t hese buil t - in f unc-
t ions ar e essent ial l y bl acl t boxes. Ey combining a t ext bool t on MA' l ' LAl :I wit h basic
xi
it iiI Pr ef ace
numer ical and anal vt ical anal y ses [ al t heugh l am sur e t hat MATLFLE uses mer e
sep hist icat ed numer ical t echniques t it an ar e descr ibed in t his t est t }, t he t ny st er y ei
what t hese hl acl - t hest es might eent air iis semewhat al l eviat ed. The t est cer it ains
many samp l e MA l LAB p r egr ar ns iset ip t s] t hat sheul d p r evide guidance t e t he
st udent en cemp l et ing t he assigned p r - :1 ieet s- I iiieiier se r iit nr r nep mjeer s in t his t esvr . |' i- r eeii:
nr e mer e iii. - it e r et ir es is gr eer nnr e engineer might see in el it e r ' net ! ' t r sr r _ _ v r nnit er r it t r r n t he snt nmi
smnp r eniems Iiit nr er e . t ' en' r :. s' r ' neet ir e mer r y r exr eveeir s en r ise sr r it jeer .
Fur r her mt ir e, we hel ieve t hat t her e is en- et l gh mat er ial in t his t eit t ht inl t Fer t vvn
ceur ses, esp ecial l y if t he ceu r ses ar e r un as l ect ur ece|np ut er l ahet at er jv ceur ses.
The advant age eir unning t hese ceut ses (esp ecial l y t he f ir st ceur se} as a l ect ur e
l aher at er ]; ceur se is t hat t he inst t uct er is in t he eemp ut er l . ' =' l l IJ=t J- t ' :El [ t It I' _ 1 |- " t e hel p t he
st udent debug his et her p r egr ar n. ' l his incl udes t he samp l e p r egr ar ns as wel l as
Cl i' . l . l ' _ P]' Ll jII' C' l IE- I]. - I' l l : . F|1 ' . ' :i- II L' L' l |. l I' l ' il I 5 . l f 1 I]' l . 1 l ' l L' l bi. "El f H. l l . Cl ' l "LT l ' l ' _ ""|- "IIl . , F|Cf hHF|":idur ing ' l Il ' |II f it ' l ' . ' l l l '
FiE' - CU1 ' H' . ' I 5 E|' 1 ' ]E5 t E|' l l - :l Il ' IE' 1 ' i[ il l Fl l ' I' [ ]l ' I' l l ' l T- E J, - "- El f . l :- l l ' I. 3. Pl . ' ET5 I l . ' l . ' l I' Dl . I. El ' ] E HI - l i. ' l l ' l . . il l l , il CE 3. PPT|, ' . l l . ' iEl l IE
Fer t his r st ceur se. These chap t er s incl ude:
Chap t er l : I - l umer ieal l vl edel ing Fer Engineer ing
Chap t er 2 : MPCFLAB Fundament al s
Chap t er 3: Mat r ices
Chap t er iii: Rent s el iil gehr aic and Tr anscendent al E. t . 1 l . 1 El 1 Il t ]I1 - L
Chap t er 5 : i"- it |r ner ical Int egr at ien
Chap t er t i: Numer ical l nt egr at ien eFCIt dinar }. * Uiier ent iaiEquat iens
Chap t er s T t hr eugh 1 4 ar e ap p r ep r iat e f er a ceur se at t he senier er r st p eat gr adu-
at e l evel s. il hese chap t er s incl ude:
Chap t er T: Simuiinl t
Chap t er ii: Cur ve Fit t ing
Chap t er J: Cip t imieat ien
Chap t er ii]: Par t ial Dif ier ent ial Equat iens
Chap t er 1 1 : l t er at ien l vl et hed
Chap t er l l : Lap l ace Tr ansl ier ms
Chap t er l iii: Fin l nt r nduct in- r t t e t he Finit e El ement Met hed { r equir es t he Par t ial
Tl il il ier ent ial t ee- l hmt }
Chap t er l ==' ir Cent t el Sy st ems { r equir es t he Cent r el Sy st em t eel heit }
Fil l chap t er s, et t cep t Fer Chap t er s 1 and I1 , cent ain p r eject s. Chap t er s 3, i. and
I2 al se cent ain sever al eser cises. Pr eiect s diiier Fr em t . IIiEl t Jl 5 E5 in t hat t he st udent
is r equir ed t e wr it e a cemp ut er p r egr am in MHFLAB t hat wil l p r educe t ahl es er
gr ap hs, er het h. Exer cises enl v r equir e t he st udent t e use p encil and p ap er and
|, ' ]' i. ' l ' _ ' l ' l [ . l . ' l H' _ ' |l f E. El gi H. 1 ' 1 . l ' i- "i- \ I"EI' .
Fichnnl s nFl 7 er ing a ceur se in cer np t it er ap p l icat inns simil ar t n FF' t U' s
Cenip ut er r l t p p l icat iens in ME IL hut net having et ier ed an ear l ier ceur se using
Pr ef ace I siii
l ' vl i' l t TL. F - . l ii. weul d have t e incl ude Chap t er 2 as p ar t eit he ceur se. since it cever s
MATLAE l :t . l ]' it l . =. t I t 1 t ? |' |[ t 1 l S.
The gever ning equat iens f er mest p r eject s ar e der ived eit her in t he main bedy
er in t he p r ejeet descr ip t ien it sel f , er in t he Ap p endices. A chap t er en Lap l ace
Tr ansf er ms has been incl uded beeause t he eent r el sy st et ns chap t er { - Chap t er l - ' - ii}
ut il izes Lap l ace Tr ansi' er r ns: t his chap t er al se ut il ises Simul inl t . An int t educt ien t e
f iir nul inl t is eever et iin Chap t er T.
MATIAH is a r egist er ed t r acl emar l c - ni' The l viat h ii1 ? ' t ir l r s, l nc- Fer p r nt l uct inFnr -
mat ien. p l ease cent act :
The l ' s* l at h"Ii|' i- ir ar l - t s. l nc.
5 Ft p p l e Hil l Cl r ist e
hiat icl t , MA UIFED- EH95 USA
Tel : HIE (iii? FUUU
Fa:- t : 5 5 3- El i? - Til l
E- mail : inf e@ mat hwer hs. cem
Web: www. r nat hwer l t s. eer n
Acknowl edgment s
The at t t l mr s wish t n t hanl t In- iiat l iar iFl ; 1 |it niiT; 1 }=l nr ii- . 1 l _ ' l ' ; il |t _ ' i. * i. Cr nt |p e' CHC Pr ess
int his t _ ' . t 1 l ' |l it . l e1 |t . ' r . ' . and - t ' I|f |t . ' t J- Ll |". 1 g' ; |:t t |el l I. in wr it ing t his t e:- ; t l it 1 t :l ~ 1 . "' s"=I"et il si. : wish t n
t hanl t l ennil i; - 1 ' . ' il ' t i1 |' iIiE_ r :f and l _ . il |t l t ; | l a; - ggin iii- r gt t iciing it s t l ir r mgl it he 1 t _ "f ILIl |t ' l t ' |l Il
st t iil l t t issiu- t i[ . 1 1 ' nt _ ' css. Fit ial l jv, we wisl t t n cit p t ess cl - L1 1 sl eep g_ t al i[ Lt cl c t t . r t . 1 u|' wivcs l it - I
iel er at ing t he t ' l i. i1 t ' t f gr ' heur s we sp ent en p r ep ar at ien eit his manuscr ip t . t ime which
t it her wise wet t l cl have been cl evet ecl t n eut Far nil ics.
IV
Aut hor s
Wil l iam Huber , P h. D. , r eceived his f i. 5 . degr ee in civil engineer ing f r eniCit y
Cel l ege ef l ~ l ew "t e|' l t iCCl ' ~ l "t ' ). his I' vi. 5 . degr ee in engineer ing science f r et n Pr at t
inst it ut e. and his Ph. f l . in engineer ing science and aer esp ace engineer ing f r ent
Pur due Univer sit y . r - "t r Pur due Univer sit y he was en a Fer d Peundat ien Fel l ewship
ar t d was assigned t e t each ene engineer ing ceur se dur ing each semest er . Af t er
r eceiving his Ph. iJ. . Dr . Huber went t e wur l t . as an asseciat e engineer ing p hy si-
cist in t he r it p p l ied Mechanics Cl ep ar t r net r t at Cer neil r "t er t . t naut ieal Lahet at er y , in
f it t f f ait i, New Yet i- :- . * ' 1 t f t er l eaving Cnr nel l Labs. he was emp l ny ed as an asseciat e
p r r siissst t r in t he l _ I- l ep ar t nt ent t t f l ' v l eehanic' al Engit t eer ing at t he f inchest er l nst it t t t e
ef Technel egy [ HIT] f er t he f el l ewing iiiy ear s. Ft f t er l eaving RTT he was. and
st il l is. emp l ey ed at Fl er ida . ~ * ' ul ant ic Univer sit y in t he [ It ep ar t nt ent ef l vil ec. l t anical
Engineer ing. Whil e at ii' . l T. Ur . Heber was t he p r incip al aut her ef a t est beeh en
f l uid r r t echanies [ . Ff r r r ' st ' . "l - * i"er ' . f r =i' nr ' t ' s. l il iil it l l . p ubl ished by juhn "Wil ey Ec l iens. He
has wr it t en sever al p ap er s f er t he f nr er r t nt r ' ennf _ f er r r ' r r m"sf r i ' . i' eni1 vr r r r ' r nt "Eng' r ' r r eer ' r ' r sg
E- r f r r r . ' vsr ir r r t { l l l ' vl F. F. i-
C. T. Tsai, P' h. [ J. , is a p r ef esser ef mechanical engineer ing at Fl er ida At l ant ic
Univer sit y . Hef er e jeining t he Phi. . . f acul t y in t it ugust l Ei' Li' [ l ' . he was a r esear ch sei-
ent ist at t he . "' t ir Fer ee inst it ut e nf Teehnnl t t gy . Wr ight Pat t er st in . - ""|. ir Pur ee Ease.
Cl hie. l ie is t he at t t hnr and en- aut her r t f mer e t h:- t n iii] ar t icl es in nar innal and int er -
nat ienal jet t r nal . s and cenf er ences. f 1 r . Tsaiis ene ef t he iir st p t eneer s f er nt edel ing
disl ecat ien t nul t ip l icat ien in set nicet t duct er cr y st al s and has t nade signil icant cer t -
t r ibut iens f er devel ep ing a numer ical medel r e p r edict t he quant it y ef disl ecat iens
gener at ed in t he ser nieenduet er cr y st al s gr ewn f r et n t he mel t . His cer np ut at ienal
Int idel has been cit ed by t he Hr r r r sdheef r r . 1 f t f . ' s; }' sr r r f f f r enl r f r { El sevier f ieience E. "' t ~ . ,
l t it it t il l as t he f ir st numer ical medel f er p r edict ing t he disl ncat inn densit ies gener at ed
in t he gr - nwing ef sent icnndt t ct er cr y st al s.
Dr . Tsair eceived his Ph. [ I' r . in engineer ing nt echanics f r ent t he Univer sit y el
l sl ent ucl - t y in 1 995 . He has guided f ive Ph. [ II. st udent s and t t ine mast er ' s st t t dent s t e
gr aduat ien. He was t he r ecip ient ef t he Pr esident ial Resear ch Lievel ep t nent Awar d
:- t vii
I-
t t viiiI . - t it r t her s
in If iiii. NASA sut nt uer f acul t y f el l ewship in I991 . al t d Air Fer ce summer f acul t y
r esear ch f el l ewship in I99- 1 i. I999. and 1 99? . He is l ist ed ir t ii- ' 3- Er e? Wee in t . ii1 ' e iit ' F er t ' ci' .
Wee} l . l 5 "ne in eimer icnn Edr r cnr r en. and iiF"neil l 5 iir e in Science nnr t Engineer ing.
Ur en Maser y , P' l 1 . D. . is cur r ent l y ser ving as t he Chair man ef t he Dep ar t ment ef
l vieehanical Engineer ing at Fl er ida Pt r l at t t ic Univer sit y . He ear ned his P- . 5 c. , i' v i. 5 c. .
and Ph. f I|' . f r em t he Technien. isr ael inst ir t t t e ef Techn- el egy . Haif a. isr ael . in I9? - i.
i9? ' ? . and I95 9. r esp ect ivel y . Dur ing his academic car eer he has t aught a var iet y
ef ceur ses incl uding mechanics. vibr at iens. cent r el s. manuf act ur ing met heds.
aut er nat ic assembl y . indust r ial aut emat ien. cemp ut er cent r e] ef manuf act ur ing
sy st ems, r cibet ics ap p l icat icin, cent r el s. sneehat r enics, and r nicr uel ect r ur nechanical
sy st ems ii' v"l Ei' - cii- Ct r - i' viaset r y has been emp l uy ed by Fl er ida r l t t l ant ic Univer sit y
since 1 95 3. He wer l t ed f er Ceul d inc- ii9iii]- 1 935 } nn t he devel ep ment ef a r ehet ic
assembl y l ine f er t he assembl y ef nenst andar d el ect r ical cet up enent s. He has al se
censul t ed and p er f er med r esear ch l iar Cener al Dy namics. Pr at t Et c Whit ney .
Senser mat ic El ect r enics Cer p er at ien. iviet er el a. and et her s. Dr . t viaser y ' s int er est s
incl ude r ebet ics. aut er nat ien. vehicl e dy namics. and p r educt l iabil it y .
Chap t er 1
Numer ical Model ing
f or Engineer ing
1 . 1 Cemp ut er Usage in Engineer ing
1 . 1 . 1 ir np er t ance ef t he Cemp ut er
f ""i- l _ "i- I]' l :|- " l ' _ ' l i' l :_ j; i|' l l l _ 1 _ "]' i. I' ]! ; iTl f ]Tl l ' |- f il l l ii- 1 }- ' l . l f il l . i|' l l i. ' f l l ' ]L' i_ ' { ' l ' l Tl |il l . l . |' l _ "' f i]' i- [ ' l l l ' l l _ " "J. - ". :l . :|. ' [ if i:i. ]' . l t ]"l . ' l ' l IL"]' -
Tl t er ef nr e, if a st t t denr has a p t ngr ant nt ing cap abil it y . he wil l he nt t ir e val t t ahl e t n
t he iir nt t hat hir es hint t han sent enne wit ht t t t t st t cl a a cap abil it y .
1 . 1 . 2 Cemp nt er Usage
in engineer ing, t he cemp ut er is mainl y used in
a. l it ' 1 l ' - - ' i|ig_ 1 |it il i |- t * l iit 1 [ iI. JI. il r t t ndeis nf p hy sical p l t enent ena.
h. Iiit et - ir t g at t d r educing esp er it nent al dat a.
e. Cet t t r el l it t g n1 ar _ ' l 1 it 1 e ep er at l er t s.
The engineer :- t int er est l ies in
a. f l esign nf esp iip t t t er t t -
h. E1 . - al t t at ien t 1 f p c1 ' l ir t t t r at t ce t if eqt l ip l t t el it .
c. ii' . ese- ar ch and deveiep ment .
1
2 I Numer ical and Anal y t ical t ' viet h- eds wit h MATLAB
These can be accemp l ished by
a. Ful l - scal e esp er iment s. l viay be p r ehibit ivel y e:t p ensive.
b. Smal l - scal e medel esp er imer t t s. St il l ver y esp ensive and est r ap el at ien is f r e-
quent l y quest ienabl e.
c. A mat hemat ical medel . which is t he l east exp ensive and f ast est . it can give
il T1 [ 1 1 ' f _ CI- l L"l I. il C[ iHI' I5 "|. ' |- "l ' Il . ' 5 End. f _ i. iiil Pi_ "I' - EII' l ' l I CHECK l . l TIl Il . EII' l ' _ ' Ii. H:il ' _ "1 ' iITl l |. ' Cl I]' ]' 1 l ' . i. i[ i- Cl |' l 5 CHT1 ii]' l i"
r un t p iicl - t l y . if t her e is cnnf t cl ence in a mat hemat ical medel it wil l he uset l in
p r ef er ence t e an esp er iment .
1 . 2 The Mat hemat ical Met l el
Phy sical p henct mena ar e descr ibed hy a set ef gever ning equat iens- hiumer ical
met heds ar e f r equent l y used t n sel ve t he set ef gever ning equat iens. Rer r sen: We
den t l t ave t uet l t eds f er ebt aining ciesedf er r n sel ut iens f er many t y p es ef p r ebl et us
invel ving gener al geemet r ic cendit iens.
hl umer ical met heds invar iabl y invel ve t he cemp ut er . The cer np ut er p er -
f er ms ar it hmet ic ep er at iens up en discr et e number s in a dened sequence uf
l it - CFIE. F- l . _ i. ' l . l l I I' i- iI|i. ]l - i- CITCE UPI HHIP5 iil if - i. - E. ' i:i|' l Cl i. i. in t i' H' ; " P' 1 ' [ il gT3. |' l ' 1 - A Ll l i- l ' _ ' il l ' - LII 1 ' ii. ' ]' l l l . i. |IIi. |' l iii-
nht ainecl if
a. The l uat hemat ical medel accur at el y r ep r esent s t he p hy sical p henemena: t hat
is. t he medel has t he eer r ect gever ning equat iens.
b. ' l he numer ical r net hed is accur at e. Nat e: if t he gever ning equat iens ar en' t
CU1 ' l ' IIL"l I- y iIl l ' I' iL ! :i[ J' i|. l l . ' i. U' I' I. "|t i- Ci. " bl . "||||. "Cl l "l Ii' |l . L 5 1 ' i|' EIgH. l . ' l l ' . i. il ' _ ! :il ' i' [ . ' l l ' i' - I l Il . ' l IL' H- Cl ' . ' l . l TEL' ]. ".
C- I- . l _ l i' l E |' l . |. IIT' l E' 1 ' iCl |' l l ' l E' iIl ' |l l ' l l [ . Iiiii|' l l I' l l ' l l gI' E. |' |' l l |' |' |E- L' iC{ ][ TE' Ci, ' i]. - ".
This beel t is mainl y cencer ned wit h it ems [ bl and { c]I.
i
1 . 3 Cemp ut er Pr egr ammt ng
The advant ages ef using t he cemp ut er incl ude:
a. it can car r y eut many . many cal ct t l at iens in a f r act ien ef a secend.
b. Te get t he cemp ut er t e car r y eut t he cal cul at iens. el t e has t e wr it e a set ef
it t st r uc. t iens.
The meder n cl ect r enic digit al cemp ut er censist s ef t he f el iewing:
a- f r r p r r r r r nr ' r p r nvides t iar a and inst t uct iens t n t he cemp t r t er -
b. Menr er y nr er r r ge r r nr ' r in which dat a and inst t uct iens ar e st er ed.
Numer ical ivt ecieiing f er Engineer ing I 3
c. . el r r ' r iiir ncr r ' t "- l egit " r r nr ' r wl t ich p er f er nt s t he ar it hmet ic ep er at iens and p r e-
vides t he decisien- mal t ing ahil it y f er l egic) t e t he cemp ut er .
d. Cisir r r ef nnir t al t es inst t uct iens f r em memer y : int er p r et s and esecut es t he
inst r uct iens.
C- l l TI' l . l ' . |! ' . l l ; |l ' . ' F. i' l ' . f Hi' Ii' f . i' i' Pl ' l . |' ||f ! i' |' _ il LIiI 1 ' L 5 i. i. l [ 5 UP [ PIC PIUETHHT U1 [ i. i Pl . H. :|. - ' 5 I' iIS- l . I. i' l IS { ]' I1 3
5 Cl ' CL l . ' 1 .
The cnnt r el unit + t he ar it hmet ic l egic t t nit ar e cnnsider et l t he cent r al p r ncessing
unit { CPU}.
1 . 4 Pr ep ar ing a Cemp ut er Pr egr am
Per p r - ehl ems uf int er est in t his bnt t l c. t he digit al cemp ut er is nnl y cap abl e nf p er -
iit r ming ar it hmet ic. l egical . and gr ap hical ep er at iens. Ther ef er e. ar it hmet ic p r e-
cedur es t nust be devel ep ed f er sel ving dif f er ent ial equat iens. eval uat ing int egr al s.
det er mining r eet s ef an equat iet t . sel ving a sy st er t t ef l inear equat iens. et c. The
ar it hr net ic p r ecedu r e usual l y invel ves a set ef al gebr aic equat iens. Pt cemp ut er sel u-
t ien f er such p r ehl ems invel ves devel er p ing a cemp ut er p r egr am t hat def t nes a st ep -
l . ' l ' J|- "PEPE? P]' l I]' l l ' _ ' Et ' . i. L|1 ' L f i[ ]|' Cl l ' Jl iH. l I' l i1 ' l . E 31 ' ]. 3. l ' 1 . S' ||- i|"i. "1 ' IT] l Il ' 1 C |, ' l |' 1 ' l ' l l l :l l t ' _ 1 ' . l ' l . CIFi1 ' 1 ' l IEI|' iIS- l l - _ . l l - l ' l L' |' 1 ' 1 f _ l . ' l . ' Il I]1 ' . ' i
nf snl ut i- en is cal l ed an nf gr r r r it dr m.
1 . 5 Recemmended Pr ecedur es f er Wr it ing a Pr egr am
H- l l l l i|i|. l d:||" i:l ' |l i. ' ], ' . |I"iJi. ' . |l . C]' |' | t il ] CC F||' l i. ' l l g1 _ ' - ' 1 I' |' | |T|iIl ' . i. -
h- l - ist t he al gehr aie equat iens t n he used in t he p r ngr am-
c. Cr eat e a f l ew char t er et t t l ine.
d. Car r y et t t a samp l e cal cul at ien by hand.
e. Wr it e t he p r egr ain using t he et t t l ine and t he l ist ef al gebr aic equat iens.
1 . 6 Buil ding Bl ecks in Wr it ing a Pr egr am
a- r l t r it hmet ie St at ement s
b. inp t |t i' Ct t |t p t 1 t St at ement s
c. Leep St at ement s (r e l eep and r e. - ir it ic l eep ]
d. . ~ ' l t l t er na|_ ive Pat h St at et net t t s { if and ef r ef }
e. Punct iens { buil t in and sel f - wr it t en)
Chap t er 2
MATLAB Fundament al s
2 . 1 l nt r et l uciicm
l ' s- l . ' i! . ' l ' L. * ' i' |. l :i' :' is a sef t war e p r ugr am f ur nur ner ic cump ut at iun. dat a anal y sis. and
gr ap hics. Cine advant age t hat l ' v' i. "' ! . ' l ' L. I"' t l :' ihas f er engineer s ever sef t war e p ael - t ages
such as C. "C+ + er Pnr t r an is t hat t he l "s- l r "t Tl - . "i. f i- p r ngr am inel t t des f unct iuns t hat
numer ical l y snl ve l ar ge sy st ems it - f l inear et t uat iens. a sy st em ef nr dit t a r y dil "f er ent ial
equat iens. r eet s - . t f t r anscendent a| equat iens. int egr al s. st at ist ical p r ehl ent s. up t i-
nt it r at ien p r ehl ems. cent r el sy st ent p r ehl ems. and many et her t y p es e- f p r ehl et ns
enceunt er ed in engineer ing. l ' vi. ' * ' t l ' LFt i:l al se cent ains t eel beses. which must be
F|' i_ i. I' Cl I' l . El . l i- l L' [ l F|il L' F|El . I' EIl I' l L l . :|- "1 iIl . ' IEl . iI H. l l "L" l Ll . l i_ ' hil . g|' l l L' { l . TU . ' . ' i- ' l Ll l . "|- "L' Fl l ' l Ll l l ' Jl L' ]' 1 ' 1 S- l . H "r ' L' 1 ' :|- ' SP' i_ l i_ ' iEl . l l . Il i. ' Li. H. l l "l i. ' . iI. 1 ' i.
2 . 1 . 1 The MATLAB Windews
l :i- y el icit ing cin t he l ' vl . ' l t _ l _ L. r ' i. l :iict m cm t he desl - t t ep . sever al l ' s- ' l . "' t - l _ l _ r "' Ll 1 i- windews
r ip en { t he def at t l t is t he is- i. ~ "t Ti. . ~ t i- idesl - t t t t p : see Pigur e 1 - 1 ]-
I [ . ' einr nnr r . r it t n' nr . iet r . = t in t he cent er ; in el der ver siens. t he cet nmand windew
is en t he t ight :il n t he cemmand winduw y uu can ent er cur nmancl s and
dat a. r nait e cal cul at iens. and p r int r esul t s. "f un can wr it e a p r ngr am f ur scr ip t ]
in t he cnmmar t d windew ant ieseet t t e t he p r ngr am. ir inwever . it wil l nnr he
saved. Thus. if an er r nr is nt ade. t he ent ir e p r egr ar n needs t n he r et y p ed- Pl y
cl icl - t ing t he up [ f l ar r ew l t ey en y eur l t ey hear d t he p r eviet t s cet nt nand car t
be r eent er ed.
I Cer iiinnit cf r l t r ' sr ei]' r t . ' iiic- l er r r ibut t um r ight l ' l his winduw l ist s cent t nands t hat
t he user has used in t he cum ma nd wincl et w.
5
t iI Numer ical andnnaiy t icaiil net hnds wit h MATLAB
- E
5 II 1 |] CQ ' l ' *
- "I Il |II' IhIIh1 t l LsJ- ner r nIui+ F_ . I- :Ie1 :Ier eIr E+ n|r i' u. vJe. T. Il IIJ- ail
9* ! -
nl u- ]""""- ' 5 ' ' ! _ u . . - t um- H - . .
. _ . . - H- 1 ' . I- r - - 1 - - 1 - l " - . t I- we '
er - t r s- s- - =~ I Iii
l a . I. LI er - I I
- i-
s
I
- -
I1 l - I-
- III ' l ui- f l
' l ; 5 |:r . ' i
F"- T
. H [
Figur e 2 . 1 MATLAB wiiit l ews ce : mmat iil . cur r ent dir ect er y . cemmand hist er y .
and wer t t sp ace winr l ews. { Fr em MATLAB. ' ' ' wit h ]1 t EI' t ' I' Il 5 5 - IIII- I - I. - l
I Cur r ent nl ir ect cr r jr r cr innl et n { nn t he t n in t h P E cent er UP. [ PIE ' l . ' . l ' t il ' i' . hf H, 1 ' f :"El . :l ?
This smal l windnw l ist s t he cur r ent wet l cing dir ect er y . Te r un a l ' s l n. Ti. F' t Fi
p t egr ain. t he p r egr am needs t e be iiit he dir ect er y l ist ed iiit his windew. The
dir ect er y l ist ed in t his windew can be changed by el icit ing en t he l it t l e bes
just t e t he r ight ef t he windew. This p r educes a dr ep - dewn menu al l ewing
ene r e sel ect t he dir ect er y in which t he p r egr ar n r esides [ see Figur e 2 . 1 }. if
t he wcir l - t ing dir ect er y is net l ist ed in t he dr up - dnwn menu. cine can cl icl t cin
t he l it t l e hn:c cent aining t he t hr ee dnt s, which al l nws nne t n hr nwse f nr t he
dir ect er y cent aining t he p r egr am ef int er est isee Figur e 2 . 3}.
I Secenn isr innl ear al se cal l ed t he cur t eiit dir ect er y t en t he l ef t ]ITh is windesv
l ist s al l t he dit ect er ies t hat ar e avail abl e.
I iP' er iir y . ince win. - dew { up p er r ight l Tiiis windew l ist s al l t he f il es in t he cur -
r ent wer it sp ace.
I Enl ir er ir :inn' enr P' r egr ams ar e best wr it t en in t he cdit = er windew. Pr ct gr ams
Ef f : t l l i' . |f _ ' T1 5 3' l . "f _ "- l i. i. 3. 5 iFIil ' l ' F|l . f _ ' l ' S. I- . l . - l l i1 l iIi. ' il ' _ ' Fl if l i|' |. H\ "f _ " Phi: ' C:' { t ' l ' _ ' f 1 1 ' ii' [ ]|' | . il ' l |' il ' |. ii- il _ i. Cl ' l l . H5 . |9f F. |! . ' ii. l F. i". il ' I-
Tn eir ecut e t he p r egr am. r et ur n t n t he cemmand windnw and t y p e in t he
name ef t he p r egr am wit het it t he eiit ensien Lin]. The edit er windew car t be
ebt ained f r ent t he cemmand ' d "' ' ' ' win esv by cl icl - t ing en Ft f el l l t he t asl t bar sec-
t ien and sel ect ing t s' et e- . iir t ' - f e.
l I' |Il ' l r Il I|II
- I- l ' Il i' l |. i
i' . ' iIl ' I|' i. - il l -
' 1 "l I' Il IIIl II- l II|II' I
t t l r l h
- |' 1 l II' l ' l . |Il -
iZ ' l Il ||' It . i' l I|IIIl :iIp
i :1 Il ' |' 5 |l |iIi|
l iI' HI' l ' LII
Lil i' |IIl -
H .
El l ser l .
5 - t i- |- gin
h
Iii
I 1 Il |r I:I. .
I - iihr l .
iil il t t

t i
MATLAB Fundament al s
Figur e I 2 [ It r ep cl t nir iimenu f r em cur r ent dir ect er y windew. { Fr nm MATLAB
Wit h p er r nissien _ i
Li. - I. _ I- 1 - L
I It "1 ' "I l . Il - I
i. 1 II1 I_ Il - l t l .
I i. - I 1 - in ' -
Il i- l iIl Il ' _ l IH- I.
t i- it - |- I- ' l _ =t I- i- |' i
Il - l - - "' - ' - - El - I
i1 I- |It _ l - l - ||IiJ
I |. . . ' . ' r . r | |- .
i. ' nqIl ' _ IIt i- ||' l . ' l !
I: - in- r _ |- it et i.
I nit - |- i_ l - |- t i- i:
|- - - Hi: - t it
Figur e I 3 Br eivse f er t el - t ier r ner iu f r em cur r ent dir ect er y windnw t Fr em
i' vi. l t Tl . il t l ! Wil l ip er missit in]
i. - ' I' |i. . i. | I t r
i|||' i:_ i:|' l |Ih|- |' t i::i|- el l ]
t iI Numer ical and Anal y t ical Met hcicl s wit h MATLAB
2 . 2
1 .
E-
3-
4-
s.
2 . 3
Censt r uct ing a Pr egr am in MAT]- AB
St ar t t he l ' vi- "sTL. "' t l :ip r egr am by deubl e el icit ing en t he . - r _ l . r iIl 1 . r ih' l ean en t he
desl ct np . br inging up t he Cemmand ' 9il indnw.
Cl icl t nn Fil e- . I"' l ew- l vJ"- f il e- This br ings up t he edit nr windnw-
Ty p e p r egr am in t he edit er windnw-
Save t he p r egr am in a dir ect er y nf y nt ir nwn chnnsing- l t is hest t hat t his
dir ect er y cent ain enl y y et t r ewn ivit t Ti. . - sh p r egt ams.
Te r un t he p r egr am. r et ur n t e t he Ceiiit iiand l ' l il iiidew' and in t he cur r ent
al ir ecr e r y r l er [ up p er cent er ] sel ect t he dir ect er y it t which t he p r egr am has been
saved. ' l hen in t he Cemmand iil l indew t y p e in t he p r egr am name wit heui
t he . r n e:t t ensit ' :- n. Examp l e: Sup p t - ise t he p r egr am has been saved as heat - t n,
t hen af t er t he { l air } char act er s t y p e in heat .
The st ar t :- t a Pr egr am
v ar iabl e names
l ' v' l ust st ar t wit h a l et t er -
Can ct int ain l et t er s. digit s, and t he under scnr e char act er -
Can be ef any l engt h. ht it mt ist be unique wit hin t he f ir st l 9 char act er s.
l ' vl Ft TL. ~ ' l ' t l 3 is case sensit ive in var iabl e names. as wel l as in ceiiiniands.
Semicel en is usual l y p l aced af t er var iabl e denit ien and p r egr am st at ement s;
et her wise. t he def ined var iabl e ap p ear s en t he scr een; examp l e:
Ft =[ 9 - El F t it ]
in t he cemmand windew. y eu vveul d see
, t - It :
. 9- =' i? ' t S
9- is sign is used f nr a cnmment l ine-
Ther e is a gr ap hics windnw t n disp l ay p int s and gr ap hs-
Ther e ar e sever al ceininaiids f er cl ear ing windews.
cl cel ear s t he cemmand windew.
cl f cl ear s t he gr ap hics windew.
cl ear r emeves al l var iabl es and dat a f r em memer y .
ct r l Fcabnr t s a p r egr am t hat may be r unning in an inf init e inep -
Cnmm ands ar e case sensit ive; use l nwer case l et t er s l int t ; nn' imands-
gait er eit it t er minat es a p r egr ar n.
- r et r esaves var iabl es er dat a in wer l t sp ace.
f ir ncr i' enr ar e al se saved as t vt . t il es.
M . t ' I. Tl _ . dEFuncl ament al s I 9
I Scr ip t s [ p r egr amsl and f t inct iens ar e saved as . ~ ' l t SCiit ext l es. Thus. t hey
may be wr it t en in eit her t he buil t - in edit er . in net ep ad. er in a wer d p r ecesser
{ saved as a t ext l e}.
I The basic cemp enent in l vi- ' i[ l ' L. - "t iiiis a mat r ix-
I . |' l |. mat r ixis designat ed by br acl cet s; examp l e:
Ft : l El ; er t t =l l 9:1 5 5 ]
IS 5
I l l t mat r ixef ir ew and 1 cel umn is a scal ar ; examp l e:
A =i- 9. 1 5 ]
I i- iewever . i' i- "l . |' i' t Tl - . - . |' i' |t l l iaccep t s l l . =3. 5 [ wit heuibt acl t et s) as a scal ar .
I t it mat r ixceiisist iiig ef 1 r ew and sever al cel unt ns. er 1 cel unin and sever al
r ews is censider ed a vect er : examp l e:
? T
' - . . l "l l : - . l - . . i- . il t - - . l l
. _ |l
. - ' - "t =[ 2 5 t i9] ; ir ew vect er i t it =- { cel umn vect er l
I - t s mat r ixcan be dened by incl uding a secend mat r ixas ene ef t he el ement s;
EI. El . l ' |' |Pl . EI
l ; i=ii. 5 5 . 1 ]:
e=is. a s]=[ s- e t - s a- t ]
I - it sp ecic el ement ef mat r ixC can be sel ect ed by wr it ing
n =[ Il l ]; t hen. n=1 . 5
I The Cnl cin Cl p er at nr r nay he used t ci
l - Cr eat e a new mat r ixf r nr n an exist ing mat r ix; examp l es:
5 ' 5 " ii]
~ " 1 = It S E
I l 5 l
9
, 1 c=. l l i. l :. l l ; gives , e= 1
l
The seniicel eiiin t he exp t essien i:. i} imp l ies al l t he r ews. and t he 1 imp l ies
cel ut niii.
2 . Cener at e a ser ies nf number s; f ur examp l e:
. 1 r =r i' Ll [ :. . T' . : f l ]; gl aes at =
T l l ]
S E
5 l
1 i} I t il umer ical ancl ait nal y t ical Met hnds wit h MATLAE
n=l :E; givesn=[ l ' . T3=iSl ' ; i? ' B]
Te incr ement in st ep s ef 2 use
El ement ar y mat h f unet iens. (t i. cemp l et e set can be ebt ained by t y p ing hel p
n=1 :E:- S . givesn=[ . T- ! il SS]-
el f un in t he Cemmand windew. }
Tr igt - innmet r ic l f unct inns:
sin
st nh
asin
asiiih
ces
cesh
Sl . l :l ' l |5
acnsh
t an
t anh
at an
at anl
H. l I. I' l l . ' 1
sec
SECTI-
asec
asech
csc
csch
acsc
HCSCT1
cet
cet h
acet
acet h
Sine
Hy p er bel ic sine
inver se sine
inver se hy p er bel ic sine
Cesine
Hy p er bnl ic cesine
ii1 ' 1 l i. ' l ' :' T. ' il ' :"- CUSTHE
inver se hy p er bel ic cesine
Tangent
Hy p er bel ic t angent
inver se t angent
Feur quadr ant inver se t angent
inver se hy p er bel ic t angent
Secant
i- l y p er bnl ic secant
inver se seca nt
inver se hy p er bel ic secant
Cesecaiit
Hy p er bel ic cesecant
inver se cesecant
l i1 ' 1 i' LT! il ' _ " l ' l . :|- "P' i- ' 1 ' - l ' ]' [ ]l . il iI C- IIJECCHITP
Ct it angent
Fiy p er hel ic cet angent
inver se cet angeiit
inver se hy p er bel ic cet angent
MATLAE Fundament al s I 1 1
Tabl e 2 . 1 Sp ecial val ues
Sy mhel 1 Val ue
p i it
int ] . _ l :1
l l ' |i sat
Fins A val ue cemp ut ed by an exp t essien in t he Cemmand windew.
I Exp enent ial . l egar it l im. squar e r eet , and er r er f unct ien
exp Exp nnent ial
l eg i ~ l at iir al l egat it h m
l egit ] Ceiniiieii(base iii) l egar it hm
sqr t Squar e r eet
er f Er r er f unct ien
I Cemp l exnumber s
abs t l ibsel ut e val ue
cenj Cemp l cxcenjugat e
imag Cnmp l eximaginar y p ar t
r eal Cnmp l exr eal p ar t
I Cl t her usef ul f unet iens
sir c[ l s' . }IT_ iivcs t he sixc ef mat r ixIii[ er vect er Iii}.
sumI[ i' - ' CiFer vect nr s. sumil sl l gives t he sum uf t he el ement s in it ' l l . Pnr mat r i-
ces, suml l il l il gives a r nw vect nr cnnt aining t he sum nf t he el ement s in each
cel iir nn ef t he mat r ix-
n1 ax{ l { }Fer vect er s. inaxil - "l l gives t he niaxinium el ement in K. Fer iiiat t ices.
in axf l il gives a r ew vect er cent aining t he maximum in each cel umn ef t he
mat r ix. l f l t iis a cel umn vect er . it gives t he maximum ahsel ut e val ue ef l si.
min[ Il si}Samc as max{ }i] excep t it gives t he minimum el ement in I1 1 -
st ir t l l l - - - Ft ir vect nr s; snr t il sil snr t s t he el ement s nf l il l in ascending nr der - Fr - ir
mat r ices. snr t l l l il ser t s each cel umn in t he mat r ixin ascending nr der -
f act er ial i_ iil iil .
I See Tabl e 2 . 1 f er sp ecial val ues and sp ecial niat r ices.
I Semet imes ene needs t e dene t he siae ef a mat r ix. Th is can be denc by est ab-
l ishing a mat r ixef al l acr es er al l enes; examp l es:
|:||:|_ :_ ' :JC"' - :3
BIG - I1 3
I:l I:' - Ct
g. l ::I' E- l I' _ . "l
h. =iicr esil =
Pi=xer es iii. . . "- 1 } =Ii
II I Numer ical and Anal y t ical l vt et hecl s wit h MATL. - 45
l il
. l l i=nnes if s] = l l l
l l l
. l l i=enesi. T. 9]=l : 1
The ident it y iiiat t ixsy inbel is ey e; examp l e:
1 it it
cy e t si= e 1 t i
e it t
I if y eu wish t e have y eur p r egr am p ause t e have an inp ut f r em t he l - t ey bear d. use
t he inp ut f unct ien: f er examp l e. sup p nse we wish t n ent er a I x3 mat r ix, use
Z =inp ut ( Ent er val ues t ier Z in br acl t et s l ul l ;
t y p e in:
[ S- 1 1 5 . 5 1 . 5 ; 9. ] 4- 1 1 . 3]
r ' il er e. - in means meve t he cur ser t e t he next l ine.
Te disp l ay a mat r ixH just t y p e I' l l . and mat r ix)1 wil l ap p ear en t he scr een.
I The disp l ay cemmandp r int s cent ent s ef a mat r ixer al p ha- numer ic inf er -
r nat inn; examp l e:
p 1 isl - . 7 ;
disp ip i: disp { ' p sia' ]=;
The f el l ewing wil l be disp l ay ed en t he scr een:
l ei- Pil il
Fil l - id
I The f p t iiit f cemmand: examp l e:
p =l "- l - F;
f p r int f iit he p r ess is ' 9- isf p sia in . p l ;
The f el l ewing wil l ap p ear en t he scr een:
t he p r ess is id- Til f il l p sia
I The def aul t f er f f et mat is - idecimal p l aces.
I Cine can sp ecif y t he number ef sp aces f er t he var iabl e as wel l as t he nu niber
ef decimal p l aces by using
9- iiiil f
I This wil l al l ew 3 sp aces f er t he var iabl e t e E decimal p l aces.
I Cit her f er mat s:
l it it ised f er int eger s.
l it eexp enent ial net at ien (def aul t is I5 decimal p l aces].
MATLAE Fundament al s I 1 3
l t igcemp ut et decides whet her t e use f f et mat er e f et iiiat .
9- it suscd t ier a st r ing ef cl iar act er s.
9h cused f er a singl e char act er -
St r ings and a char act er must be encl esed by ap est r ep he mar l - is.
Tn p r int t n a f il e use
p =i i. ?
d =f ep eiiif eut p ut . dat . ' w l t
f p r int f l iid. ' p r ess = ii- it 9. 2 f p sia' . p l
Te access t he l e eut p ut . dat af t er t he p r egr am has r un. t he p r egr am had t e
incl ude a st at ement f cl escidj af t er al l t he eut p ut st at ement s in t he p r egr am
- l l ]|' Hi: Phi: l I|' ||Ll . UFITIIII PFE- ' l gl . ' H. |' I' |.
Tn r ead f r t im a l e use
. l l ' i=1 er nsI[ n. m_ l ;
d =f np en { l f il ename- dat l . l f l l },
[ l s] =f scanf icl . 9it f ' . [ n, ml l ;
wher e nr sm is t he number ef el ement s in t he dat a l e.
The nl l t m mat r ixis Fil l ed in cel umn nr der . Tn use t he dat a in it s nr iginal er der
t r ansp ese t he r ead- in mat r ix.
Te t r ansp ese a mat r ixii . t y p e in ii . This changes cel it mns t e r ews and r ews
t e cel uiiins.
. - it dat a l e can al se be ent er ed int e a p r egr am by t he l ead cemmand: examp l e:
l ead l enamc. dat
J- l . =Fiiename [ : . l l ;
y =Fil ename f : , il l ;
The inp ut l e must have t he same nt imher nf r nws in each cel umn-
t l ir it hmet ic Cl p er at n r s
+ addit inn
siibt r act ien
inul t ip l icat ien
l divisien
l l cxp encnt iat ien
The r e l eap p r evides t he means t n car r y eut a ser ies ef st at ement s wit h just a
f ew l ines - r - if ct - ide-
Sy nt ax:
_ ; "iir ni=i:2 9
5 - ' [ i][ ' E' 1 ' I1 ' E! I1 [ .
. 5 i' l Ii1 [ - l . "- ' - IT1 ' 3I' 1 t 1 ' -
er t et l
The cemp ut er set s t he indexnr t n I. car r ies eut t he st at ement s bet ween t he
it and einr l st at ement s. t hen r et ur ns t e t he t ep ef t he l eep . changes in t e 2 .
1 4 I Numer ical ancl Anal y t ical t vl et hecl s wit h MATLAE
and r ep eat s t he p r ecess. TTiis cent iiiues unt il in is set t e E1 . in which case t he
cemp ut er l eaves t he l eep .
I The r al r il e l eep
Sy nt ax:
it =l l ;
whil e iist HT
n=n+ h
gr is} =sl it ;
ene
in t he ial ail e l eap . t he cemp ut er wil l car r y eut t he st at ement s bet ween t he iel r il e
ait d cnel st at ement s as l eit g as t he cencl it ien in t he sir l nil c st at ement is sat ised.
I st at ement
Sy nt ax:
if l egir al exp t essien
Jf iil - f l f f l l i
t if iil t l - I- l ' H l Ht ii
el se
- ' l Tt 1 ' l . l ' - |! * il ' i"l ! t |! l * . |* l ! . l ' i
r r ar enienr .
EHEP
if t he l egical exp t essien is t r ue. t he up p er set ef st at ement s is execut ed.
l f t he l egical exp t essien is f al se, t he bet t em set ef st at ement s is execut ed.
I l _ ngical eit p r essinns ar e nf t he f nr r n
a==b; a=:. ' =b;
sch aa=bt
an- b: a- =b:
I Cemp eund l egical exp r essieiis
a . - 1 - b che a - =c [ and]
at - =- b a- cc [ er l
I The . if l ehc. f l adder
Sy nt ax:
if [ l egical exp r er sisn 1 }
sr er einenr s:
el r eif (l agr ' inl e- t :jsr er r i' en 1 )
r r er einenr r :
el se
. i|l ' l ' Hl ' I' il |f HI. f ;
E"t Fi' . iil l
MATLAE Fundament al s I 1 5
The . i] :r l - sel f l adder wer l t s f r em r ep dewn- if t he t ep l egical exp t essien is
t r ue. t he st at ement s r el at ed t e t hat l egical exp t essien ar e execut ed and t he
p r egr am wil l l eave t he l adder . if t he t ep l egical exp t essien is net t r ue. t he
p r egr am meves t e t he next l egical exp t essien. if t hat l egical exp t essien is
t r ue. t he p r egr am wil l execut e t he gr eup ef st at ement s asseciat cd wit h t hat
l egical exp t essien and l eave t he l adder . If t hat l egical exp t essien is net t r ue.
Tl iT. f :" PTIIEIHHT IT. l :I] t "f _ * 5 TU [ TIE next l l il gif l - l EIIP|' E. S- 5 l . Cl ' T| ar id C[ l l ' |' ||. ' l . |' l |. |- ES iIl ' l E PIITJ- CE' l il _ :i-
if nene ef t he l egical exp r essiens ar e t r it e t he p r egr am wil l execut e t he st at e-
ment s asseciat ed wit h t he el se st at ement . The el se st at ement is net r equir ed. in
t hat case. if ner t e ef t he l egical exp r essiens ar e t r ue. ne st at ement s wit hin t he
l adder wil l be exec ut cd.
The br cal c cemmand may be used wit h an st at ement r e end a l eep : examp l e:
f iir ns=i:1 ! - T
- l - I- l 1 - I-
l l
if r n . :' =- l
l ir cnil i:
end
"""i
ear l
in t his examp l e. t he r e l eep is ended when in =1 1 .
The sis- it ch gr eup
Sy nt ax:
st ait el t l ast r l
case an - r . l
st at ement ; - . . ; st at ement ;
case t vnr . E?
st at ement ;
case an r - ii
5 - l Ii1 il . 9l ' l ' l - E! i"l l I;
st at ement : . . . :
er l t cr wise
El I; El l It - ' . ' I' ]' t - t ' l ' 1 1 t i
st at ement ; - . - ; st at ement ;
end
wher e aar t al t cs en val ues ef ear l . t iar a . t - vi' r _ _ 9, et c.
l f t ier equal s ear l . t hese st at ement s asseciat cd wit h svr r l ar e execut ed and
t he p r egr am l eaves t he swit ch gr eup . if ear dees net equal is- r r l . t he p r e-
gr am t est s if t int equal s issr . . ? ; if y es. t he p r egr am execut es t hese st at ement s
El . l ' i1 ' i- [ ]' Cl 3. |. ' ECiwit h E- ' . r ' il ' i"2 a|1 i; l l . E3. "|- "ES- |. ' l . ' 1 C' S- ' ||' iI". l iICl ' l gI' l iJl |. |P- I- ". iil ' . i" Li- [ ]f _ "l - ' iI1 - Il l l ' :"l l ' - 1 |. I. . l any
nf r anr l . ear l . et c- . t he p r egr am execut es t he st at ement s asseciat cd wit h t he
sr ir er nr isc st at ement . if ear l . t et r a . et c. . ar e st r ings. t hey need t e be encl esed
1 5 I Humer f eef endnef y t ieef Met hods wit h MATLAB
by ap est r ep l ie mat l t . l t sl ieul cl he net et it hat iwt r eannet he a l egical esp r es-
sien. sueh as t vt r f 1 * =iii].
I Fer p int cemnisnt is see Tahl e 1 . 2 .
I l vl ul t ip l e p l et s
p l et l s. ; r , w. e), gives . 1 p l et s. y vs. It and 1 vs. w.
I Examp l e, sup - p nse
Ir - l it 1 t e
It J ; Er wt _ I
t i 3- t t t _
Ts 1 ": E. - ' we l jg ' 2 1
, 1 : H _ , 1 ' "=' i- * _ y = - , 3: - _ 1 , e=
r
I - r |
In _ F. |_ | - En I- ||_ - |' |I|I - I Lt - - 1 - FR E - l - H! I
Then t en p l n- t Fvs- I Z vs- Tiand l l - 7 "vs. Tal l en t he sar ne gr ap h. ui- it :
p f et iAt : , 1 ], At : , 2 ), Al : , I}, l l : , f l ]. . r - It : , 1 ], At : , 4]}
et y f et if il iIE. iil l ir l ;
Te l al seit he it and }- ' ant es as wel l as at it iiiig a t it l e t e t l ie p l et use:
. vf ef t ef { "T' }. }e' ef r ef l i f E. il l ), and t f r isiiiiE. l l t ' "vs. 1 "").
f ee ean at it ia gr id t e t he p l et wit h t he eer nr t iant l
gr ief .
Tnu can al se at . i- Lit eit t t n t he p l et wit h t he eemmant i
t t et t l st p esf r t er t , y p esf t f ee. t t ' . 1 t t ]I.
G r eel t l et t er s ant l t nat het nat ieal svt nl sel s ean be uset iin il t l . i1 l J- El , vl abel . t it l e.
ant it est l zw wr it ing "t G r eel - t sy t nl sel nant e". E. - t at t ep l e:
J}- f ef veit I. er nega"]I. r ir f et l er nega vs. t ' ]|. t . t ' . t r |[ l [ l . 5 . " t er negal ' ]' :
Te el :- t ain a l ist ef Lit eel t sy mbel s. in t he eer nr r iant iwir t t iew. seieet f r em t he
up p er t asl - t hat hel p - p r et . l ut _ ' t hel p int ie:- :' [ _ , ' t hen ser t iil t _ it 1 - wn unt il
:|. "1 , 1 r eaeh G r eel t l et t er s anel mat hemat ical sy mht il s. This wil l p r n- vi- t ie a
l ist eFG r eel ~ : sjr mhel s t hat can he uset l wit h t he p l et eet nmant l s.
Tabl e 2 . 2 Fl et Cet nmant is
Cemmand Ty p e
p l t jit - [ :t t , i- t } l inear p l t siLif t . vs- it
5 t =_ ' l "|' Il l - I3. t g. "IIl l 3I1 , . 1 ]. "l set ni- l eg p l et ; l eg seal e f er it axis, l inear seal e f er v at - t is
semil egv' t x, vl semi- l eg p l et ; l inear seal e f er it El . ' l t i5 _ , l eg seal e f er v asis
l egl egl r mr l l eg- l eg p l et ; l eg st al e f er l aet h III; and it a:- t es
MATLAE Fundament al s I 1 ?
I Suhp l et eemmand
Sup p ese ene eheeses t e p l et eaeh eiht l t e eur ves in t he p r evieus examp l e as a
sep ar at e p l et . hut al l en t he same p age. The suhp l et eemmand p r evides
t he means t e de se. ' l he eemmand suf ip ier f nr . n. p , J l at eal t s t he p age int e an
r r r ir ir r f I1 El 1 II' l I' t [ 1 - Fsmal l p int s; y a sel eet s t he mat r iit p nsit inn Lil : t he p l et . The
f el l ewing eede weul d er eat e t he 3- p l et s in t he p r evieus examp l e al l en
t he same p age.
Eer i=1 t 3
eubp 1 eei2 . 2 . ii.
if i==1
p 1 eeiT, e], gr ie, t it 1 ei* v vs. T ], x1 abel i T' ], y 1 ahe1 t * 2 |;
en- :l
if i==2
p 1 eeiT. 2 ]. gr ie. t it 1 ei E H5 . T' i. a1 eee1 l * T' ]. y 1 ehe1 i E i;
end
if i=3
p l et iT, W]. gr id. t it l e[ W' V5 . T' ]. xl abel i T' |. y 1 abel l W' l i
end
end
I Funt zt ien Fil es isavet l as m f il es}
Funt zt iens ar e usef ul if ene has a eemp l ieat ed p r egr am and wishes t e ht eal - t it
dewn int e smal l er p ar t s. Al se. if a ser ies ef st at ement s is t e he used t nany
t imes. it is eenvenient t e p l aee t hem in a f unet ien.
Eiy nt azt :
f unet inn [ eut p ut var iahl es] =l - ' t Ii l E t ' l |[ ]|i' i_ 1 ' i3. l ' T1 |[ - . * [ inp ut va r iahl esul
I- 1 |
' l he f unet ien l e name is t e he saved as Funet ien_ name. m (see l ahl e 2 . 5 }.
' l he r st ezt eeut ahl e st at ement in t he f unet ien must he "iiinet ien. "If t her e is
mn r e t han ene eut p ut val ue, nne neet _ i_ ' - : t n p ut t he nut p - ut var iahl es in hr at : l t -
er s. If t her e is enl y ene eut p ut val ue, nn hr ael t et s ar e necessar y . If t her e ar e
ne eut p ut val ues. use l nt ael t et s t hat ar e hl anl t .
A f unet ien diiier s f r em a st : r ip t in t hat t he ar gument s may he p assed t e anet l iet
f unet ien er t e t he ee mmand windew. Var iahl es dened and manip ul at ed
inside t he f unct ien ar e l eeal t e t he f unct ien.
Fer an e:- r amp - l t : t i:- l : t he eal eul at inn t il : e see Tahl e 1 - 4-
Tn det er mine e hy ser ies, nne ap p r eaeh is t n st ar t wit h sum =I. eval uat e ea- ; ; h
t er m t t sing esp enent iat ien and l ' vl Ft Tl . Fl . E' s Faet er ial inct ien. and add t he
Tahl e 2 . 3 Examp l es ef "Funct ion"Usage
Ft t net ien Def init ien Line Fil e Name
f unct ien l t i. C1 . t f ] =heat iiii. y . t inf iheat . m
l Ut l E' l l Cl l il e:- t =eit f - l al l er - t f . t t 1
f unct ien l l =eut p ut iit . y l eut p ut . m
1 3 I ivumer ical ant l anal y t icaiMet het l s wit h MATLAE
Tabl e 2 . 4 e Ser ies
Ter m Index 1 2 3 4
t It jg: 4
e=1 + x+ + +
2 ! 3! 4!
nht ainecl t er m t n t he sum- Fnr sn- r ne ser ies exp r essiens, l ' v' l . il t TL. |' l ' t E' s Fact u-
r ial f unct ien wil l net he ap p l icabl e. l - l t s a r esul t , anet her ap p r each wil l be
needed. l t can be seen f r em t his examp l e t hat t er m 3 can be ebt ained f r em
t er m 2 by mul t ip l y ing t er m 2 by xand dividing t er m 2 by t he index; i. e. .
[ t er m3 =t er mil H xii], simil ar l y { t er m- ' - l =t er miiat xl - ii. et c.
This examp l e is used in sever al ef t he f el l ewing samp l e p r egt ams. Examp l e
p r egr ent r det nenst r at ing t he use el l _ , r - Er r l eap s. whil e l eap s. st at ement .
t gf iel r el f st at ement . f np t t r st at ement . t ef at f st at ement . canf st at ement . r at e
cemmand. l east cemmand. p l et cemmand. and t he use ef a r et jwr l r r ea
f unct ien Fnl l ew.
2 . 4 Pr egr am Examp l es
Examp l e 2 . 1
2 exa. m
2 Thie p r egr am cal cul at es e* xby aer iee and by MATLaE' e exp iif unct ien.
s el x= 1 + x+ x a; at + a sr st + a a; at + . . . +
2 The f er l eep enda when t he t er m enl y af f ect s t he aevent h aignit aeant
2 f igur e.
cl ear ; cl c;
H=5 . ;
anm:l - ;
f er n:1 :1 D
t et m=x* nf Eaet er ia1 l ni;
EiI. 1 ' il ' t =Ei. t t Il . + 1 I- E:In1 , :
if iabeit er mi{ =eum* 1 . G e- Ti
br eak;
end
end
ex1 =eum;
ex2 =exp l x];
ip Iint i x:&3. l E exl =2 B- 5 f exE=2 B- 5 f \ n' ; x, ex1 , ex2 i;
2 Het e; A var iabl e name eannet be t he eame as t he name eia f il e.
2 Ther ef er e. uee exa ae t he f il e name and net ex.
Examp l e 2 . 2
2 exE. m
2 EALEULATIUH UF e* xWHERE xI5 IHPUTTEE FROM THE HETHUARD
2 The f unct ien ' eum" ia ueed t e eum al l t he t er me det er mined in t he
2 f er l eep
cl ear ; al e;
MATl AEFundament al s I 1 9
f p r int f t ' Eal eel at ien ef e r aised t e a p ewer xin' i;
x=inp ut | ent er a val ue f er t he exp enent ef e 1 n' i;
f er n=1 :1 D
t er m{ n]=x* nf f aet er iel t n];
end
ex1 =1 . + eumit er m];
ex2 =exp IE}:
f p r int f i x=2 5 . 2 f ex1 =2 1 d. 5 f ex2 =2 1 e. 5 f t n' . x. ex1 . ex2 };
Examp l e 2 . 3
2 whil e
2 CALCULATIUH UP e* 5 USING A HHILE LDDP
1 . m
2 In t his examp l e t er miniis ebt ained f r em t er m in- l l by mul t ip l y ing
2 t er min- l iby xand dividing by indexn.
el ear ;
I=5 . ;
whil e a
t er
el e;
snm=l . ; t er m=1 . d; n=l ;
bat t er m} h anm* 1 - Ue- T
met er mt xf n;
aum=aum+ t er m;
h=+ 1 ;
it n b 5 d
end
end
ex- sum;
br eak;
diep ixi; diep t exi;
Examp l e 2 . 4
2 mat r ixl - m
2 IHPUTTIHG A. 3 BY 3 MATRIX FRG M THE KEYEDARD
2 HEETE
cl ear ;
f er n=l
f er
end
end
E
D LUDPE ARE USED
C1 6 ;
:3
m; 1 :3
f p r int f i' n=2 im=2 i . n. m];
ain. mi=inp ut i' Ent er ain. mi i
f p r int f l ' Hn' ];
Examp l e 2 . 5
2 exf . m
2 EETHELIEHIHG A FUHCTIUH TD EVALUHTE ETH
2 In t his examp l e t er miniis ebt ained f r em t er mt n- l l by mul t ip l y ing
2 t er min- 1 ] by xand dividing by indexn.
f unet ie
anm=1 .
f er n=l
n ex=exEixi
; t ETm=l . D;
; 1 DD
t er m=t er m* xf n;
aum
if
end
=eum+ t er m;
abeit er nie= eum* 1 . ee- 5
br eak;
2 1 ] I Numer ical and Anal y t ical Met heds wit h MA TLAB
end
exeeum;
2 In cemmand windnw t y p e in
2 exf t 5 . d] er y =exf { 5 - i
Examp l e 2 . 5
2 t ah1 e_ p 1 et - m
2 This p r egr am cr eat es a simp l e t abl e and a simp l e p l et .
2 Fir st a t abl e nf y 1 =n 2 f 1 e and y 2 =n 3l 1 ea is er eat ed.
2 Then y l and y 2 ar e p l et t ed.
cl ear ; cl c;
f er n=l :l D
t l nl =n;
y 1 in]=n 2 l 1 e;
y at ni=n* sr ien;
end
f e=f ep en[ eut p ut . dat ' , l ul l ;
2 By p r int ing t he eut p ut t e a f il e. ene ean edit t he eut p ut
2 such as l ining up cel umn headings. et c. This cannnt be
2 dnne if ene p r int s t n t he scr een.
2 Eel umn headings
f p r int f if e; ' t y l y 2 l n' };
f p r int f iEe. ' ~ - - - - - - F - - - - - - - - - - - - - ~ - - + - + - - - - - - ~ - - ~ - 2 n' i;
f er n=1 :1 e
f p r int f [ f e. ' 2 a. l f 2 1 U. 2 f 2 1 e. 2 f Hn* . t ini. y 1 { ni. y 2 inii;
end
2 Cr eat ing t he p l et ; y l is r ed; y 2 is in gr een-
2 Pl et ident if icat inn is al se est abl ished by adding t ext t e t he p l et ;
p 1 et it . y 1 . r ' . t . y 2 . ' g' i, gr id. t it l e[ y 1 E y 2 vs. t ' i;
2 Af t er viewing t he p l et . t ext can be ent er ed t e ident if y which
2 cur ve is y l and which cur ve is y 2 .
t ext iE. 5 . 2 . 5 . ' y 1 ' i. t ext [ s. 2 . 2 . e. y 2 it
2 The dat a t . y l and y 2 can be saved in a dat a f il e and l eaded l at er
2 t e be used in annt her p r egr am- By t he use ef t he cl ear cemmand
2 t he dat a f il e is r emeved f r em t he wer ksp aee- The l ead eemmand
2 br ings it back int e t he wer ksp ace and can be used in annt her p r egr am
dat a1 =l t y l y 2 l :
2 dat al is saved as a mat f il e in t he wnr king dir ect er y .
save dat al ;
cl ear ;
2 t he cl ear cemmand r emeves dat al f r em t he wer ksp ace.
2 Cel nr t y p es
2 bl ue b
2 gr een g
2 r ed
2 cy an
2 y el l nw
2 bl ack F HW
Examp l e 2 . ?
2 p 1 et c. m
2 This scr ip t is a samp l e ef a p l et p r egr am l eading dat a ebt ained
2 in annt her p r egr am
cl ear ; cl c;
MATLAB Fundament al s I 2 1
l ead dat al
x=dat a1 |:. 1 }:
y =dat al |:. 2 };
e=dat al |:, 2 };
p l et ix, . y ; - - , x, . r , . ' - . ];
xl abel i x i. y l abel t y . a' }. t it l e[ * y s a vs. x' i. gr id.
t ext i5 . a. 3. 4. ' y ' }. t ext { T- 2 . 3. 5 . a i.
2 p r int ;
2 cur ve t y p es:
2 snl id def aul t
2 dashed - - [ minus sign]
2 dashed- dnt -
2 dnt ed :
2 p eint -
l "iCl 1 r - l -
2 p l us
2 st ar
2 cir cl e
2 x- mar k
2 The p eint and bel nw ar e p eint s en t he p l et t hat ar e net cennect ed-
J2 neat t abl e can al sn he cr eat ed by cnp y ing t he eut p ut dat a t n EXCEL- Tn dn
t his, f nl l nw t hese st ep s:
1 - Fir st cr eat e t he dat a eit her in a Fil e er en t he scr een-
il - Highl ight t he dat a t n be cnp iet l and f r nr n t he menu bar , sel ect edit and
cnp y "f r em t he dr np dewn menu l ist [ t he cnp y np r inn can al se he nht ained
by r ight - cl icl r ing t he meusel .
3. Up et it he EHCEL p r egr am and cl icl t en edit in t he menu bar . Sel ect
p ast e f r em t he dr np dewn menu l ist giving a singl e bl ncl t . ef dat a.
- - i. ' l hen enl ar ge cel umn ". 2 "r e incl ude t he ent ir e dat a set .
f r - l "- il nw sel ect dat a Ft nr n t he menu bar , and sel ect t ext t n cnl umns"Ft nr n t he
dr np dewn menu-
ii. Cl icl t en f inish. t hen highl ight t he t abl e ar ea and sel ect t he cent er ep r ien
in t he menu bar t n cent er t he dat a in each cel ut nn.
T. Te add t abl e headings. p l ace t he cur ser in t he r ep l ef t mar gin and sel ect
inser t f r em t he menu bat and "r ews"f r em t he dr np dewn menu-
E. Ty p e in t abl e headings in each cel umn.
' . il - Tn add l ines sep ar at ing r nws and cnl umns, l ir st highl ight t he ar ea t hat is t n
have t he sep ar at ing l ines. t hen sel ect f nr m at "f r em t he menu bar and "t el l s"
f r em t he dr np dewn menu l ist . Then sel ect "ber der "f r em t he Fer mat Cel l s
p age. Cl icl t en t he sep ar at ing l ines t hat y eu wish t e ap p ear in y eur t abl e.
l l l . Tb p r int t he t abl e. cl icl r en t he p r int icen in t he menu bar .
Examp l e 2 . 8
2 subp l et l - m
2 This p r egr am is an examp l e ef t he use ef t he suhp l et cemmand-
2 val ues nf y l and y 2 ar e t aken f r em t he saved dat a f il e dat al t
2 sep ar at e p l nt s nf y l vs. t s y 2 vs. t ar e p l nt t ed en t he same p age.
cl ear ; nl e;
2 2 I Numer ical and Anal y t ical Met het l s wit h MATLAE
l ead dat al ;
f er i=l :2
eubp l nt [ 1 . 2 . ii;
if ii- l
p l et it ; y 1 ], xl ahe1 { t ' l ; y l abel l y 1 ' ], t it l el y 1 vs. t ' ]; gr id
end
if i==2
p 1 nt l t . y 2 ]. xl abel [ t ' i. y 1 abe1 i y 2 i. t it 1 ei y 2 vs. t ], gr id
end
end
Examp l e 2 - 9
2 p l et g. m
2 This p r egr am is a demnnst r at inn nf cr eat ing a semi- l ng p l et
cl e; cl ear ;
J' l Z =1 t ' E|. 5 :5 ;
f er i=l :5
y l ii=3. n* exp [ xiiii;
end
semi1 egy ix; y ], t it l eil semi- l eg p l et ef y s xi], x1 abe1 t x' ],
y l abel [ y ' i. gr id;
Bef nr e r unning Examp l e a. 1 e t he dat a f il e * esesss. ear ~ needs t n be
cr eat ed. Te de t his; f r em t he CUHMAND windnw el iek en
f il e- Bl ank Mf i1 e- Ty p e in t he f el l ewing dat a [ number s enl y }:
5 . 7 7 2 . 40 5 . 5 5 1 . 5 5
4. 5 3 1 . 2 1 4. 45 1 . 1 U
3. 5 3 1 . 46 2 - 92 1 . 2 1
5 - U5 4- D4 2 - 5 1 2 - D1
3. 5 4 1 . 4 3. 4? 1 . UE l . D
- 3E. 4 - EU. ? - 5 . 5 3 - 5 . 30 - 1 2 . 4
l ' l ' - l ' l ' l :"l :l ":l l
Save t he f il e as G AUEEE- DAT in t he wer king dir ect er y -
Examp l e 2 . 1 0
2 amat r ix? . m
2 MATRIX Al I, J} I5 READ FRDH A FILE
2 amat r ix2 . m
2 HATEIN Ll I, J} IE READ FEDH A FILE NAMED G AUSSE- DAT
2 HUTE; HEFUEE EUNNING THIS PRDG RAM THE DATA FILE G AUEEE- DAT HUET
2 FIEET EE CREATED AND EAHED IN THE WUEHING DIEEETEEE.
cl ear ; cl c;
=5 ;
A=ser es|n}; E=aer es[ 1 ; nl ;
f in=f np en[ G AUEEE- DAT , ' r ' l ;
[ eJ= seanf i in. ' 2 f . [ n. n]i;
[ s]=f scanf if in. ' 2 f . [ n]i;
r cl nseif ini;
siaet hi
f e=f ep enl eut p ut . dat ' , ' w' i;
f p r int f t Ee. ' eut p ut . dat l n ];
f p r int f if n. "Mat r ixA el ement s 2 n' i;
f er i=l :n
f er j=1 :n
M. dTl . . iiHFunt l ament al s I 2 3
f p r int f if e. 2 a. 3f ' , Aii. jl i:
end
f p r int f [ f e. ' Hn' ];
end
2 Net e t hat r ews beceme cel umns and cel umns beceme r ews-
f p r int f t f n. Hnin Hat r ixB el ement s t n' i;
f er i=1 :n
f p r int f if n. ' 2 B. 3f 2 n' . siii]t
2 The A mat r ixis r et ur ned t e it s er iginal st at e-
end
f el nseif n];
c=[ A' B]:
mnut p ut ii;
This is t he G il U5 5 i' :1 . [ 1 ' AT dat a l il e { t his st at ement is net i|1 t he dat a l il e: enl y
number s sheul d be in t his l e}.
2 meut p ut - m
2 This Funct inn is t n be cr eat ed wit h amat r ixT. m
2 This f unct ien accep t s mat r ixA s mat r ixB and p r int s t hem nut t n
2 nut p ut 2 . dat
f t - t nct ien Eil =meu t p ut [ t ' _ "}
n=5 ;
A; Cl t ; l t n}
E=Cl :. n+ l l
f n=f np eni* nut p ut 2 . dat ' . ' v' i;
f p r int f if e; ' eut p ut 2 . dat l n' }
f p r int f if e; ' . Hat r ixA el ement s l n' l
f er i=l :n
f nr j=1 :n
f p r int f l f n. 2 E- 3f ' , Al i; j]];
end
f p r int f [ f e; ' \ n ];
end
f p r int f if n. ininHat r ixB el ement s sn i;
f er i=l :n
f p r int f [ f e, 2 E. 3f l nl , Eiiii;
end
f el nset f n;
Examp l e 2 - Ti
2 char mat r ix. m
2 snmet imes nne might wish t n p r int nut a st r ing nf char act er s in a
2 l eep - This can be dnne by decl ar ing a 2 - D char act er st r ing mat r ixas
2 shewn in t his examp l e- Net e t hat al l r em char act er st r ings
2 must have t he same number ef cnl umns and t hat char act er st r ings must
2 be encl esed by ap nst r np he mar ks.
cl ear ; cl c;
char =[ Int er nal medem '
G r ap hics cir cuit bear d
CD dr ive '
eve dr ive '
Fl ep p y dr ive '
l Har d disk dr ive l ];
2 4 I Numer ical and Anal y t ical iviet het l s wit h MATLAE
f er i=1 :5
f p r int f [ 2 2 2 s l n . ehar l i. 1 :2 2 il :
end
Examp l e 2 . - ' 2
2 char l m
2 This examp l e is a mndif ieat ien nf Examp l e 2 . 1 1 . The p r egr am asks t he
2 user if hel she wishes t n have t he eut p ut gn t n t he scr een nr t n a
2 f il e-
2 This examp l e il l ust r at es t he use ef t he swit ch st at ement -
cl ear ; cl c;
char =[ Int er nal mndem '
Ext er nal mndem '
G r ap hics cir cuit hear d
ED dr ive '
Har d disk dr ive ' 1 ;
f p r int f i y nu have a cheice. y nu can have t he eut p ut gn t n t he' ];
f p r int f i' scr een er gn t n a f il e named eut p ut . dat in' i;
var =inp ut [ ' ent er s f er scr een er f f er f il e - - -
each encl esed by ap est r ep he mar k l n' };
swit ehivar i
case ' s'
f er i=1 :5
f p r int f [ ' 2 2 2 s l n' , char t i, l :2 2 ii;
end
ease f t
f n=f np en[ ' nut p ut . dat ' . ' w' i;
f er i=l :5
f p r int f if e; ' 2 2 2 s in' . char { i. l :2 2 l i;
end
et her sise
f p r int f i' y nu did net ent er an s nr an f . t r y again 1 n' i;
exit ;
f cl esel f cl :
end
Examp l e 2 . 1 3
2 gr ades. m
2 This examp l e uses t he if - el seif l adder .
2 The p r egr am det er mines a l et t er gr ade dep ending en t he scnr e t he user
2 ent er s f r em t he key bear d-
cl ear ; cl c;
gr adear r ay =[ A' ; B ; C ; D ; F' ];
snnr e=inp ut [ Ent er y nur t est scnr e in );
f p r int f t scnr e is:2 iHn . scer ei;
if scnr e 2 l .
f p r int f t er r er : scnr e is eut ef r ange. Eer un p r egr am l n' };
br eak;
el seif [ scnr e e= se as scnr e s= l eei
gr ade=gr adear r ay t 1 ];
el seif [ scnr e h= Ed as scnr e e EU]
gr ade=gr adear r ay f 2 ];
el seif [ scnr e e= r e as sner e c eei
gr ade=gr adear r ay { 3];
M. i1 l Tl - . i' l EFunt l amef al s I 2 5
el seif [ seer e e= se as seer e e r el
gr ade=gr adear r ay ie];
el seif [ scnr e e sei
gr adeegr adear r ay t l ;
end
f p r int f [ gr ade is:2 c in . gr adei;
Examp l e 2 . 1 4
2 gr ades3. m
2 This examp l e uses a l eep t n det er mine t he cnr r ect int er val ef
2 int er est . Fer a l ar ge number ef int er val s. t his met hed is mer e
2 ef f icient [ f ewer st at ement s] t han t he met hed in Examp l e 2 - 1 3-
2 The p r egr am det er mines a l et t er gr ade dep ending en t he scnr e t he user
2 ent er s f r em t he key bnar d.
cl ear ; cl c;
gr adear r ay =[ A' ; * 2 ; C ; D ; F' ];
sar r ay =[ l DD ED ED TD ED Di;
seer e=inp ut [ Ent er y eur t est seer e 2 n' i;
f p r int f [ scnr e is:2 iHn . scer ei;
2 The f el l ewing 2 st at ement s ar e needed f er t he case when scnr e = 1 ee.
if seer e- ==l d
gr ade=gr adear r ay [ l i;
el se
f er i=1 :5
if [ scnr e a= sar r ay [ i+ 1 ] as scnr e c sar r ay iil i
gr adeegr adear r ay t ii;
end
end
end
f p r int f i gr ade is:2 c Hn . gr adei;
l ' vl il TLil i. l 3 f unct ien int er p l [ t he l ast char act er is a ene}. The f er mat f er t he f unc-
t ien is
y e =int er p l ix. _ y , r 1 ]
wher e x. _ ; v ar e t he set ef dat a p eint s and I2 is t he set ef xval ues at which t he set ef
y z val ues is t n be det er mined by l inear int er p el at ien. Ar r ay s xand y have r e be ef
t he same l engt h.
Examp l e 2 . 1 5
2 int er p l f . m
2 This p r egr am uses HATLAB' s f unct ien int er p l t n int er p nl at e f er
2 sp ecif ic vel ume ef air - Air t abl e val ues f er sp ecif ic vel ume l ml al kgi
2 vs. t emp er at ur e [ Hiar e given.
cl ear ; cl c;
Tt =[ 1 5 D EDD 2 5 0 3D 35 D 4UU 45 D 5 DD]:
vt =[ U. U42 43 . U5 E5 5 D. DTDEE . B49E U. U9H1 4 D. 1 l 33U D. 1 ETdT . l 41 E3l i
f p r int f [ This p r egr am int er p el at es f er sp ecif ic vel ume; v} at t nt nl i;
f p r int f iia sp ecif ied t emp , T. Tabl e t emp er at ur e r ange - - -
is 1 se- seeixiint e );
T=inp ut i Ent er T at which v is t n be det er mined inl et ];
v=int er p 1 [ Tt . vt . Ti;
f p r int f t l T=2 5 - l f [ Niv=2 9. 5 f { m 3f kgi\ n' , T; vl ;
2 - iiI Numer ical ancl iinal y iical t viet het is wit h MATL. - ' - iii
2 . 5 Debugging a Pr egr am
l t is net uneemmen t hat in t y p ing up a p r egr am. ene mal t - es a t y p egr ap hical
er r er , such as emit t ing a p ar ent hesis, a cnt nr na in a 2 - D ar r ay . et c. This t y p e ef
er r nr is cal l ed a sy nt axer r er - when t his nccur s. MATLAE wil l p r nvide an er r er
message p nint ing nut t he l ine in which t he er r nr has nccur r ed- Hnwever . t her e
HIE ' l i:El Fif ; "5 "|. ||"l ' l - E' I' f , iTITEITE |' E [ Tl ] . "i- :. l |. "l ' |' l ' El . l I[ EFIIIEF, l I' l |. |l . ' [ TIE Fl ' 1 ' E1 ' El , 1 Tl . f ; l ' l l :l ' l l t ' T l [ . l [ ]' l ' ; "5 |' l l [ |' l , - ' |. [ ' l
er gives an ehvieus incer r ecr answer - "- il i"' he|it his eccur s. ene sheul d censider
using t he debug f eat ur e in MATLAE. The debug f eat ur e al l ews y eu t e set br eal t
p eint s in y eur p r egr am. The p r egr am wil l r un up t e t he l ine cent aining t he bt eal t
p eint . Te set a br eal r p eint just l ef t cl icl t t he meuse in t he nat r ew cel umn next
t n t he l ine t hat y en wish t n be a br eal t p eint . A smal l r eel t ir r l r wil l ap p ear next
t n t he hr eal t - p eint l ine as shnwn in Figur e 2 - 4- f ine can t hen cl icl t n- n t he debug
l ist ing in t he t asl t hat and sel ect sever al ep t iees f r em t he dr np dewn menu [ see
Figur e 2 . 5 }. Ur t e ep t ien is t e have MATLAE execut e ene l ine at a t ime. This is
dene by successivel y sel ect ing t he st ep ep t ien in t he debug dr np dewn menu [ see
Figur e 2 - E- J. If t he p r egr am cent ains a sel f - vvr it r en f unct ien. ene can execut e
ene l ine at a t ime in t he f unct ien by sel ect ing t he st ep in ep t ien in t he debug
I- l . T[ ]' l . 3"l l ' _ l . H' ||' |- "|' I l Tl l l I|' II- l - 5 l iIl ' l ' _ "l ' _ "l Il l ' l . E ' l Il ' III EIEP U1 - ILF L' l ' P' l Iil i- l l " 1 ' - l L' l Il . I. TI' l i|il l l ' _ " C- l L' l l t |' l l Jl ID ' l Il ' III |Tl i. l ' l
p r egr am- Sel ect ing Cl ear Er eail gaeihr r in r il l Fil es wil l r emnve al l hr eal t p eint s
f r em t he p r egr am.
=. I1 t t Lr |i
' 1 ! ' l . l . 1 ' |Il |' l * ' 5 ' |1 ' |' l ! |' . ' E|' 2 ' - ' l |1 Il ! ! l l "' I"l "' ! "l = - - . . - . . "'
' _ ' l JI t i- Isl e- ; a' - I- _ - Ir e- er . nu- 2 |- ii- IIIII- us- it - ' + |
Hil l - iT+ * |T- - 2 |- 2 - I.
1 . - :I- I- I | D
- snip e- an
I l l
- F I
- |. |. |1
- I
i
I- I
I
F
:' . r - |||:: :- ::
- nI! - .
- Il Il ' iI' l ' l ' | 2 - F\ il ="l Il l . 5 l -
- ! :|I! - :|- |:- Il |:' ; ||. - r :1 1 ' - ' r ' .
|. l ||I- ! . r . I||:l l ' l ' ; n, ' I- ' . jn. r . j. :
- I' r |::n' . l "' l ' l a"|I - ' - P I- II"- " I
h
- Il l - I:l :r |:l ' l ' l n I ' . |JII-
" l l it |l l ' . |l |
- HF:
L I I
ass:
I
Q; g.
- I
c- |s - ,
II II:- |. ||:|:- 1 |: - - ; ' -
Ini: It - 1 t el t
QIIIIII - I- l l I' l . Il I - ' n' . |hI|1 ' |. |IInII
Figur e 2 . 4 Sel ect ing a br eal t p eint . { Fr em NIATLAI3. Wit h |Jer missien. i
; |_ |_ l |:u:l . r |I|:l |_ ' _ l f I' . LI It - I- L- l ' J ' ||:|' :I|
Hl il iA il IIIl Il ' |IIl -
|t J.
I:|- :|-
I. -
I- 1 1 ' 2 I
I' - l l iIII
l l - . - IIHII
IJ- I- II
1 . - I- I
I. i|_
ILL.
I. ' I_
l I' i_
l Il I. r . ::l |: I
Ig_ ' l
I. Il
Il . I- III' II
- IIl . - I- ' |l l -
- It ! - Il il l
- IJEII
- l l - - I- l ' l l '
Ll l il l l i
LZ IIIII
1 - nl l l l l l
LILIIE
l |. l I|IIIIl
I- Il - Ir l t l
LL, Ev! - I- ' I- I:
at - _ I- t - |t |:- ut t ct - |
iiInl r
' L. _ . ' . ' . ' ::. |l ::. :l
|e- el p l iiel l l p l - l . I- l . ' I' l I|
I:- :|- i
Figt t r e 2 . 5 St ep p ing t hr et t gh a p r egr am execut ien. { Fr em MATIJLII Wit h
p er missier s}
l l t l - I- El - III- I=l ' l
' _ I|l . ' . l . Il |:I' 1 '
I I
' Il l - I! - l - t il l
I' I:l t I- |- l ' Il . n|
l ' |I|:. l . Il :l ' I|"II' - |! |' l I|
_ :l ' |- ::l . :|l ::l ' 1 ' . |Il |||l . |:|. |l |l - l . iI- I- . | ' |. |' |r
I l \ il |l |Tl I|EI
1 ' I|I. 1 ' I|- It A
t l r it l Il l r l t
:|I! - 1
hl iiil F
r It s. - up - mt "
f il l II;
1 ' It |I|. t |I|. l . 1 I. ' . |r
|I ' . |- l - |||' FI2 . i' J|T
i I - III Il l E- it . l II ||' I
Figur e 2 . 5 Debug t l r e- |J- t l ewn menu. (Fr em MATLAB. Wit h p er missien}
-
. - 5 + I||. - r -
. I. 1 $ I- I |' - ' l -
u
1 I
l p |:I. :|' l . I l I"' |h"|I"l J
It - l l , . -
2 l . _ ' l - IIIIII
1 - HIIl I
IIII' I l II
Il . J1 II
II - - Il l l
|I|IIII1 . I iIIa. I. | "II ' | |:|| | J
I- I- I. - el - I|' l ' |. - It l r
l nl l l l t
LDIH
- LE- il l
LHIH
l . l IIII
l p r . |. n' l . l ' l I" &' l . |:. l . ' | I dil l |. |:|"iI|
I. - . - -
II.
. |- I. - _ l l |. |
Jl ' |iil l il I5 1 t I' |l ' J I1
' - ' -
IL! - IHI
1 . ' I- IIIII
LIT- II
1 |. EII
l sl l
sr ar t as Fundament al s I 2 2 '
II. q, |:
l ITI' J. r . nu: :|- r . l :|::|
_
- i. _ _ i- ' -
- . - l l . . . - - - I
2 B I Numer ical ancl . - inal y t icaii"viet het l s wit h MATLAE
2 . 6 3- D and Cent eur Pl et s
Liiven r =f [ x. y l . ene can cr eat e a 3- D p l et ef a vs. x. y . Te cr eat e t he 3- D er cent eur
p l et , nne EIEI needs t n cr eat e a meshgr id- The cemmand is l l - "' l . ' t ' ] =meshgr id[ x, y l -
The numher nf el ement s in t he gr id wil l equal t he number nf el ement s in xt imes t he
number ef el emcnt s in y . Fer each gr id p eint t her e is an if el ement and a Y el ement -
Eup p nse - 5 - ' - ' . ' I=xs' . =3- in st ep s nf l and - 2 s- ". =y ~ =' . f = 2 in st ep s nf 1 - Then, t he if ancl
T mat r ices wil l ap p ear as shewn bel ew.
- s - . 1 - 1 1 1 1 a s"
- s - . 1 - 1 1 1 1 1 s
x= - s - . 1 - 1 e 1 a s '
- s - :1 - 1 1 1 1 a s
- 5 1 - . 1 - 1 e 1 2 E1 l
- a - a - a - a - a - a - a
- 1 - 1 - 1 - 1 - 1 - 1 - 1
1 ' = 1 1 1 1 t 1 1 1 1 1 1 1 t i
1 1 1 1 1 1 1
_ a . 1 . 1 - t a a a_
The meshgr id st at ement is used t n p r t 1 duce sever al dif f er ent t y p es t 1 Fj; "1 - 1 3' p l t 1 t s-
The examp l e bel ew r ises t he meshgt id st at ement r e p r educe a 3- l l sur f ace p l et and
a cent eur p l et . l |1 exp r essing t he sur f ace equat ien. ene needs t e de el ement - by -
el ement mul t ip l icat ien and divisien.
Examp l e 2 - 1 1 5
2 cent eur 2 - m
2 This p r egr am devel np s a 3- D sur f ace p l et cf an el l ip t ic cnne
2 and a cent eur p l et .
cl ear ; cl c;
E=5 :. l :5 ;
y Id LI3 - 1 :4;
a=5 ; b=4; c=3;
[ E. Y]=meshgr idt x, y l ;
2 El l ip t ic cnne
a=e+ gqst iixr s1 . * a+ t vit 1 . * a1 ;
2 t he mesh ix, y , Eist at ement cr eat es a meshed sur f ace p l et -
mesl 1 ix. . y . . El
f igur e;
2 The sur f ix, y . 2 ist at ement cr eat es a sur f ace p l et .
sur f [ N, 2 , El , xl abel t x' ], y l abel il y t i, r l abel [ * a' i, gr id;
f igur e;
2 The cent nur ix. T. 2 ist at ement cr eat es a cent eur p l et .
ct =cent nur [ E. T. 2 i; cl abel t ct ]; xl abel t x ]; y l abel l y ' };
hi. - sl f l adf undament al s I 2 9
Te p r educ. e p l et s ef cen1 p l et e sp her es and el l ip seids use el l ip seid and sp her e
f unct iens. A descr ip t ien ef t hese i' viil T' L- l ' t E f unct iens ca|1 be ebt ained by t y p ing
hel p el l ip seid
hel p sp her e
hel p cy l inder
in t he cemmand windew-
Pr eiect s
Pr eject 2 . 1
Det er mine t he Tay l er Ser ies exp ansien ef cesl xiabeut . 1 : =El and devel ep a cem-
p ut er p r egr am in . l vl A' l Lil l it hat wil l eval uat e t he f unct ien f r em t t E xE r t in
st ep s ef f l . l it by
a. he ar it hmet ic st at ement .
b. Ser ies al l ewing f er as many as iiit er ms. Hewever . st ep adding t er ms when
t he l ast t er m et 1 l y aiiect s t he t it h p l ace in t he answer .
Pr int nut a t abl e [ r e a t il e} in t he f er r nat shnwn in Tabl e Pl - l 1 use 1 5 decimal
p l aces f nr ct 1 sf x]l -
Al se cr eat e a p l et ef cesixif er t t 5 - r E t t .
Tabl e P2 . 1 Tabl e Fer mat
r es[ ' x_ i cesixi Ter ms in t he
if t hy ar it hmet ic st mj f h y ser ies) ser ies
- 1 - D it
Li. ' iit
- t i- - l l it
mu
e- s it
1 . iI. Ir t
se I Numer ical and Anal y t ical t vl et heds wit h iaar r as
Pr eject 2 . 2
f l et er m it ie t he Tay l er Ser ies exp ansien ef sin- [ xiabeut x=U a nt l devel ep a cemp ut er
p r egr am i|1 NIATLAB t hat wil l eval uat e t he f unct ien f r e|1 1 t t ' 5 x5 it in st ep s ef
il l t r by
a. f l |. l ' | ar it hmet ic st at ement .
b. Ser ies al l ewing ibr as many as ii- it er ms. Hewever . end adding t er ms when t he
l ast t er m enl y af f ect s t he iit h p l ace in t he answer .
Cr eat e a t abl e simil ar r e t he t abl e shewn in Pr eiect 2 - l . excep t r ep l ace cesixiwit h
sin[ x]I- - ' 2 - l se cr eat e a p int ef sin[ x]I f er t t 5 x5 it .
Pr eject 2 . 3
Using t he Tay l er Ser ies exp ansit 1 n f t 1 r st , shew t hat 1 - =5 =ct 1 s ix} + isin { xiand t hat
r ' =ces [ xiisin [ x]. wher e i=- . , , I' l .
Pr eject 2 . - =l
[ ievel ep a cemp ut er p r egr am i|1 MATLAB t hat wil l eval uat e t he ibl l ewing f unc-
t ien f er I[ i. f . l ' 5 - 1 1 - 5 [ iiiin st ep s ef El - 1 by
a. An ar it hmet ic st at ement -
b- Ser ies al l ewin g f er as many as ii- it er ms. Hnwcver , end adding t er ms when t he
I35 1 : ' l I|iII' l Tl . t ]' |' l :l l ' l |- " El ITTi_ ' l :l IS- l . ' l ' l L" l l l l il l F|l El . Il ' _ ' l l I i ' l Il ' If I Hl ' l S"|- ' 1 - "iII' .
The f unct ien and it s ser ies exp ansien is
, . ; . . . - . ; . . . _ . . =, - =1 - - 1 - 1 ; :
2 2 - 4 2 - 4- IS 2 - 4- E1 - S
Pr int eut a t abl e [ _ t e a ar e in t he f er mat shnwn in Tabl e P2 . - 4: use t idecimal p l aces
f nr f l - ' - . ' ]' .
Tabl e F2 . - 1 Tabl e Fer mat f er Fr eject 2 . 4
f f xi f [ xi Ne. nf t er ms
it f by ar it h st mi [ by ser iesi used in t he ser ies
f l - "3- I
- 1 1 . 1 ; - 1
- 1 1 . ?
l l ?
Ll . l i
l J. l :l '
i' l . i. t - 1 1 Tt al 1 . E1 ' Fur 1 cl ar r 1 er 1 t af s I 31
Pr eject 2 . 5
The hinemial exp ansien f er l i+ xi". wher e r t is an int eger . is as f el l ews:
t t f r r 1 1 1 - + his - nt s - air
[ l + r l =l + r r - r +
il l 3!
+ _ _ + a[ iil , i[ 1 v2 }- . . [ it r + 2 }x _ l + _ + In
[ 1 - - 1 ]!
Censt r t t ct a l vl i2 Tl . i2 f ip r egr am t hat wil l eval uat e [ I + xi"by het h t he aheve ser ies
a1 1 d by an ar it hmet ic st at ement f er r t =If } and l . { l E xiil l ]. [ ii|1 st ep s ef f i. 5 . Pr int
eut t he r esul t s in a t abl e as sl 1 ewr 1 in Tabl e P2 5 .
Tabl e F2 . 5 Tabl e Fer mat f er Fr eject 2 . 5
ii+ x. l " t i+ xi
x t hy ar it h st mi it : y ser ie si
' l . f l =
1 . 5
2 . l l
2 . 5
Iii- [ I
Pr eject 2 . 6
Al t heugh at mesp her ic cendit iens var y f r em day t e day . it is cenvenient l br design
p ur p eses r e have a medel f er at mesp her ic p r ep er t ies as a f unct ien ef al t it ude. The
U- S- St andar d At mesp her e. medii- ied in l l iif e. is such a medel . The medel censist s
nf t wn t y p es nf r eginns, t 1 ne in which t he t emp er at ur e var ies l inear l y wit h al t it ude,
and t he et her wher e t he t emp er at e r e is a cnnst ant . The t emp er at ur e and ap p r nxi-
l ' l ' 1 3, ' l IE F||' - ES- 5 l l |' l ' I f El if :l . |. ' l l f l l |' I5 HFE H5 ' l l Tl |l [ J"|H' 5 - I
32 I Numer ical ant iAnal y t ical t viet heel s wit h M. =' iTl _ al 1 El
a. Fer a r egien wher e t he t emp er at ur e var ies l inear l y .
"|"|- "l ' l EI' E
l a.
2 2 - r t t l zl gt - 1 - t - =1
if
I3
il . [ ae|. if
. f ' =1 f ' i1 I
T=Tf hl a. sr . ]|
Z i
P ar
=t he al t it ur l e.
=t he al t it ude at t he beginning ef t he r egien ef int er est .
=t he p r essur e and t emp er at ur e at t he beginning ef t he r egien ef int emt .
=t he l ap se r at e.
=t he air gas censt ant .
=t he gr avit at ienal censt ant . which var ies sl ight l y wit h al t it ude. The
ahnve exp t essien f nr p assumes t hat wit hin t he r egien nf int er est , gt is a
censt ant ; et her wise t he exp t essien f er p weul d he a l et met e cemp l i-
cat ed t han t he ene shewn abeve.
=air densit y .
b. Fer a r egien wher e t he t emp er at ur e is censt ant
= ex El f Tl
l l l l . P Rig
T =If ;
Tabl e P2 - t igives t he val ues nf p r essur e. t emp er at ur e. and t he gr avit at ienal censt ant
at t he beginning ef each r egien. as wel l as t he l ap se r at e ef t he r egien.
Det er mine t he p r np er t y val ues ef [ T] p , p l f t 1 r ever y l . ' l ]f l f l m f r em sea l evel
f r . ={ l l t e It =t if l . il l l iim and
a. Save t he r esul t s as a dat a f il e t e be used in Pr eject 2 . ? -
b. Pr int t he r esul t s in a t abl e f er mat f er ever y l _ . [ il ]l ] m.
il vi. 4Tt . - 45 Funnl ar nent af s I 33
Tabl e F2 . f 1 l t egienal Fr ep er t ies ef Ll . 5 . St andar d At t nnsp her e
Regine r [ l t ml T iit i . 1 2 [ Pal it f it iml g imisl i
f l 2 i? - f l . l 5 1 2 1 32 5 ii. f Ii1 El
1 l ]- il f l ii- 5
l l . [ l 2 ' l B- 5 5 2 2 5 32 . 2 5 3. 2 2 2 1
2 l ]. l ]l ][ l l ]
2 [ l . f l 2 ' l f 1 . S 5 42 4. 5 - ii 2 . 2 43
3 - l - l ][ Il ]I]
32 - [ l 2 2 1 3- E1 5 l i- E1 - t i- D2 El - 2 1 2
4 - l ]- i][ l 2 H
42 . 1 ] 2 2 l ]. E1 5 1 1 1 3. 31 3. [ i[ 1 I[ 1
S l ]. f _ l l ]l ][ l
S1 . f - I 2 2 l J. b5 t 1 f 1 . l it i l 3. f 1 5 4
f 1 l l - f l i]2 f l
2 1 - f l 2 1 4. 5 5 3. 2 5 - E1 2 . 5 2 4
2 l ]. f l l ]2 l ]
l i4. "3 TEl f 1 . "3S [ L32 3 3. 5 5 3
Pr eject 2 . 2
Pr eject 2 . 1 5 p r evided a t abl e ef p r essur e. , 1 - . t emp er at ur e. Tiand densit y . |J . ever y
l . l ]f . ' I' l J m ef al t it ude. At mesp her ic p r np er t y val ues at al t it udes bet ween t abl e val -
ues can be det er mined by l inear int er p nl at ien. The l inear int er p nl at ien f er mul a
is as f t 1 l l t 1 ws:
- l l :- f i+ ' l T_ f l |]f l l i. l "1 _ - l ' l 1 il ' l l f - ' - 31 ]
wher e _ ; 1 r ep r esent s an at t nesp her ic p r ep er t y r e be det er mined. e is t he al t it ude at
which t he unl t newn p r np er t y is t e be det er n1 ined. _ y , and Jig ar e t he near est t abl e
p r np er t y val ues. and . e| and sy ar e t he al t it udes at y ] and _ y y .
Linnst r uct a i' vi. 1 ' l T' L. hiip r egr am t n det er mine by l inear int er p nl at ien t he p r np -
er t ies ef l l iip , p iat t he f el l ewing al t it udes: ". ' i, l 2 l ] m. H. 435 m, l d- , 3- 2 f l m. 2 2 . 2 ' _ i' l l m,
3* "l , f ' 1 2 l l m. 42 . 5 5 2 m. ant if i- <l . 2 2 f 1 ' l m. l vl al - t e t he p r egr am int er act ive; t hat is. t he
p r egr am is t e asl t t he user t e ent er t he abeve el evat iens e|1 e at a t ime. Af t er each
2 4 I Numer ical ant i. - f inaiy t icaiil . - iet het l s wit h MATLAE
ent r y t he p r egt at n is t e p r int t he r esul t s t e t he scr een and t hen asl t t he user if hel she
wishes t e ent er anet her al t it ude. The p r egr am is t e ce|1 t i|1 ue as l eng as t he r esp ense
r e t he quest ien is ii
Pr eject 2 . 2
Rep eat Pr nject 2 . 2 . hut t his t ime cr eat e a f unct ien ir r t er p . wit h inp ut ar gument s f ar ,
s]. s3, _ ]. - ' 1 . y a], t hat wil l dt 1 t he int er p t 1 l at it 1 n and t hat wil l r et ur n t he r equest ed p r np -
er t y r e t he main p r egr am. The var iabl e y is t e r ep r esent an at mesp her ic p r np er t y ef
eit her p r essur e. t emp er at ur e. er densit y at a|1 al t it ude s ent er ed f r em t he l t ey hear d; is.
and er ar e t he near est al t it udes r e a and _ y , and y y ar e t he p r np er t y val ues at at and ay
r esp ect ivel y .
Pr eject 2 . 9
The p r ep er t ies nf sp ecif r c vel t t me. v. and p r essur e. p . as a f unct ien ef t emp er at ur e.
T. f er t hr ee gasses based e|1 t he Redl ich- l f weng equat ien ef st at e a r e given in Tabl es
P2 . El ' a. l 2 . Jb. and P2 . ic. Tabl e P2 . id sp ecif ies t he gas and t he t emp er at ur e at which
t he gas p r ep er t ies ar e r e be det er mined by int er p nl at ien using l vl h. TL- ' 2 . l 3' s iiit er p i
f unct ien.
Wr it e a cemp ut er p r egr am in l ' vTl l - 2 TL. h. E t hat wil l dn t he f el l ewing:
a. Censt r uct t hr ee dif l er ent dat a iil es. each cent aining t he gas p r ep er t ies t abu-
l at ed in Tabl es F' 2 . El a. l 2 . ' El b. and P2 . El c. bl ame t he f ir st air . dat ; t he secend
U2 . dat ; and t he t hir d f _ if _ ' . l 2 . dat . Nar a: The dat a l es de net cent ain cel umn
headings.
h. f l eqt l est t he user t e ent er f r em t he l t ey hear d t he gas t y p e and t he t emp er at ur e
at which t he gas p r ep er t ies ar e t e be ebt ained. The user is r e ent er . ene at a
t ime. t he gas t y p e ant l t emp er at ur e as shewn in Tabl e F' 2 . 5 l t l .
c. The p r egr at n is t e use a nt iir r l ist at ement t e sel ect t he p r ep e1 ' t abl e f er int er p e-
l at ien and l ' v' l . il TLr 2 . 2 s buil t - in f unct ien i' nt r r p l .
d. Af t er t he user sel ect s t he gas and t he t emp er at ur e. t he p r egr am sheul d p r int
t n t he scr een t he desir ed p r ep er t ies ident if y ing t he gas, t he t emp er at ur e. T.
t he sp ccihc vnl ume. v. and t he p r essur e. p , incl uding unit s.
E' - . l f 2 f Tt i' , i|' EHIIIT E|' Il i]' J. - ' T- l |' t I' l . [ ' |' l . Th- E |' [ E' _ ' l |- ". l ' ]t I1 HI' t ' . ' l , , l . ' l ' l E' Fl |' t i]E|' |' |' l l ' il ' |l l ' l I. Il l ' Ll 3. 5 - if Til t ! user l l ' - l l ' I- E' . |l l . "il ' l E'
wishes t e mal t e anet her ent r y at which t he p r ep er t ies ar e t e he det er mined.
The user is t e ent er "I"f er y es and bl f er ne. The p r egr at n is t e cent inue
det er mining gas p r ep er t ies by int er p nl at ien unt il t he user ent er s I1 - l . ' At t hat
p eint . t he p r egr am sheul d t er minat e.
Ni. 4Tl . 45 Fundament al s I 35
Tabl e F2 . Ei' a Air Pr ep er t ies Tabl e F2 . Eib xy gen Fr ep er l ies
t l f l
T v p
[ t n- l it r e nl i 1 1 ' "- I' l m- l
35 5 1 2 5 1 5 435 335
45 5 l 32 1 5 5 5 5 5 35
45 5 [ L35 1 5 5 35 5 1 5
5 5 5 l 45 1 5 5 2 2 2 5 5
5 5 5 l l 44 1 5 5 5 5 5 2 5
5 5 5 t l 45 1 5 2 5 4345
5 5 5 l l 5 2 1 5 2 5 5 35 5
2 5 5 l l 5 5 1 5 2 5 2 1 35
2 5 5 [ L5 5 1 5 b5 b5 5 5
T
[ Kl
1 1 - "
P
im- * i"l t mnl . l i1 ""- 1 ' l r n - ' 1
35 5 I2 5 1 5 1 5 5 2 5 5
45 5 l 32 1 5 32 1 5 1 5
45 5 [ L35 1 5 42 2 5 2 5
5 5 5 I45 1 5 5 45 2 35
5 5 5 5 . 44 1 5 5 2 2 45 5
5 5 5 I45 1 5 5 5 5 2 2 5
5 5 5 I5 2 1 5 5 1 1 2 5 5
2 5 5 I5 5 1 5 5 1 2 1 5 5
2 5 5 I5 5 1 5 5 1 5 5 1 5
Tabl e P2 . ' 5 l c Car ben Diexit l e Pr ep er t ies
T v p
t m- l il t mel i { Nani~ ". 1
{ L2 5 2 5 45 5 5 5
{ L32 5 5 2 35 5 1
{ L35 5 1 5 5 2 31
[ L45 5 5 42 2 35
5 ahl 5 5 1 3341
l l 45 1 5 5 5 5 5 5 5
[ L5 2 1 5 1 35 2 45
5 . 5 5 1 5 2 35 5 5 5
5 . 5 5 1 5 35 5 5 2 5
Tabl e I"2 . ' :' . l ' t | G as Ty p e ant l Temp er at ur e
t jas Fdr [ I32 1 2 h [ 32 E1 33 f l y
Temp l l iil 35 5 5 2 3 2 2 5 35 4 5 2 2 5 5 5
35 I Numer ical ancl r l nal y t ical i - . - l et hnt l s wit h i vt . 1 4Tl - . 45
Pr eject 2 . 1 5
we wish t l h e p et t e var iet t s met iens t hat can eccur wit h a mass- sp r ing- dashp et
sy st em. A sl - t et ch ef such a sy st em is shewn in Figur e 2 2 . 1 5 . [ l evel ep ment ef t he
gever ning equat ien [ 1 ] descr ibing t he met ien ef t l 1 e mass l bl l ews:
Equil ibr ium st at e:
1 1 1 ' - . t ~ g, =e
hl enequil ibr ium st at e:
"1 - 1 . I' l ' l l III' Il _ '
ii i. ir i' =vi r r . 1 . 1 r a. 1
1 2 ' Z l ihif 5 P|' i. [ - l g l l . :f l l l f |l ' i' l , ' :1 |' |f
r =t he damp ing f act er
r r t =t he ebject mass
1 - =1 Tl . 1 . .
=mass disp l acement f r em unsr r et ched p esir ien
=vel ecir y and accel er at ien ef t he mass. r esp ect ivel y .
Let y be t he mass disp l acement f r e|1 1 t he ec|uil ibr iu|n p esir ien. t hen
_ _ _ - . r . r _ . r :- r
r i. . + . r . r =is"sl . r =1 1 "
it El El
Ll n st r et ched
p - usl t iun | I - if - || St af
_ equil ibr ium l l - l l Ef f
p - T p esit ien
_ _ . - Id 2 |- i
2 1 ' 2 1 1 =J" l it
l - f f 1 - if
Figur e F2 . 1 5 Sp r ing- r l ashp et sy st em.
l i iATL. - 2 . 5 ' Funcl ament af s I 32
Subst it ut ing t hese val ues int e Equat ien [ 2 . l 5 a} gives
if - 2 1 2 . . + - r l - t r =er r "
Since l l f . il ' _ T _ =5 . t he abeve equat ien r educes t e
. . . r . 2 - -
_ y + _ y + y =l - l ' { P2 - l f l b}
2 ' 2 2 2 2 2
1 il 2 e seel t a f unct ien t hat sat isf ies t his dif f er ent ial equat ien. Such a f unct ien is e|1 e in
which it s der ivat ives r ep r educe t he f unct ien mul t ip l ied by a ce|1 st a|1 t . A f unct ien
t hat sat isf ies t his cendit ien is sf ". Assume t hat y =eel ". t hen
r _ p t iv _ 2 _ , t - r
y p ar . and y y a it s
Subst it ut ing t hese t er ms int n t he dif f er ent ial equat inn gives
. it
[ p * ' + ip + ]sel "' =[ i
2 2 2 2 ' 2 3
l "' - l nwr f l as f l . sn
1 .
if
[ p * + ip + ]=5
at in
Thus
, . - - 1 s. 1 J[ s]* _ . r - - 1 s. \ /[ 2 ]- r . . . - st . . .
2 :- vi2 in nr 2 m 2 1 1 1 : in
We see t hat t her e ar e t wt 1 sel ut iens t hat sat isf y t he dif f er ent ial er . 1 uat it 1 n- it can he
shnwn t hat t he sum nf t he t wn sel ut iens is al sn a snl ut inn t n t he dif f er ent ial equa-
t it 1 n- The gener al snl ut inn is
a f . 1 + l ")l f . - + a f t (Ef f . - = ex Z ex i-
T P 2 :- r t 2 m in P 2 1 1 1 . 1 2 m i"2 i|'
35 I Numer ical andanat y t ical iviet heds wit h MATLAE
5 |
1 =s- l ~ al l t =; 1 l l l sl i- il l s:- sl ~ l l el ial l
wher e exp [ _ x} =r t . The t y p e ef met ien dep ends en t he var iabl es in 1 * . and t it .
' l '
J-
ii-
l f :- ' - . t hen t he abeve equat ien is t he ene t e use. The sy st em is said t e
2 ' 2 2 il ' Il "i'
be sser t t l t mp eii.
r it . .
IF 1 ; : _ _ 1 [ T1 1 5 l ' i1 ' _ 1 |. l l 3. r - if r iil l f l t t t :_ "|. ' . [ T| 1 :H' ; "l :' [ ]]T|El ' i1 ITl agl l ' 1 a1 ' y :1 "- I1 3. l :|' |E 2 ' i- 1 |- "5 t L"i. _ . [ l
2 1 1 1 il ' :il ' :|' _ _
is said t e be ant t r r iaizmp esf . l ' "~ l et ing t hat is =cesx+ isinxand F =cesxf sin x.
Equat ien [ P2 . l 5 d]1 r educes t n
r =- 1 - l - el l vt l l i1 . 1 1 - l a- ' ~ l l :. 1 . 1 . 1 al l
F
L ii: . . . . .
if =_ _ t her 1 t he squar e r eet t er m is t er n and t he sy st em l s said t e be cr it i-
2 r r t t it
t ' al 1 iy t al sinp et f Fer t his case. t he snl ut inn is
y =r l exp [ $ t J { F2 . l 5 f }
[ a} [ l iven t he f el l ewing p ar amet er s:
N N -
m=2 5 if g. 1 1 - =s1 ' . s. . 1 - =sr s
2 2 1 ' . l ' i". i'
devel ep a cemp ut er p r egr am t e det er mine t he ceeiiicient s at and B f er t he
f el l ewing cases:
, nr
1 . y r e1 =e. ' _ 1 ia. y r r 1 1 1 . e.
- 1 '
a. y r e1 =e. s. - a. y { 5 i=l . il E.
. ' I'
s. _ ; :l _ 5 }=5 . 5 r 1 t . y r t 1 1 =1 1 5 .
. l - '
1 vi. 4Tl - . 45 Funcl ament al s I 35
Fer each case:
a- l 3l et er mine_ y f t } f er 5 E t E- ' l 5 secends in st ep s nf 5 - l secends-
b- Pr int eut a t abl e nf y vs- t ever y l secend-
c. Fier y vs. t f er al l t hr ee cases en t he same gr ap h. Label each cur ve wit h t he
val ue ef _ y ' .
f bl G iven t he f el l ewing p ar amet er s:
s
m=2 5 1 l . gr . . f ' =2 5 5 . c- 5 N
i|' il il ' 2 2 1 '
. 1 - 1 1 :- 1 =1 . - 1 . . 1 - 1 1 1 1 =1 1 ?
The envel t 1 p e ef t he sel ut ien gr ap h f er t his case is given by
. =ig _ iJ
J El l l p t 2 if
. i' il ' . i!
Det er mine y [ t if ar t ] - E . 1 s - ii] secends in st ep s ef 5 . 1 secends.
l l l nt J1 vs. r f er bet h t he escil l ar ing f unct ien and it s envel np e en t he same gr ap h.
Pr eject 2 . 1 1
We wish new r e censider t he sy st em descr ibed in Pr eject 2 . 1 5 t n be subject ed r e a
dr iving f er ce F". The gever ning equat inn t hen becnmes
F
l y + i_ ; |r ' + i_ ji"=isil il I5 t f F2 . l l ; 1 , l
in r n r n
The sel ut ien can be ebt ained by assuming t he sel t t t ien is t he sum ef t he cemp l e-
ment ar y sel ut ien p l us a p ar t icul ar sel ut ien. The ce|1 1 p l en1 e|1 t ar y sel ut ien is t he
sel ut ien r e t he hemegeneeus equat ien. which was ebt ained in Pr eject 2 . 1 5 . Te
ebt ain t he p ar t icul ar sel ut ien. y r . assume
_ y F=. 1 t sine. 1 t + f 1 cest . et { p g_ l |h' ],
t hen
y ; =t el t t cest et hsint et }
41 ] I Humer ieaiand Anaiy t it t aiMet huds wit h MATLAE
and
_ y ; =J1 [ r - I sin t ut t ices est )
Subst it ut ing t hese t zst p t essit sr is int et Equat ion { l l l a] gives
1 ' - 1 - F
{ . r I' i. L' IIi' it r s! =+ ie]sine:- r + { . Er t e + ieJ. =:+ it ! - IJCIJSIIIJ1 = sint ut { [ 1 - 1 1 1 $ }
H1 HI TH! Hi H1
Eel l eet ing eee- Hieient s er f t he sin and ms t er ms en t he l ef t sit ie er f Equat ier t { Pl 1 l e} ant i
equat ing t hem t n t he sin ant ims cneiiicient s an t il e r ight sit l e uf t hat equat iun gives
. F
(it |J ]i- 1 ' 1 5 - U
HI in m
t - :+ [ it 1 ] r =[ ]
m m
Sel ving t he abeve t wn equat iens Fer is and Er gives
it 1
t u
Pi
i=:= r - Fii 1 ' - ' 2 - i1 t i
In [ f in]. - . 7 ]} E ii
+ er
FR HI
r t ! )
s
s=- - isl e |[ P2 . I1 e)
M r m) v 1 )
+ - t e
HI HT
St t bst it t t t ing Eqt t at inns I[ F2 . l it i} ant iIIP2 . i1 - e] int n E- qt iat ien (1 1 2 . 1 1 1 1 ) gives
- + - - 1 1 1 '
5 | 1 - J _ CU]
J, ~ P- I- =2 5 1 I t e s||1 t at eest |Jt 1 1 1 1 1 1 1 )
W V el " AW. # 1
We ean r ewr it e Equat iun [ F' E. l l i' } using t he t r ig ident it y
t sin it + j3=; t 1 - s l il l t =Tsinl il it i[ 1 ~ ]|
wher e
r =Ji+ I5
M' ATLAEFund' ement His I 41
ant i
t |1 =t an E
[ I
Ft p p iving t hese r eiat iens r e E- quat i- an LT- 1 . l l i ]=gives
Pi] 1 .
_ _ ]. - F _ :=- r E _ 7 s1 n{ t er _ 1 { P31 1 5 }
m [ " J [ T
_ _ ms . |. Z .
. 3 - "T . . F- * 1
F- nr a sy st em wit h nu t l r iving Fnr ee and nn damp ing, t he sy st em sv- uuit i, nseiiiat e at
a Fr equehey , m = { see Equat ien PIi. l [ ie]|. It is ennvenient t n int t et iuee t he t at in
_ m
Q: iwher e r t =Z mt n- Af t er snme al gebr aic ma l ' l i|. ' 1 - l . 1 iE|. 1 . ' iIl IIIt i, , Eqt l at ien { P1 1 l g) can
I
E I-
IJC PL": l 1 ' 1 iIt J iIi' 1 l ' _ F[ ' _ l I' IT1
FE | _
J1 , - if I _ 2 s1 1 1 ' Iwr si [ P' l - IIh}
Il l } III
* [ 2 Ei
The t er m
F}, I
l g 2 - s
{ u was
. . . . . F
1 s t he al np it t ut ie nFt he uset iiat mn. Fur a given I [ ht - ; Iqr ggy [ h [ . 5 1 - m
1
[ I] E . [ r . I r ii
iiiiii
I
LE1 ; El f l ' l |, ' ]- i: 1 _ - I- [ Egg]: -
m", m
Ct ]- nst r ut :t a IviFLTLAB p r egr am t n cr eat e a p int nFamp ivs- l il Fur vaiues - [ IF =Li],
(1 . 5 . H. 1 7 5 . il l l ii, E1 1 1 5 , ant iii- :. ' t :Ji"t :J_ J s- 2 ' 1 in st ep s i? i:i. ' i]i. 1 ' iii' Fi' l [ hap p ens asin :v nJ_ r i'
Pr njeet 2 . 1 2
i- [ he met ien UP a p ist el n in an int et naieumhust inn engine is shnwn in Figur e
t he iat ger is t he amp l it ude.
PI. i' . 1 a, i1 . The p ist nnis p usit ien, J, as seen Ft nm t he cr ani- t shaf t eent er ean he
42 . ! I Nuiner icaiant i, - iit iaijxt ieaiMet iincis wit h MATLAE
Dr ' s; n' r r t ' t ' i:r e:r !
I. - I- ' I?
' - - 7 - I
i' isnm
. i' Ji' s. l ' u. r r wt !
_ ||' c1 mv:|t r i'
|l i* r 1 r nn' r r r r - 1 |. "- :a' r s1 r - ' i' . s1 ' Ir t _ . |' i*
Figur e F1 1 Ia Sket ch nf a t vp ical p ist nn- cvl int l er engine.
E
=-
II- .
Figur e Fi. ! . 1 2 h G enmel r y nf p isl nn met ien.
MATLAEFunciamEnt His I 43
ciet er minet l hv t he Law nf nsines; t hat is.
5 2 =5 1 + F3 Est cns' Ei
er
:1 |IEr eesE|' _ is+ [ r : t ' t :]I=' [ ] [ P2 . 1 Iia}
"|r \ l ' l ' |. l :IT_ '
it =t he iengt h c:- Ft he p ist nn r t ]- t i-
r =t he r at iius t 1 - Ft he cr anl - t shaf t .
Equat iun I[ P' ; ii' . . iI- ia] is a quat ir at ic et l uat inn in s ant it het ef nt e
s =gil t - ::nsEl + J- f ir ? ces: B- Hr : &1 ]=} =r e- ::vsE|' + Jr 1 { ens1 El 1 }+ =5 1
at
t =r cu- sEl + 1 J' ei=* E 1 ' 1 sin: H { Pl l 1 h_ ]'
The p ist t sn is cnnst r ainet it u mt ]- ve in t he ver t ical Liir ect it sn ant iit s p nsit inn, . |. , var ies
as t he et anit shaf t t t :- r at es. The angie, B, var ies wit h t ime, I, ant ican he exp r essed in
t er ms Hi: t he r nt at innaisp eed. 1 1 1 , nit he cr ani- t shaiit . The angie E is t hus given h]. '
H: l it t er |[ I* 2 . l 2 e}
wher e t n is in t evel ut inns p er seennt i. Subst it ut ing Equat ien { I 2 . ]l e} int e Equat inn
{ P' E. iEi::]I gives
sit ] =r cns[ 2 1 ' t t |Jt ]I+ Jil l r l si|1 * iI[ E1 ' t t ut } (P2 . 1 1 t |_ , "|
The p ist nn vein- cit jr t , v, can he nht ainecl hy t a it ing t he cier ivat ive nFEt _ 1 uat it :- n[ P1 _ 1 l t , i]I
wit h r esp ect t n t ime. giving
_ _ . Iht t e I ' { Ent er } (Bit t er )
vl [ t . ]I=l 1 t u}r s1 n{ EHu]t ]I F Sm 1 * Em I { [ 1 _ 1 _ 1 g, _ . _ g
J5 1 t isin"(l t t mt i
The p ist nn accel er at ien. . 1 , can he ebt ained hv t al t ing t he der ivat ive at Equat inn
{ Pl il e} wit h r esp ect t n t it ne. giving
t - it t l t ir isinzil t t uit ict isl l it t l l t i
t s - . 1 sint t ssei1 1 *
t t it i=sit t 3t t }:r eesI[ . ' iTt t iJt ]-
1 - 1 - I I 1 | 1 1 |
4t t t a r ces [ Int uit 4t t t t ~ * r ' sit 1 I[ i- Ht t ut ]
' | 1 | "I + I TI 1 '
J. - f r r ' sin [ 2 it t t |. - :] J5 :- r sin |{ 2 it t at ]|
44 I Numer icaiancinaip t icaiMet hnds wit h MATLAB
{ a} in MATLAE. cr eat e a mat r is ccinsist ing nis vs. t . v vs. t , ant iI! - I vs. t Fer
l l ] E t E iJ. E|' ] seennei. Use iiisuhdivisinns en t he t dt it nain. Tal t e r =it er n,
t n =IEIEII r eve- l ut iens p er secend. ant it =- =l sier n. Pier . Fvs. t . v vs. t . and it vs. r
en t hr ee sep ar at e gr ap hs.
{ h} Using i' vi. "i|. TL. :"LHis mes"l iunet i- un ant it he mat r izt nht ainet iin p ar t l [ a, ' l ' . ciet et -
mine t he ap p r n:- t imat e 1 ' 1 ' 1 El 2 t . iIT1 L1 ITl vel ueit y and mazt imum aeeel er at it m in ene
t evuiut it in, ant ip r int nut Ii' 1 t ]- St . vaiues-
{ c} Pint nn a singie gr ap h . r vs. t Fnr t =[ f it ] Hit ! 1 5 1 ' ] Hil l ] r evniut inns p er
secend.
Ref er ences
I. Thent snn. W. T. . i". ir et ii:p ' sf Fit imt iaiir t iit iil . . "' IJ! Il _ L; ii' J' l . l :Ct iIJ. IJ? II, Pr ent ice- Hal l . Engl ewnc- cl
Cl iiiis. H]. l ' :T. 7 ' 1 .
Chap t er 3
Mat r ices
3. 1 Mat r is Op er at it ins
I t it t eet angie at t ajv uinumif l er s t it t he iiut m shnwn i:|eit 1 w is eaiiet ia r nat t is
ii. . ii. , . r t .
- _ . |- ' |'
t . i' , | t ' i' , , t i ,
I
- 5 1 - Il l
I I
. ! ' . i' . |"i' |"i'
. I|| i |. I. I . | . II|:. I|
The l 1 l l t 1 1 iiet ' :~ . :, l ; | in t he ; 1 r r ; 1 ]e a r e eaiiet it he eiet uent s hi t he t nat r is-
I A inat r is ei' i"' . - ir nws and nne t eiut nn is eaiiet ia t uiuinn vect er .
I . - it r nat r is t 1 - iit ine t n- w ant in et iiumns is eaiiet l a t uw veet t ir .
I i' viat r iees t ihe]; cer t ain t uies t ii- at it iit inn. suht t aet iun. ant ir nuit ip iieat int 1 _
I ii:t nat r iees . * "' t ant iE: have t he same nur nher niqr t iws ant iet :- iumns, t hen
iii? + t in} { . - 1 |! + t r ig] 1 . 1 1 ; + t ' : |_ . }. .
l
t . ' =ei+ t i= ' _ ' " _ ' i"
U { . - . ' . | + t i- . 1 ] i_ . r t . . I + e. . i { . . :. , + t ie; ]. .
L [ it wi+ t i=m_ _ } ' :. :' . t _ _ ": + . I". i_ " _ ]. , ,
4- E I Humer icaisnciiinait it icaiit iet hnds wit h MATLAE
t hen
I
i""i1 |_ 5 ' 1 1 } iiha _ ' iit 1 i { Ht s _ iii:- i '
l [ , - ii . . . .
C. =A_ B= an . 2 1
E ml El |II' r |:i (gr it s! _ hI' . ' :Il }'
iiit jit iiit it sn ant isuht r aet i- an ei- ir nat r iees A and H ar e enl y dened if ii. and E-
i' l 3. \ I"i' :" t i. ' l f _ " EHITI. - E I' i' |_ ' il ' . i' 1 i]- l L' 1 ' Hi? i' El "' |"E End L' U' i|. |1 ' i. ' . i1 ' . ii' i- -
The p r nt iuct iit iiis H- I' 1 i]|. - cieiinet iit t he numher niicniur nns in . - iiequais t he
nu mher nir - nws in iii.
iii: =AB. wher e.
gil l al l
. ! ! I . t I :1 .
A:[ 1 1 t 1 is B: El has
# 1 ! Isa gas
L EH iv
C _ i' it t ' i"t 1 + It a"i' :t + ' |]_ i ' _ i- I) iihiiiiia + "i' 1 a"5 :: + ir t sisai
{ it t i+ . a nit - L]+ t :_ , |t i=, |] { unt il - I- . r I t i, + e it J
2 ] iiL. ' * "_ _ 1 1 1 al I} _ |- 1
if t has t n l ' t _ 1 - I. - I. - ' 5 and E has it et :- iumns, t hen E =AB wiiihave m r nws and it
eniumns.
K
|' . ' = E El gl i- ' .
. ' , I i. I' _ , I
- H l ul l
in ivii' t TLi' it B' ii . t he r nul t ip iieat inn e:Fmat r ices A and E is . i' t " B.
I Tr ansp use ui: a mat t is { r ews heent ne Ct . ' |il . 1 I' l 1 l 1 ! . - iand et iiumns hecume r t nvs]. if
t hen
5. |:=. . - . 1 r t : Li- J ' =- H i- . 1 - J ' - - Pl
III
1
_ s; I=
2 1
iii
Eisil - I5
s"=ssss
_ iB . 1 1 1 [ l ' _
In MATLAE, AT =A
I Der p t eduet ef t wn veet er s
t 1 . . ; - i. . ~ 1 - . t t =- s- =. + t . =- 7 - '
In MATLAB
I i' v' iat r i:t inver se
The inver se e- Fa mat r is. denet ed Ft ". is a mat r is sueh t hat
A - B: t nst { . ' i, . |5 |' }
l Ll ii
A H=2 eJh;
1 t . . ~ 1 =[ a - 1 sins- =[ - a s a].
I
Mat r ices I 4?
. a' Ea=. - =i. t "=t = t i1 t i t t ar ssssmseis)
iiU 1
in ii. - ' i. I5 ! t TLi' it E, , H. l =inviiit l
I The l - t |ent it }. ' l "viat r is. i
i
I is a mat r i: wher e t he main diagnnal eiement s ar e aiiiant ial l ut her eier nent s ar e ii-
II en t i iiiii
Il n I- I
iii.
I The Det er minant t ]- Fa i' viat r i:|t
in i' vii' t ' l iL. h. l it he det er minant eimat r i:- t A is wr it t en
=5 1 :
t i . - :t i_ . . ~ ' iI
I Eiemen t - hp - El ement Cl p er at iuns
iTit ieis. ' . - L =Ia. a3 at ], E =[ h] hl
t ' . ' =A . =I=E=it i' 1 . Et | . - t r ig . |' I'
l g],
e=a. is_ "1 ' 1 T-
it it it
. 1 5 3 I
H.
Z . _
I - I
an an . ~ i|_ , _ | 1 n t i { nH+ ii+ ii} [ t . I+ . =t H+ t 1 } t t ]+ t ]+ . il _ ! _ )
= t a3|+ t i+ t 1 ' } { ii+ . a' L_ . :+ i]' ] t t l + t )+ . i_ g}
". t _ . | ah . - I' M _ | U l _ t . t _ H+ [ i+ i]]| I[ ii' + . a' H+ Iil } ii:l + iii+ t I' _ , i_ , |]I_
4B I ivumer icait in. - t iAnaiy t icaiMet hnds wit h MATLAE
st t n1 { i' it ]=a, + a; + a5
Iiial l HH-
C- ' iiier i. * . 4 = ea] nu . t t _ . _ , j
I
imidii: l il l ' l ' iii"' "iii{ El i"' ' 1 : "' ". 4- iiiiiis "' "' I. i. ' - "' ""ssi
I t ' _ Ti:. ' er i. - Ft =l a. a. _ . a_ . |]. E =[ |:- , h1 h_ . ]
. - "' i- B =ssh- . it I[ . - * ' - i- * B] =st t t t t iit t l l il El l i- "l . s_ . . ig =st ihi+ . s' 2 - ii : + t t _ , . - it
The iinil t iwing esamp ie il l ust r at es sever al mat iizt ep er at iens.
Esemp ie 3. 1
E maer inal g. m
a This p r egr am demenst r at es met ein al gebr a in HATLAB
el aar ; el e;
a=l 1 5 9|
i::=iE IE 1 2 ]
e=a+ h
d=det t a, hl
e=a. * h
:a- f h
g=aumt a. * h]
h=a* h'
3. 2 Sy st em t if Linear Equat inns
Liiven t he set at equat iens
iiix] + t ax: + "It s' i:. s + iH + Hinxn =Fl
t r ust + aux: + t . - . , J. i:, r + + t ! I. , |r . . ' l TH =t :
. . ' . . . ' . , _ _ at .
I
1 ' 1 " at + . t t - |. I' ; , ' l ' . |' i. " at "l "' "' i' . t 1 " at =t
Ivil Iv. - . . . 1 |. . ' i r r l t I| I1 "
Mat r ices I 49
This set can he r ep r esent ed hy t he r nat t i:- t eqt iat inn
wher e
A =
P
:1 ". 2 . "
st r t ,
_ _ l |! il ' l ' a' .
"' |1 it is
III
and H-
. - ' =i. . Tt . ' = 1 ' . " { J1 }
"l s xi f t
III. - I r l II F]
. . ~ t ' =. . C=.
am _ _ _ st - t n
Mat r ixeihas H r ews and n eniumns
i' v' iat r i:t Xhas is r ews and t me euiumn
i' viat r i:it Chas is r t iws ant it :- ne { , I|[ ]|il . 1 l ' I l I' l
in t nat r is al geht a. iiican he nht ainet l hy mul t ip l y ing hnt h sides hy . 44; t hat is.
3. 2 . 1 The inv Ft ir iet inn
a . t s' =. a"t : ==. at =at =. a"t :"
mgr
Tn st r ive a sy st em ]iiiil ' 1 Ei. iI' equat int is in i". t iii' t TL. hE. nne ean use
The met hnd eisniving a sy st em at l inear equat iens hy using t he hst r f unct ien is mer e
I =int : [ Pt } * I: l f f ij}
ct imp iieat et it han a met ht icieaiiecil iiauss eiir r t inat it an. which is discussed heinw.
3. 2 . 2 The G auss Eiiminat ier s Funct inn
M. * iTL. h. Eir ep r esent s t he [ iauss Eiiminat it in t net hut ihy use ni: t he haeit siash; t hat
is. if . . * i. 3' t ' =. Ei. t hen
. . "t ' =. "- Il ni- I (Xwiiihe seived hy Liauss eiiminat ien)
The ihil nwing er - t amp l e st r ives t he t hr ee- l inear - et l uat icin sy st er n shnwn heinwz
Eizt l + l i:t _ , - 1 - t i=iii
. 1 t |- i- 3- 1 3 + . . "i. . 1 - t _ , _ _ =f l
:t | :t y :t _ 5 =i
5 |] I Numer ical an. - :l . a. nal y t ical l - iiet hnt is wit h Mr - ' |Tl . i' - i
3. 2 . 3 Examp l es
Examp l e 3. . . ?
t maer ixE- m
s This p r egr am sel ves a simp l e l inear sy st em at equat iens
el e; eieee;
Azl iE - 1 ; - 1 3 E; 1 - 1 - 1 ]
c=[ 1 e 5 - 1 1 '
x=invt AI* E
y =hHC
n* x
E Tn p r int t he A mat r ixE xt o a Eil e use:
t id=t ep ent nut p ut . dat ' . w' J;
:p r int t t t id, ' Tne A mat r ixis=t n i;
{ t i=1 :i
f er jwl zi
Ep r int f if id, t 3- 1 f ' . Aii, ji|;
end
t p r int t t t ie, ' in' ];
end
ip r int f [ f id, ' 1 n' J;
t An al t er nat ive way ef p r int ing eut t he mat r ix.
t p r int t t t id, ' The A mat r ixis=in* J;
t ar i=l :3
f p r int Et f id, ' %5 - 1 f %5 . 1 f &5 . 1 E Hn' , n|i, J};
end
Ep r int El f id, ' 1 n' |;
t p r inct t t id, ' s= %E. Ef i5 . 2 t ss. st ' , sb;
t el eseit idii
Examp l e 3. 3 . - in Examp l e in St at ics
. h. n engineer ing examp l e invniving a l ar ge sy st em ni- iinear equat iens ean he l ieiund
in t he l iel t l nist at ics- The p r nhl em is t el st r ive Fur t he int er nal l it ]- r ees in a t r uss- Fur
il l ust r at inn p ur p nses a t r uss cnnsist ing nit ive st r uct ur al memher s is cnnsit l er et l { see
Figur e E' i. l l .
E _ . - 4 c
ni
asst
F. FE F5
Bt u
. - 1 n
A it J-
Figur e 3. 1 Simp l e t r uss.
Mat r ices I 5 1
t it s can he seen in Figur e 5 . 1 . t her e ar e l ive st r uct ur al memher s; t hus. t her e ar e l ive
uuizut uwns I[ r eac. t ic- ns ean he - nht ained it em t he equil ibr ium et |uat inns inv- cal ving
enl y t he ext er nal hsr ees and ar e t hus eansider ed t a he it newn}. iil se net e t hat t her e
ar e Feiur jaint s. We can wr it e t wn seal ar equat iens at eaeh jeint ; t hat is,
2 i. i, = at Z - :t ~ ' _ _ , :|, , =s est
Hnwevet . we can enl y use Five indep endent equat iens. We wiiiwr it e t wn seal ar
equat iens at _ ]e- int s ii. and E ant inne seal ar equat iun { in t he xdir ect it inl at Jnint C.
F. i_ l ' l E 5 :|- "i. ' ii. ' E' l ' 1 ' 1 Hf Eql l t i C3. 1 ' il :l ' l E1 ' l l . ' l Ii' I' l ' i' P1 ' E5 E' l ' l l . ' ELl . |Il ' l E' |' |' l H. iI1 ' i' . i' [ l l ; ' t I|l , . ]H. ' l IiI' l I
. - ' i. F=I { 3. 5 }
wher e
. - "l =cneil icieiit mat r ix
F: eniumn mat r ixeit he unl t newn int er nal t hr ees
P =cel umn mat r ixinveiving given ext er nal f er ees
The et seiiieient mat r ix. F' |. wil l he made up hf el ement s aiiwher e t he f ir st indexis t he
equat it in numher ant it he secnncl in- Lies r ep r esent s t he Ft ]- r - ce memher assnciat et iwit h
t hat el ement . in wr it ing t he equat iens. r aise al l unl t newn int er nal ihr ces t n he in
t ensinn. iiFiccuues nut negat ive, t hen t he int er nal l hr ee is in ccuup r essinn. Fir st we
se- Ive f er t he r eaet iens at . i"|. and D (see Figur e 3. 2 ).
2 . ' ir _ , , =t i=sh? - aesst sasixsa. ust e; i- asist sssixan + . ss. . t sss_ u
Ur
D =E=5 l ci""- i
. r 5
2 . 5 =t i=at + Eces{ f iEl ] ==- ax=1 ees{ 3EI ]it l \ l
EFT =t ] =x! + nv - asaat san =:- . . - t i? =_ nT + asint st m l at
5 2 I Nuiiier icaiand. - iiial y t ieaiMet hr icl s wit h MATLAB
H - If
Al l WW
t im t i- m
A a A
ait mr . 1 5 '
1 , . - [ 5 l ' J_ _ |_
Figur e 3. 2 Reaet it ins t il "simp l e ir uss.
F1
. - "i.
. 1 "- i_ _ |_ F;
. "i. r
Figur e 3. 3 Int er nal iur ces al Iuinl A.
I int er nal l it it ees at _ l t Jl l JiPi. [ see Figi. ii' e 3. 3}:
Z l g =ii=E] . 1 . - . ii_ i:~ . i. i _ i+ it + ax
an r et is I[ t il ' . l "' }. . 1 1 . =i. F , =. i, E
Z F? =ii=E sin{ t ' it } } + sir
an =sin { t il l }, P: =_ . - t r .
I i[ ' l iI' |' _ 1 ' I' l 3ii:i]II"l ' _ ' l _ ' ! iat _ l t iint E . { see Figur e 3- 4}:
2 1 . 5 =t i=E4 + . 5 . axt siit iit . . - t a- ijisii . i
. . i_ . : =ens i:t il . l i, . =. r _ . . =c- . isit ' iii II. . i_ . , - _ = I. P_ . =ii
Z i- "t =ii=l ~ ' , sint il - iii") - ij . ~ . i. - . t t . t i' * i
t . l _ i| =siiiii5 [ i' l . a. _ . i=. sir iiii- il ' i' ]I, P4 =i. - I
Mat r ices I 5 3
vv
F1 F1
Figur e 3. 4 Int er nal inr ces at Inint B.
t ' . '
1 ' - ' 4 W LE ct is Ii- U
F5 2 sin Iii?
Figur e 3. 5 int er nal f nr ees at Inint E.
I int er nal f nr ees ar jnint L. " [ see Figur e 3. 5 };
Z Fr =Li= F, cns{ _ t il . l } + . ienst , iLl ' iJ iii
at ; =1 . . r . . =ens { BUD}. P. =- 3 ens { . iEl , l
iiinee ]t iint F] has nt :it heen used in est ahl ishing t he et _ iei' Fieient mat r ix, it ean he uset l
as a checit mit he nht ained snl t it inii; t hat is. t he siim iil ial l t he iiir ces act ing at _ Iiiinr
D. hnt h in t l iexand _ y dir ect inns. must he t er n.
I Ft ir ees at _ It iint T} [ see Figur e ' _ i- - { ' i|l :
t . ]iL"iJx=. i* l + t :t isI[ hii"; ' l + t IU5 l :l i' J' iil i:' ; | [ g],
t ' Ti' iI' i' il ' _ }~ ' =F: sinI[ t ' il l ' _ } + F5 sin [ - Fif i ) + UT ii- F}
The inl l nwing p r egr am snl ves ihr t he int er nal inr ees iiit he t r uss.
5 4 I Numer ical ann' Anal y t ical Met hncis wit h MATLAE
F
a FE
6 0*
Fa
I}
JD
Figur e 3. t :' iint er nal f nr ees at Inint I].
Examp l e 3. - ii
t sr aT1 es_ r ssr _ sas. n
t This p r egr am sel ves t nr t he int er nal t eeces in a t r uss hy t he mat r ix
E met hnd
cl ear ; cl c;
t hr p if ; t h3 Dr p il ; ie=5 ; je=5 ;
a=aar nst 5 l ip =eer nsi5 . 1 i;
et hED=nint t hE
iEal cul at inn
iier hED=ens[ t heeiist h3U=sin|t h3ai; et hs=eeat t h1 eii
nf r eact inne:
iSum nf mnment e ahnut Jnint A givee t he ver t ical cnmp nnent ef
t t he r eact inn at jnint
Dy =t 2 * et h3U* E*
iSum nf ext er nal f nr cee in t he xdir ect inn gives t he hnr ixnnt al cnmp nnent
5 t hE+ 2 * Et h3D* E* l l + Et hED|l l E;
ihf t he r eact idn at Jnint A-
Ax:- 2 * ct h3U;
t t he sum DE ext er nal Enr cea in ver t ical dir ect inn gives t he ver t ical
t enmp nnent at
ap =2 * ech3D- Dy ;
id; [ np en[ nut
p r int f [ f id,
t p r int t t iid,
t p r inct t t id.
p r int f [ f id,
||
||
I
t he eeaet inn at Jnint A.
p ut . dat ' , w ];
et at ice_ p r nh1 em- m 1 n l ;
Pr ngr am sel ves t nr t he int er nal Eer eea nt a t r uss in1 n' i
Heaet iens in H in );
Ax=ie- 3f t est ap =ie. 3 t t t t Dv=ie. 1 f Rn\ n , hx, ay , Dg];
t ver wr it e t he nnn- aer n el ement e df mat r ixa and mat r ixp .
at 1 . 1 l =ct hEU;
at 2 . 1 i=st hEu;
al 3, 1 i=- et ha; at 3, 2 |
at 1 , 1 i=et hED;
at l . 3i=1 . ; p [ 1 i=hx;
i_ :=~ t ai=- iwi
=cchEU; a|s, ai=1 , n;
at a, 2 |=- st hd;
ai5 . al =- 1 - 0; al 5 , 5 i=- ct hEU; p i5 }=- 2 * ct h3D;
f p r int f [ iid, '
jindex=1 :je;
f p r incf t f id
f nr i=1 :ie
A mat r ix1 nHn' |;
l | I
ii I r
f p r int EiEid. %Ei , jindex[ i]];
end
t p r int t t t id. ' Rn' ii
r p r incf t f id
l l ! _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ ' ||I
Mat r ices I 5 5
f nr i=1 :ie
f p r iut f iEid. ' t 4i . iii
t nr j=1 =je
f p r int f [ id, ' # E. af ' , at i, jii;
end
p r int f [ f id, \ n' };
end
F=aHp ;
p r int j' t 1 =t s- af \ n, a=t s- a t n, t s=ss- a t n, t a=t s. at t n, s=t s- 2 1 n* , F|;
f p r incf j id, ' \ n\ n' ];
p r int f ]f id, Int er nal Enr cea. F{ 1 ]- Ft 5 i& ext er nal f nr cee p iii. in H Knin' |;
Ep r int ; iid, ' Member # Ft il Equat inn s p l iit n' i;
{ P- Il l f if il il , ' - I- - I- II- F- - - III- - 1 - I- I- II- 1 - - 1 - 1 - - HF- - I- III- 4"! - I- I ' I- - - I- I- I- - - IIIIH- - HI- I - , l I' l "it
f er i=1 ie
f p r int f t f id, ' t a. er ss- t t ss. er t s. ar t a* , i, siii. i, p iiii;
end
t ehenh it t he sum nt t he hnr ixnnt al enmp nnent s at Jnint D is aer n:
t p r incf [ f id. ' \ n eheeh if sum nf t he y enmp nnent a at Jninr D is ear n En' |;
ehhxa- Ft al * et hEn+ F{ 5 ]* ct hEa- Fr i};
f p r int f [ id, ' chDx=i1 2 - ae \ n' , chDx];
t check if t he eum nf t he ver t ical cnmp nnent e at Jnint D is aer n:
t p r int t t t id. ' kn ebeexit sum nt t he y enmp nnant s at Jninr D is aer n t n' l ;
chBp =Dy + Ft Ei* echEh+ Fi5 i* st hED;
p r int f [ f id, chDy =i1 2 - ee 1 h' , chDy ];
f cl neeif idi;
3. 3 G auss El iminat inn
in engineer ing we ar e Fr equent l y cnnir nnt ed wit h t he p r nhl em nist il ving a set ci- ii
l inear equat inns. Fnr r t equat iniis in it unit nt iwns. it is ennvenient t n exp r ess t he set
in t he iniinwing Fnr m:
a"x1 + aux: + aur a + + aux =r l
a1 |x]+ al zxz + agx_ , _ + H ~ + ahxn =r 1
axl + aux: + age} + + aux =r u (1 5 )
Cr amer s r ul e gives a t hecir et ieaimet hnd Fnr nht aining a snl ut inn. Lise f nr it 5 3.
Hnwever , f er l ar ger H - , t he eal euiat inns hecnme excessive. Fnr examp l e, Fnr H =iii, t he
numher c:iFcaicul at it ins r equir ed hy t he use t ]ii:Cl , EIt f I' [ 1 ' 1 iI1 i' l i' l IS is ap p - r nximat el y 5 at iil s-
Using t he G auss- _ l nr dan met hnd. t his is r edt icecl t n ap p r nximat el y hil l ] cal cul ar inns.
The sy st em niequat inns, Equat inn { 3. 5 }. can he exp r essed in mat r ixl hr m; t hat is.
AX =C . [ g_ t _ ; |' ].
5 - E I Numer ical ant i. - ' 1 inal y t ical Met hnt is wit h MATLAB
wher e
it ii: iii. l l t r
an a- , an a2
a= * * * - - "
_ Ir l III- ' I. i' Er r - ii"I Heel
II Fl
I- . i F:
x=I5 - e=. - y
In -
P I
F F
In ' it
i' v' at e: ' ihe numher nieniumns in xihas t n equal t he numher nir nws in - it , nt her wise
mat r ixmuit ip iieat inn is neit dened- in t he i- Iiauss El iminat inn met hnd, t he nr igi-
nal sy st em is r eciueed t n an equival ent t r iangul ar set t hat ean r eadil y he snl vet l hy
hach suhst it i. 1 r it in-
The r educed equivaieiit set weul d ap p ear l il t e t he Fnil nwing set niequat iniis:
a| |- ir l + aux}: + aux! + - - - + al nx =. r |
i- r . |.
i
5 31 II + 5 1 . 5 1 ' - . ' 5 + J I I + l g. - . Ii' f t i{ E
Hf ' i_ l ' T_ l - + l il + Iii! - t i' l l "t . | : f f . -
' |i1 i' . l - il , . l . l ' - l ' ; . :. l ' l i+ # r il - . I- i' T. i. i: IL. - J. l - Ii
EHJIIM 1 FIJI
Then
x=Fl a
II . |il ' H' . l ' i'
1 _ -
' Tui=? { r Ml _ i:Il ' . |_ ! |i|. l xl il :J
:I|' Eil . Jil l
II. - H1 .
Mat r ices I 5 ?
Tn aecnnip l ish t he r educed equival ent set it is cenvenient t n augment t he eneil ieient
mat r ixwit h t he if mat r ix; t hat is.
Iii Iii# 1 5 Iii. l f l
ii"1 1 : E1 5 "' as F1
A: H- iiHi. - I iii ":_ =. { gig}
l r r l THE Ea! "I ant iFr i
The inil nwing p r needur e is used t n nht aiiit he r educed equival ent set :
I Mul t ip l y t he Fir st r nw niEquat ien [ 3. l iIIl hy al an and suhr r aet Fr nm t he
seennd r nw, giving
- _ iii I _ iii
"i. ii_ iii_ H"Iii* " T. ii_ "ii. =:_ Hiiii
i! ' i' iii.
l l l l
t - a L 2 =- t a et "
it s T as II is "
l l
it
F; =. r . - it - t el
El i
This gives al l =l l
I Fnr t he t hir d r nw: l iviul t ip iy t he iir st r nw nf Equat inn ' [ . il l ' ]l hy al an ant i
suhr r aet i' l ' t . 1 1 Tl . r nw 5 , giving
t i iii"
I- _ _ . _ _ =|- ' | . il _ . _ . _ _ i! i]
isi"' Fit _ I hi= " i' _ =ia " Ii- 1 _ H - ha
ii El l
F [ -
il l - "5 5 - t il l - iiiut . E C.
il l
_ . r _ f l - I - H
(3- 5 3 [ ' 1
al l
This gives a_ ; 1 =l l
El iI Numer ical ant :- ' . =inal y t ical Met hi' :it is wit h MATLAE
This p r ncess is car r ied t ii- it ihr r nws 1 , 3, - i, - . . . r t - The t ir iginal r nw l is l t ep t in it s
t ir iginal Far m. Al l et her r nws have heen mnt l iiied and t he new cneicienr s ar e des-
ignat ecl hy t i". Excep t Fnr t he l it st r nw in Equat inn ' [ 3. l il l . t he r esul t ing set t ines nnt
cciniain x1 .
Fnr t his st ep . t he iir st r nw niEquar inn l ' , 3. l l l , iwas used as t he p ivnt r nw and an
as t he p ivnt el ement . We new usekt he new r nw 3 as t he p ivnt r nw.
a 1 _ _
l vl ul t ip l y t he new r t iw 1 hy iand st iht r act Fr nm r nw 5 . giving
t il .
E l l
5 1 i
- - .
I' - '
"Ii
it
_ r ir . r _ r L! . I'
Ii- 2 T "ii_ i"i* "- 2 . 2 1 iiii". i. i_ at i"i ' i. s
31 '
- I- I
it
I- |' - I 1 - I
. il '
ir r _ . r T- ' |_ E . |-
a an Tis an- . et c.
al l
J
iv _ it # 5 1 . |-
Ei""E. =. _ iHF:
ag
This gives a =ii
I
. i' 5 l ' - . .
Mul t ip l y t he new r nw . 1 hy and suhr r aet Fr nm r nw - i. giving
E1
. i
J I
. ! ! I- iii
. l ' i" I" dig i" i". I' ii =1 1
I- is _ iii. - H ii- ii"' it _ =. _ ' 5 :- i. _ i . - as
- Piss - I1 1 1
a- . |- _ _ '
at
r r _ 1 ' - ' ii. ' - ! . |-
f _ it 4 T 3" - iii ;
33
This gives aii; =l l
This p r r icess is cnnr inued iiir r nws 3. t i. 5 . . . . . it .
Excep t Fnr t he secend r nw 2 t he set dnes iint ennt ain xy -
The next r nw is used as a p ivnt r nw and t he p r neess is ennt iiiued unt il t he { t il l
r nw is used as t he p ivnt r nw. "i- l l - "hen t his is enmp l et e t he new sy st em is t r iangul ar
and t he sy st em ean he snl ved by hael t suhst it ut inn.
Fi- l ' HI E|iI]' iIl ' _ ' 1 ' l L"l ' L1 J1 ' f _ ! - ' ii' :il ' l ' _ ' l l I' I Fl - ' l 1 ' t il t ! I' l ' iiI"' ii' t " Cl l . ' l - iIIi' - l :l l l ' _ ' iil ' 1 ' 1 l i1 ' ii5
iii"
l s .
aT' . =a. ; xa. r i=ii. ' + l - ii* + . l . . . . . a
i_ _ i i_ i . i' ;
iii
_ i=. - i* + 1 , ii' + 3. . . - . a
wher e . i* is t he p ivnt r nw.
Mat r ices I 5 9
These np er at iniis nnl y al Tect t he an and r j t er ms. Thus. we need nnl y np er at e nn t he
. 1 - iand Cmat r ices.
Examp l e 3. 5
I. - l iven:
x1 - f ix; + x. _ =- si
- 3- x] + - ' - ix] + 3x_ , | =l [ l
3x1 - l exz 1 x_ , _ =l 3
The augment ed cnel Ti- cienr mat r ixis
l s 1 |- t i
t r , - 5
. - l a = - 5 - ii 5 |l il ' muit ip l y t eiwl hy i=
ii an 1
_ 2 s - 2 | is _
and suhr r aet f r em r nw 2
r nw 3 hecciiiies: i_ 3+ 3}. { - ' 1 iEi}. i[ 3+ i' i}. { 1 il l l l =iil . ' i. i' . i. 32 ]
The new mat r ixis
l 3 1 |- i
- - iii: 2
Eiy xt e dig = ii- 5 I5 I- 2 2 mul t ip l y r nw ihy T=T
ii
- 1 sa|is_
and subt r act Fr nm r nw 5
r nw 5 becnmes: (l l l . iii- + El . I[ . T- I El . { iii+ ii} =ii]. * l . s' i, 3t 5 ]
The new mat r ixis
- 1
l - s 1 |- - i
- is. . . y . . i. . . i_ g= t i- s - is |- is
_ t i' 5 1 - - 1 | at - _ i
ii- I] I Numer ical ar icl anaiy t ical Met hcicl s wit h MATLAB
We iinw use r nw 3 as t he p ivcit r nw.
1 - s i[ - 4
Eiy iiia r ing: l l f iiii|. l . l mul t ip l y r nwL. ' l ' . hy ji=%
' l ' l '
I- 1
_ _ l l ii- si| . 1 - I5 _
ancl suht r act Fr nm r nw 3
r nw 3 becnmes:
{ l l il ]|. [ El ' Et t ii). (- ' i+ 2 :- t t 5 ], [ l t ' iE:- :32 ): [ i]. [ i, . l :l E]
5 5 5 5 5
The new mat r ixis
1 - s i|- t i"
Eat iia . im= ii iiii|. . ' i. ' i
_ l l l l
ii- 4| 6 3
5 5
The sy st em is nt iiw t r iangul ar .
gives
l :- . quiv Ft iii= Li
x1 3x3+ x3_ =- t i
- 5 . 3- ' 2 + iiixa =- 1 3
3- i E3
_ , g =_ _
' 5 ' 5
34 1 5 3
a. , =- =i. . ~ . , =- a
i' i '
l
x1 =gil l + t ' _ i{ . l _ l ] =E
x1 ===i+ f ' . i{ E}+ . ' i=":i
Mat r ices I E1
l r i"' r nw
Cnmp ar e
Fnr max|. t :t _ g|
Figur e 3. ? l t r iw int er change-
' l ' wn imp nr t ant cnnsider at inns:
l - iiagg is t er n. wher e ii' is t he p ivnt r t iw. t hen t he p r t icess cannt it he car r ied nur -
3- G r eat er accur acy in t he snl t ir inn is nht ained iir he p ivnt el ement is t he abst i-
l ut e maximum avail abl e i1 [ ' l ]l ' |' l t he set . That is. if t he p ivnt r nw is ii . nne cr im-
p ar es t he a- hiihr i=it + 1 . l i* + 3. . . . . ii{ see Figur e . i' . ' i. i' l . iil ag is l r t ul . t hen
t he r nw cent aining t he l ag mg is int er changed wit h t he l it h r nw. ' ihis nnl y
aEect s t he nr der ing nf t he equat inns and dues neit al ' Fect t he snl ut inn-
l FaFt er r nw int er change is car r ied nut and nne iiit he an ; r emains t er n. t hen t he
sy st em is singiil at and nn snl ut inn can he ebt ained.
Cir ie l ast eniisider at inii: it cat ibe sl iciwiit hat iiit he magnit ude nil t he p ivnt el e-
ment is much smal l er t han et her el ement s in t he mat r ix. t he use nit he smal l p ivnt
el ement wil l cause a decr ease in t he accur acy nit he snl ut inn. l b checl t if t his is t he
case. nne can Fir st scal e t he equat ieins; t hat is. divide each equat it in by t he ahst il ut e
maximum ct ief l icienr in t hat equat iein. This mal ces t he ahsiil ut e maximum cneFFi-
cient in t hat eqt iat inn equal t n Lil . ii] aL. | in t he p ivnt r nw s' . sl l . t l 1 eT1 t he snl ut inn
may he inaccur at e.
3. 4 The G auss]nr t l an Met hnt l
The G auss]nr dan met hnd is a mndiiicat iniiniit he G auss El iminat inn iiiet l icid. it
al se t r eat s t he p r nhl em t il sel ving a sy st em nil inear equat iens nit he f ar m Al l =
LI. In t his met hnd t he nhject ive is t n nht ain an equival ent cciei- l icient mat r ixt hat .
EXCEPT ii- ' [ ]I' ' i. ' l ' l - [ I . [ TiEl :i. I1 t l l l gl l i. El . " - l L' il l II' |' IiiII' l . l Il ' iH. i' t ' _ " l ' . L' |"iLl - _ . l - l ' l l l I' |' |' l l l I' iil ' I' l LHIl 5 l I31 ' |il ' il il l |. |' l i. . Hi- ' ii|' I t il l :
l ' . _ iauss El iminat inn met hnd. by nding an eqi. iival ent mat r ixt hat is t r iangul ar . it
t hen cniit inues. assuming t hat Piis an iixt imat r ix. using t he t ir nw as t he p ivnt r nw.
niul t ip iy iiig t he iir h i' nw by a_ |_ ||, . . i' a |_ , . a|id st iht r aciiiig t he r esul t iir nni|' nw it 1 . t hus
mal t ing t he new a, _ _ , |_ . =il . l l ie p r ncess is r ep eat ed Fer r nws iiLl . ii . l .
B2 I Humer ieaiand Anaiy t ieaiMet huds wit h MATLAB
Examp l e E- . 5
As an est ar np l e, t his met hnd is ap p l ied t n Examp l e 5 . 5 . St ar t ing f r em t he t r iangul ar
equival ent r nat r is
il -
1 - s 1 |_ s
s' qs; snW= a - s s|- as
is [ 1 E|_ E|
5 ' 5
mul t ip l y r nw 5 by i- . ' l . J_ :||. l ' l i]. _ - ||_ :|_ : 6 I- =2 5 5 - iiand subt t aet f r nt n r nw I- 1 . Row 2 becnmes
t s - sar ss it t s, { - 5 - sar ss st as is - saiss it ssssi,
r ; - as + sar ss st ssss} =t a - 5 a _ 1 aJ
Mul t ip l y r nw 3 by a, _ =_ |l a_ U= 5 1 3- f l and subt r act f r em r nw I. Hnw 1 becnmes
(1 5 i' ? 4 I l l s [ - 5 "5 - "' f _ ' H- ' iHI l l }, [ 1 - - 5 1 5 4 I- ' 1 . ? - ==' . l 1 "5 iil - 4 + ' 5 - "' . l l I - ' . l I EH1 5 } =[ I - 3 U - 1 ]
The new Eqit in AW beeer nes
' 1 - s s|- 2
Eq1 n' s' . r * l _ ! = U - 5 U |Il J
U U E|_ 5 _ 3
_ 5 5 _
l "' - l uw r nw Iiis useel as t he p ivnt r nw. Mul t ip l y t t :- w 1 by . r 1 |I, - ' ieu=5 1 5 ant isubt r act
:l "r t 1 - m r nw l - Fi. - t 1 - W l becnmes
{ 1 ; "u' 5 :=t Di- i3+ 3- I5 st 5 }, ([ 1 3i' 5 ":- t t ]}, { - 2 + 3i' 5 :=t 1 1 ]}=[ 1 U U - =i]|
The new Eqt sin Am becnmes
I l ] Lil - ii
En- ' ssit s. t iM= [ I - 5 l ]|l l ]
H H 5 4 _ ss_
is 5
Mat r iees I E3
Thus, t he equival ent set nl ieqnat inns becnmes
at =4, - s at : =- l a, sass it =- ssis
t ' J1 ' . 1 r | =- ! i, . 1 r =2 , a- _ y =2
which is t he same answer t hat was nbt ainet l ear l ier by t he G auss El iminat inn met hnt l .
3. 5 Number nf Snl ut inns
Eup p use a G auss El iminat inn p r r agr am is r gar r ie- Ll t aut ant it he i _ nl l t :|- wing r esul t s
ar e nbt ainet l :
' i' 1 |I1 + I|sIs + ' i|_ sx_ =. + "' + i|a "r s =5 !
II st , ar , i+ - - - + n' 2 a:_ ? =r l
:' _ | I- | !- I . 1 . |. |- 2 |
an at } + - - - + . r t _ , m. 1 t =r s,
_ . |_ . . . . . . . . . . . . . . . . . .
1 1 3' at + - - - =s
IT i" J
' [ i=e
r + l
D =L- r + I
J. ||-
U=s M
"|. "|"l ' IE1 ' E I "1 : H 3. I1 Ll H1 ] , E33 , . _ . , ' I|_ r EYE Tl I[ ]' l I I- ETC}- - 1 - l ' l E1 ' l ' I EITE |. "' |. ||"[ ' l l Fl ihi IE3. - JESI
{ 1 } l "' ~ l t ist ]- l ut inn iFany nne t 1 - iit he { NI t hr nugh r is nut aet n.
Il l ] Innit el y many sel l ut it :- ns ii: 1 - H t isr nugh en ar e al l zr er n.
IFr =n and an . an . . . . nun ar e net t er n, t hen t he sy st er n weul t iap p ear as Fe- l l nws;
nu at + nu If + n' |, _ at + - - - + st at =. r |
al l xi+ an xi+ - - - + 1 1 2 "an =:2
. |- :5 5 at , + - - - + n_ M. 1 - t n =r 5
. |. . . . . . . . . . . . . . . . . . . . . .
+ . . . . . . . . . . . . . . . . . .
t r at =e
F|"|' 3| Fl
Fnr t his ease t her e is nnl y nne snl ut inn.
E4 I Numer ieaiandsinaiy t iea! Met hnds wit h MATLAB
3. 6 Inver se Mat r ix
Liiy en:
AH =I3
A- AH =II =I =A"' E
l y iA' I' LAE' s r net hnel nf snl ut inn
K =:' nr r l Ft ] B { sol ves by . ~ ' iF' ]=
nr
I=. . - "i. |"B { sel ves by G auss El iminat inn]
Let us see what is iny nl y ed by det er mining A- 1 :
a- ' a =1
Let s =a- 1 , t hen ssa =1
It wil l be t l eni- nnst r at et l l iar a F5 is: 5 mat t is.
E7 1 1 5 ' 1 " bis q "7 |t l l r s _ "1 El U1
' i"s1 "5 2 : ass is: is: Eat = H I H
in i". + 2 ' il =u_ ' _ "". 1 | "Isa "1 . + . s_ - U 1 .
Fir st r nw t :- FE". "it
El ement I[ i, i]I: t i- I' HsI' H - |- El l e + t i1 ' Hn_ =l | - n an an -
El ement l l il ir l i* HsIH+ ir ? HsiH+ ii- ' l _ + - sin =U | . - l T= :1 ; :1 2 : sq;
Eiement { ], f |}: |iI' H. t IH + E' |L|. l ' I1 . _ |- + . ir H. :a' _ H =i] l III. " H1 3 H5 5 _
Her e is . 1 5 1 :. ant i1 ' 5 - ' 1 1 , ar e t he unl - t nt r wns.
bl l - 1
Let sl = 5 ' 2 . 1 ' l ' l EH . - Fa, = s
sl y _ a
Snl y e Fur Eu, 5 , 3, ii- 1 5 by G auss El iminat inn.
Seennr l r nw nFE! i Ft
Mat r ices I E5
El ement [ Li]: . t iIHst H+ |i1 I, , . r r + 5 it - [ l l
. . . . . i' l 1 3- # 1 _
El ement (1 , 1 ): hal al : + il nen + l it e_ , _ J =l
El ement (1 , 3): Et na + Jir Ht t _ H + t it hes =I]
Her e E1 31 . s- H. and t it ar e t he unl t nnwns.
Let B;
Tl l l
= E:- t *
_ i' s. i
- u_
t hen i- iTB_ t = 1
_ _
Finl ve Fnr 5 2 E1 2 1 , anel 5 - H by G auss El iminat inn-
il hit t ir nw nf EUR
El ement (3. 1 ): E- t un + hung] + ewe =El
- I I L
El ement (5 , 1 ): nal : + h3_ 1 an + hiy a]: =i]
El ement (3. 3): Evit a]; + i=_ unE_ , | + . ir _ , _ _ p :_ =1
Her e by ". bu, ant il :t , r , r ar e t he unl t nr awns.
EITIIT U
Let Bi: bu , t hen A? - B1 : [ i
3. 5 5 _ ' _ 1 _
Sal ve Fnr El m, t in, ant ib_ ||. ! | by G auss El iminat inn.
An al t er nat ive [ 1 ] t n t he met hnel el eser ibeel abeve is t n augment t he eneiiieient
mat r i:- t wit h t he iel ent it y r nat r it t , t hen ap p l y t he Liauss_ inr t l an met hnd mal - t ing t he
enef l ieient mat r ist t he iel ent it y mat r it t . The t 1 - t iginaiicient it y mat r ist t hen becnmes
Ft ' . The st ar r ing augment ed mat r i:- t Fnr a 5 is: 5 cneiht ient mat r ia is shnwn hel nw:
|' -
. | II
|- a- |-
iii H hil I D U
eh] H , t r it | U I ii
t t an t s | U iii
f t - E I Humer ieaiand Aneiy t ieal Met hnel s wit h MATLAE
Esamp ie 3. ?
This met hnd is il l ust r at ed by t he l bl l nwing er - samp l e:
it , 5 . r 1 + . 1 t , | ="- t i
3. vl - 1 - ~ =i. :- :3 + Sag =l { i
I- iat l + 3. 1 - :2 - Ex} =1 3
1 - s1 |1 nn
. s, _ m=- s 4 s|a1 a
a EiIiI[ . iE|1
Mul t ip l y r nw l by - Emil and subt r act Fr t sr n r nw 1 , giving:
l 5 + 3:- t l i. ' I* i5 >t 3i. { 5 + 5 H1 Ll + 3nl i. l l + 5 Isi"l l
{ t ! + 5 5 s; t ]}={ EI - 5 t iE5 1 I1 }
Mul t ip l y r nw I by EH =1 and subt r act l r nm r nw 3, giving:
{ 2 ; ? ! h- t l ]l , { 3- 2 at l { i}}. [ I2 Hl l t l l l 2 IsIl ' ]I. l [ l i1 2 =- t il ],
- [ I- ~ . ' i3- t i"i]l =[ l ' i9 - 4 - E [ I I)
1 - s1 |1 a s
t sst st I. . y =a - s s| s t t r
a s - 4|- a [ it _
Mul t ip l y r t :- vv 1 by - - Hi5 an- t isubt r act Fr t sm r nw f ir , giving:
in + Eiiit at El i. t s + 5 - iiat [ - SH. { - 4 + EH5 st t i], t - 2 + i it ii}.
{ t r + EH5 it 1 }, |[ 1 + El i sf D} =t n [ I 3s' ii5 1 ? i5 EH5 1 }
l - 3 l I l 1 1 ] U
eiy nit t s- ' l |m; = l l - 5 iiiI 5 l l l
l l [ l . ? r ' i. |"' . 5 I 1 ? - ' . i it - l ' :"' . 5 l
Mul t ip l y r nw 3 by 3Ui5 - t iant l subt r act ir nnt r nw 2 , giving:
t a - saiss it 1 1 1 . 1 1 - 5 - 5 Di3- iI 1 1 1 , 1 ; - s - st vss at sit e- 1 . is -
Mat r ices I ET
5 1 1 1 - i5 =' iat 1 i' i5 i.
[ l 5 Di5 - - i1 ~ :5 ' i5 i1 i5 Ui5 - asl ; 1 ={ l ] - s t 1 t 1 - aat ss - sat e- =1 1
Mul t ip l y r nw iiby _ ' . iii' . r - ianr l subt r act it em r nw I. giving:
{ ' 1 - siss s: 1 1 ' 1 . t s - sis- 1 1 HI a1 , 1 { 1 - jiE' . - - ia ssis1 . 1 1 - st - ss st 1 t i5 1 .
t a - siss 1 - t st sI1 . 1 a- siss :- : 1 1 =t 1 - s 1 1 1 1 a - siss 5 i3=' i}
1 - s 1 1 |1 n - svss -
1 ~ . ; . - 1 iss. - 1 , , , _ g= 1 1 - s 1 1 1 1 1 - at vss - set s- s
[ I I] 31 - ii5
Mul t ip l y r nw E by 3- iiiancl subt r act Fr nm r ew 1 . giving:
{ 1 - 2 ". - 1 ' 5 1 : El ]. { - 5 - 3i5 1 - t (- 5 1 1 1 ii"! - M5 at l I1 i. l l 1 ' i. ' . - EH5 1 - : Iii.
5 1 "; 5 si
I ms s- is 1 _
l Eiif ' 1 si+ EH5 at Z l iif vl l l . l 5 i5 =i+ 35 at 3l }i3=' i]| ={ I iit iIii . 5 - 1 "3s' - i IE . - isi}
1 t 1 1 1 | l if t sis- s 1 s. e- 4'
e1 ; t niv. 4gg= D - 5 iiI ii1 Uiii- =' i- 5
[ I I] 3- ' i1 "5 | 1 ?
Divide r nw 1 by - 5 anel r nw 3- by j5 =i1 ' 5 . giving:
1 1 1 ii| us set t siss
e1 gni1 i. t l _ _ g= [ I 1 [ i| D =ii5 - ' - ' i 1 5 i3~ =' i
1 1 t r 1 | ua svss siss
Thus,
ua sis- s is- is- s
. 1 "= t 1 sis- =1 st ss
in svss siss I
l t is l eFt as a st ut l ent eset cise t n sl 1 t 1 w t hat . i. l _ t =J".
i5 5 ' 1 5 1
[ Iii- si
I5 3 I Humer icaiahdsl naiy t ical Met heds 1 . vit h1 "vi. - 1 1 TLAB
3. 7 The Eigenval ue Pr nbl em
Line ver y imp nt t ant ap p l icat inn nl t he eigenval ue p r nhl em is in t he t heet y nFvi|:1 t a-
t it ans- [ it ]- nsit l er t he t wt 1 Fdegr eesFt 1 |i_ + l ' - r eedum p - r r _ 1 - bl em shnwn in Figur e 3- 3.
The gnver ning dif f er ent ial et |uat it ms descr ibing t he r nt 1 |t it m t 1 - l it he t wn masses ar e
r 1 v]5 . 1 =r isk, l a : ac l 1 l . ' |. 1 r | l l H
iTJg_ i1 i3 : . l i* r 1 _ [ ETA II] 1 i; ' _ , _ _ t ' E_
We wish t n det er mine t he r undes nl l nscil l at it t n such t hat each mass unt l er gnes har -
mnnic r unt ieu at t he same l ir equency . Tn ebt ain such a snl ut inn. set
st ] =Al e1 t p l t ' t ut l H1 5 }
:1 1 ": =sl y esp l it ut l (5 . 1 4- I
Subst it ut ing Equat iens l 3. 1 3} and l f 5 . 1 "- iiint e Equat inns [ $ . 1 1 ] and I[ 3. l . ' il gives
ii + it l . it ,
I t |1 "I. ~ i]- . ~ =t 3=1 ' J ii - . 1 5 }
i' i' l ' | Fil l
sz ii , + 1 1 ; I _
t i. + * ir s t i; = 1 s. 1 t - . 1
i"i' i' mg
| _ |
I-
Et |uat inns l l l f il ant il l l l ar e t wn ht int ngenent l s l inear al gehr aic et . I1 1 at inns in t wn
unl t newns. Ther e is a t heer et u i|1 l inear al gebr a t hat say s t hat t he nnl y way l iar t wn
l l - I kl R- i

I iii Ii
l I
Figur e 3. 3 Twu- degr ees- hf - f r eet l um vihr al inn sy st em.
Mat r ices I B9
hem- t igenenus l inear al gebr aic equat iens in t wn unl t niawus t n have a ncint r ivial snl u-
t inn is int t he det er minant cil t l ie ceeicient niat t iit t n be t er n.
Iii + ii, BI ii,
. _ m _
HI! i' Ii"il ' |
kl kl + kil ml
Hi : i|' I' il !
I
Let t ing
i. - + . i- ii, ii, ii- + ii
ii=ir ||, * =. =r |, . * =aE1 . i=t r , : t r r i. - :t ' l l . I. ' I- l =i' I. -
PHI H' Ii! | my t it t y
- Tl ! ! ! |L' L' Il . l 1 ' l l IiD- I1 l _ IL1 If il l . l Ir t IELiIf I1 L 5
if - 1 . - in + an}l + (snag - . sl 1 a' I|]=t i 1 s. 1 s' 1
The st il ut it in [ IFEquat icin { - 5 - - 1 ? ) gives t he eiger ival ues, . . ii. | . r r r t . - al l il 1 . g, |. I|. Fl 1 iEl l ar e t he
squar e nit he t wn nat ur al Fr equency nFnscil l at inns l hr t his sy st em. The t at in n- iit he
amp l it udes t il t he t iscil l at it in t il t he t wn masses can be ebt ained by suhst it ut ing
t he val ues al l it int ciEquat icin [ 5 . 1 i} t ir Equat icin l . 5 . l l 5 h t hat is.
A niii+ ii'
a : _ _ A _ i I 1 1
AI l a Jl ht u gt I ml II Far t he r st mt ide
and
A it + ii,
i={ it H l ' |. . 2 Fan MEI L ' l l ] l hr t he ! i=L"E[ J! ' l { . l nit ide
A1 E1 ml
The eigenvect e- t . l - t i. assnciat ed wit h l l is
_ * "h{ ' ' || T l l y il
l l l
and t he eigeiivect nr . l . asst iciat ed wit h is
Al
TA1 (aiiT l al l dia
Ft } I hiumer icaiand. - ' - ' 1 nai' y t icaiivier hat is wit h MATLAB
Since al l is ar bit r ar y . we can sel ect A1 =l . t hen
1
V1 =I_ |:H _ g]ggl 1 I (3. 1 3)
and
1
l - S3 =I _ h- ii _ ghg1 HE|J:I
IF[ l l Vis an eigenvect t ir t :- Fa mat r iit st et ir r esp nnr l ing t n an eigenval ue l ie, st iis hit
wit h any iiis- l l .
1 ' viAT1 . AB s eig Funct icin
l ' v' l il ' LTL. - ' 5 iE has a buil t - in f unct ien t hat gives t he eigenval ues t iir a squar e mat r iit I-
Mh. Tl . hE s descr ip t it in t iit he iunct it in Ft il l t iwsz
E =eigl iil is a vect er cent aining t he eigenval ues nia squar e mat r iit il l .
[ "v' . EI] =ei' gi[ i' { ] p r educes a diagnnal mat i- l it D nf eigenval ues and a f ul l mat r iit v
whnse cel umns ar e t he cet r esp nnding eigenvect er s sr it hat 1 1 1 1 * - * ' ="v""' U.
Fr i- r t he p r nhl em Lit l er disct l ssinn, mat r iit is r ep l aces mat r iit I, Thus, t he st at ement
[ Th D] =eight } gives t he eigenvect cir s asst iciar ed wit h i' 1 . | and 1 7 1 . 3. l v"l :. l ] is asseciat cd
wit h it , and "v"l [ :, }. "l is assciciat ed il . _ - , .
Examp l e 3. - B
Sup p nse in Figur e 3. 5 t he f iil l ciwing p ar amet er s wer e given:
it ' l l =nr _ , =l ' i- [ l l ] kg. i- 2 | =5 1 2 5 ! ] 1 "' s' l i' r i* r . 1 i' I =Siil il l i"' i"i"t r r . 1 i:_ , _ =El l il iil iNir r i
iii. p r egr am t hat wil l det er mine
1 . ' l he eigenval ues nf t he sy st em by bet h Eqnat inn l 3. 1 ? ' l and by Mh' l ' Lhl 5 ' s eig
Funet it ir i
1 - The eigenf unct inns by bt it h Equat inns [ ELIE] and l ? u. l Sl } and l "v' l h. TL. ' 5 ' I1 Eis
[ En] l * "unct i- nn
ibl l nws.
Examp l e 3. 5
s eigena. m
iEigenval ues and eigenveet exe
iE
t [ U. D] =eigiel p r educes a daagenal mat r l xD of eagenvel uee and a
s f ul l mat r ixV wheae eel umna ar e t he eer r eap eneing eigenveet exa ae
s t hat e* U = ? * D
iUnit e ar e in 5 1 unit e
s Lamda* 2 - r ai1 . 1 J+ a{ a, aii* Landa+ t al 1 l it aia 2 } ail ait at a 1 ii=a
b=- t at 1 . 1 ]+ a[ 2 , 2 ii. c= - a 2
Lamda1 ={ beqr t t h 2 4* ciit s
Lamde2 ={ b+ aqr t t h 2 - e* c]l ii
E=eig[ a];
f p r int t Lamda1 =sT st Lamdaa=eT 5 ! in Lamda1 , Lamdaa|
f p r int t Ei1 i=t ? . 5 t eiai=ss 5 f n E
v1 =[ 1 ; { et l , 1 i- Lemde a 1
v2 =[ 1 ; - { et l , 1 iLama2 if ail 2 }]
Lamda1 =2 . DHLE5 LamdaE=E T5 1 1 9
Ei1 i=E. DB1 H5 El El =E T5 49
I31
v2
M1
M2
D:
Examining t he r esul t s. it can be seen t hat Lamt l al =EU) and Lamcl ail =El l ] hl st i.
V1 is a scal ar mul t ip l e eivl and V2 is a scal ar mul t ip l e nFv2
I- . l . _ l ' l l , ! Fl l wl g l ' ESl , J. l IE WEIE Il l Jl IIl ; iEl . If l ECl
: eig[ a] is e vect er ennt aanang t he eagenvel uee ef a equat e MEEILI a
cl ear ; el e;
k1 =32 5 Ur h2 =35 Dr k3=3DU m1 =1 5 D m2 =l 5
at 1 . 1 i={ h1 + kEiim1 i
at 1 , 2 i=- kef ml i
ei2 , 1 ]=- kif mi;
at 2 , 2 ]={ k2 + k3]im2 ;
[ V. Dl = eigt aii
M1 =Vl :
VE=Vl :
El
- t i.
- t i.
DUDE
U35 4
U
SE49
EH44
T1 5 5
T1 95
E944
U5 1 3
, 1 ]
, 2 l
U
E. T5 1 5
Mat r ices I 5 ' 1
F1 I hit ir iier icail ar idir iaiy t icaiMet ht ids wit h M. t l Ti_ r - Hi
Exer cises
Exer cise 3. 1
Use p encil and p ap er and t he G auss El iminat inn niet l ied r e sel ve t he l bl l ewing
sy st em ef equat iens:
a- Ex] + ? - xix, i=El i
six1 x_ , - is 3x5 =l "i
x| + ' 31 - t i+ x_ , i=El
l i. 4x; + t l x3+ x_ , =t l
; . ' ix| 3x_ . + . 1 x_ . i=1 - t i
x| + 3x, + - t i:- 1 5 =3- U
1 ; - l x1 + xI+ x_ y _ - l l x:i=l
5 1 1 , i2 } i. :+ 5 :. :- 1 Ii4:. ; | =5
xl x:+ Eix, i3xii=_ 3
3x| + six: i"' xI+ Ex_ i=F
Pr eject s
Pr eject 3. 1
Fer t he iial l ewing t r uss st r uct ur e [ see Figur e l 3. 1 ]| wr it e a MhTLh. E p r egr am
t hat wil l det er mine t he int er nal f er ces in t he st r uct ur al member s by t he met hnd
descr ibed in Examp l e 3. 3. Pr int eut t he r eacr inns. t he ceei- l icient mat r ix. t he mem-
ber s int er nal Ft ir ces. ant ia checl t t in t he scil ut inn-
s 1 - ; D F", F PM H 1 - ", 5 r gig
1 2 - F1 is is 5 1 1 5 1 5 . - IL- 3|
t i t
1 . . t i3- I- it i- T 4s. ~ . - 1 : gr - iv I 41 - it , - . - ; 3* - it . ; .
I E1 bay s at iil l each I
Figur e F3. 1 Tr uss st r uct ur e t nr Pr ciject 3. 1 .
Mat r ices I F3
G H . l '
- l l - i5 iii"- ii
hm
F F ' i il - - st - . v
E l il m [ It il - r n C
is i. - iv is r . . v E m Fr .
H
5 - t is siv
F1 1 TI FE
r l
L.
Figur e FILE Tr uss st r uct ur e f er Pr eject 3. 2 .
Pr t iject 3. 2
Fer t he t r uss st r uct ur e shewn in Figur e F32 wr it e a l ' vl . hTLi' - l . l 3 p r egr am t hat wil l
det er mine t he int er nal f cir ces in t he st r uct ur al member s by t he met hnd descr ibed in
Examp l e 3. 3. Pr int eut t he r eact iens. t he ceel l icient mat r ix. t he member s int er nal
il :{ . ' l I' - l :t _ "5 , End H t ' _ ' l ' l l . l iI' l :l :' [ El |' | ' l Il ' l * l ' _ " t . ' i[ ]' l |. l l . ' l . C. ' l |' I.
Fr t iject 3. 3
TEL H, l , . I. Hil l ' l l . - l t i]. l . T. |. l . l t i1 l ' l ' i. |, |Fl E[ ' l 5 l . l l . ' il I' il 5 :Ii' l ' i. ' l , ' t , ' l r |' | ih 5 i|' |' il l , ]. l H, ' l , ' t , ' i- III Lil }- " l ; ' l |- ii"- l l ! sp r ings t :l i' il |' |l T|' l i; l ' |l :|. "l ' ; ! t ; . I. H bat
st ip p t ir t ing t he aut emehil el s weight as shnwn in Figur e F3. 3:1 . We shal l assume t hat
t he ends eiit he sp r ing ar e at t he same el evat ien and I is measur ed dewiiwar d ir eni
t his p esir ien { Figur e P3. . ' i. bI. The aut emebil e weight is ap p l ied en t he bar at p eint
Li. ' l he equil ibr ium p esir ien at t he bar is shewn in Figur e l * 3. 3c. ' l he gever ning
equat it ms at t he equil ibr iur n p esit inn ibl l et v:
2 an =[ i=- t ux"- Ll ii- H} - s- _ , 1 ix + 1 1 . , an} + iv |jP3_ 3; 1 _ }
Z Mt . ' . i=U : SiUS- iiT Lt iiibi- 1 T Saixii+ Lziiiu- 1 il l ? - 5 ' 3"}
l it he sy st em is t l isr ur het l and r el eased. it wil l vibr at e at it s nat ur al Fr et |1 iencies. The
sy st em has t we degr ees t iiir eedeiii. r esul t ing in :1 ver t ical and a r et at it inal vihr at ieii.
Fit I hiur iier icaiand Anal y t icaiMet hnr is wit h MATLAE
{ T
Uiist r et c het l p esit ien
- I
I
[ bl -
Ll n st r et cl t e d p u sit it in
' El i- :I_ |- . l l . l l i|Jl ' l . l . . l i' [ l I:. il 1 . l ' 1 ' il . l . il t . l ' E1
1 1 , _
m "l l
- - . l l nst r r r t che- r l p r isit i- r ir i
. ' 1 |; ' I- I Equil ibr ium p - r isit inn
Q - _ - T"
m H [ El l
II- , H
. 1 " =xg + . 1 r
Figur e F3- . 3 hut nmnhil e susp ensien sy st em.
Let xbe measur ed ir uiiit he equil ibr ium p esit inii. t hen
. Jt =. it , J + . v and =it
The gever ning equat it ins descr ibing t he vibr at ing sy st em Ft il l t iw:
ii- :l ". iE =- ii- |[ . t + . 1 LI { t in + t i]- I . i. =- _ _ [ . i1 + . Jt ' + L_ _ { i' "iu + 1 3]] + iii Ip 3_ 3, . _ - }
1 ' 1 s=. t 1 - Il l - in + s - at an + a1 it , - szt x + . . - + sl it s + sin: er a, - at ;
sis =t - |[ . 1 1 ' I| - 1 1 , t ip - t gt if u - . gauj1 + 1 r t - . 1 t x- t ]e' 1 - gi_ . . - + eeit s _ i_ - _ - =. . - 1
Mat r ices I F5
l l - y Equat ien I[ F3. 3a]I, t he sum at t he l ir st t hr ee t er ms en t he t ight - hand side at
Equat ien { F3. 3e} is it er e. Thus.
* ' dr ' l S=T"S|l :STl 1 l _ S3' [ I+ L:
Simil ar l y , Equat it in { F33- dl can be r ewr it t en as
=t r , { it ' , , L, e_ ]}i L, i. - 3t . 1 1 ' , 3 + . E- 2 1 - 3- |:|:l . [ |E + his t , 1 5 it , . t - 1 { . v+ iI. . _ 1 5 i. - . 1 1
' [ P3- 3gi
Eiy Equat ir in [ P3- 3bI, t he sum t il : t he iir st t wr it er ms nn t he r ight - hand side t iF
Equat ien { F' 3. 3g} is it et t i. Thus.
iii=hl t xL] t 3:l ' . t L, . i' 3i, . 1 r + . L:t 3}. t l . : t F3 1 _ ' _ ? |1 }
We wish r e det er mine t he medes ef escil l at ien such t hat t he ver t ical and r et at ienal
vibr at iens ar e at t he same Fr equency . Tn ebt ain such a sel ut ien, set
x=r iexp t imr } { F' 3. 3i_ l
s=s- ssisvi { P33- ji
Subst it ut ing Equar iens I[ P3. 3i_ l and I[ P3. 3_ i} int e Equat iens I[ P' 3. 3F, l and [ P3. 3hl .
r esp ect ivel y , gives
IEJ%i' - r _ _ , _ - J, _ - , i]_ , . 1 [ Sit kg1 ]3=n t P3. 3l t I
t r . - . t - . t ar t , it i.
I%Ig + I%:' b_ , , ; . - I, a=1 ; 1 , y ~ ; . , _ ; , |; ,
Using M. h. TLhl 3' s eig f unct ien. det er mine t he nat ur al Fr equencies e- f iescil l at ien
Fer t he sy st em. Use t he l el l ewing var iabl e val ues:
ii, =35 1 - t l ' * ~ l i' r n, 1 i' 1 =33 l t l ~ l 1 "r r i, . i. , =l . =ir r i. L] =1 . ? iii, . i' v. 1 "= l 3' l Jl } l t g,
1 " =El il iil t g- nil .
Pr eject 3. 4
Sup p ese a manul iact ur er wishes r e p ur chase a p iece at equip ment t hat cest s
5 - l { l . [ l [ i[ l . He p l ans r e ber r nw t he meney l ir em a banl t and p ay et l it he l ean in
l l ] y ear s in 1 . 7 - iiiequal p ay ment s. The annual int er est r at e is 5 %. Each ment h t he
FE I Numer icet andr t nal y t icaiMet hect s wit h M. - t Tl . . it . E
int er est char ged wil l be en t he uiip aid bal ance ef t he l ean. He wishes t e det er mine
what his ment hl y p ay ment wil l be. This p r ebl ein can be sel ved by a sy st em ei
l inear equat iens.
Let xi=t he ameunt in t he jt h p ay ment t hat gees r ewar d p ay ing nit t he p r inci-
p al . Then t he equat ien descr ibing t he jt h p ay ment is
T n=y ]
J- y iiy iay r r ir nr =M =it . + I F2 it I I (P ! , _ . t t ; 1 I
n- l
wher e
ii- 1 i =t he ment hl y p ay ment .
t i=t he ameunt ber r ewed.
i=t he ment hl y int er est r at e =annual int er est r at e1 "1 . t .
The t et al numher nl it inl - t nnwns is 1 2 1 [ 1 ' . - Hixval ues and Ml .
hp p l y ing Equat ien (F3. - t ial t e each ment h gives Il l ] equat iens. Cine addit ienal
equat ien is
n=l 1
P =Z an t Pf i. - ihi
W- L
Devel ep a cemp ut er p r egr am t hat wil l
l - il isl t t he user t t ient er Fr r im t he l t ey ht ia r d t he amt iunt t iFt he l t ian (Pl , t he
annual int er est r at e, l . and t he t ime p er ied, ' 1 . in y ear s.
2 . Set up t he sy st em eil inear equat iens. using . r l M, , as t he ceel t icient mat r ixei
t he sy st em eil inear equat iens. The it r ep r esent s t he equat ien number and r r i
r ep r esent s t he ceet f icient nix". in t hat equat ien. Set ar m =M .
5 . Sel ve t he sy st em eFl inear equat iens in Mil t ' l ' Li' i1 . l 3.
4- Pr int eut a t abl e cnnsist ing ciFFt iur ct il umns- The r st cel umn sheul d be t he
r nent h number , t he sect int l cnl t imn t he ment hl y p ay ment , t he t hir d cel umn
t he ameunt eit he ment hl y p ay ment t hat gees r ewar d p ay ing ef it l ie p r i|ic. i-
p al . and t he ibur t h cel umn t he int er est p ay ment ibr t hat ment h.
Ref er ence
l . l sir ey saig, E- , . r ia"i. vr r i' cet i". E' ir gi' iieer ir ig Mr r t hemr r t icr , EdiEd. , Iehn "Wil ey 1 3- t Sens. l ' ; ]i' 5 l "- , ' . |' .
Chap t er 4
Root s of Al gebr aic and
Tr anscendent al Equat ions
4. 1 The Sear ch Met hed
The eqiiaiieiiwht ise 1 ' t 1 t 1 I. ii- ar e in he det er miiied sht iul t l he p ut inn: t he l iir iiit il
Equat ien l _ =' i. l i. as shewn bel ew;
l _ l _ - t i=U l - =i. l l '
Fir st a seiir ch is I' I' ILl :t . l l :' in nl it aiiiiiit er val s in wl iicl ir eal r ent s l ie. This is aecnm-
p l ished by suhdivl diiig t he xdemaiiil ine hiequal snhdl visiens. giving
. i. ' |, . ' t ' _ . , . i1 ' , i. . . . . . ' - :. q- _ , and . ' c|_ | =xi+ 1 . 1 1 "
Then l iieat e wher e l ' T[ x:l cl it inges sign [ see Figur e t i. l l . Th is r ieciir s when
l i_ a' |_ l l l i- . ' , ; l =- 1 l l
The sign change usual l y indicat es t hat a r eal r t it ir has been p assed. l - l t iwever , it r nay
al st iiiit l iiiar e :1 1 l isc. t ir it iii1 iir y it it he i1 ' l ]l ' |L' |. ' i[ 1 I[ |- [ F. x:ir 1 1 p l e: inn . 1 . " is t l isct iiir it iiit iiis at
. 1 : = i' t i' ; ' - l . } |i. Tit l =L' . t :' t he int et vt il s in wl iicl iil ie t er ns l ie l iave been es1 :i|il i. sl iet l . n|ie t "- an
use sever al iiieiheds l br t . 1 l L1 l ' . L' 1 l t ' 1 i1 1 g_ l l 1 t t r eal r eet s.
4. 2 Bisect ien Met hed
Sup p ese it has been est abl ished t hat - . 1 r ent l ies bet ween xl and a- i, , G ut t he ir it er val
in l 1 al i' l _ see Figur e 4. 3]. t hen
JT I TiA. + M
- 1 - _ I
F?
Fit I t sit iiiier icat ene". - t naiy t icaiMet ht ii:is wit h M. - =1 i. Ti_ r 1 iB
f ist
Ii.
I] . i. ' _ 1 _ _ _ , l ' - [ . i; _ I]
l l l I H,
4' - iis 5 ":- s ="i. 1 - . ' ib- . ' + 1
_ _ |l ' iJ- ' 3]
f ir s]
. - "hit
Figur e 4. 1 Sel ect ing t he int er val in which a r eel l ies.
l * sl t ii. i, =ct ir np ut e iixil t ' { s. ' i+ m]=.
Case 1 : l l T[ . i::} il :Ti:_ r ' i' i:i+ |_ |g- } =1 U. t hen t he t eet l ies bet ween xiand xgm.
Case 3: l i' l ' { x|iit s- ]_ . , , |. } as I3. t hen t he r eet l ies bet ween . t i_ , , . y + . t r _ , .
Case 3: l i' l ' t x|_ ]- l ' (. i:], , |- L. ) =Ll , t hen xier x, , , _ . _ . is a r eal r eei.
Fer cases 1 and 3, sel ect t he int er val cent aining t he r eet and r ep eat t he p r ecess.
- . . ha . . .
G t int iniie r ep eat ing t he p t t icess unt il |, _ t i. =t l I- =is siit l icienr l y smal l , wher e r is t he
1 |
I- I
numher ef bisect iens. ' l hen t he r eal t eet l ies wit hin t he l ast int er val .
i ~ i' t it e. - Eur El ibisect iens.
. il l s. - ,
t asiy =2 2 , , =. asx1 . esxit i
_ . I' l ir l
J1 !
F; 1 , 1 - ! = Til l .
Figur e 4. 2 Sel ect ing t he int er val cent aining t he r eet in t he Bisect ien Met hed.
it ncit s t il r t l gehr aic and Tr anscer icl er it al Equat icir is I I- "9
Fr egr animet hed:
Set Jt ' _ | =x_
|'
x =xJ_ |
l .
"St . : ESE. - 1 + Eel
l l f - [ . 1 t Al _ f [ _ x{ :l st t il r eet l ies bet ween IA - St . i:, _ - l
Set xy , =xi: ant i
l .
. iq. _ . =El xg + xl
and r ep eat t he p r ecess.
IFf I[ ar _ y ] If f xgl . ":=- l l { r t it it l ies bet ween xg t it at gi
Set . ic_ _ | =xr . and
I .
St . T This + TH}
E
and r ep eat t he p r ecess.
l l f t x_ y l f l [ xy . l =t i
Eit her xr er xi. is a r iit it .
4. 3 Newt en- Rap hsen Met het l
This met hed uses t he t angent r e t he c. ur vef l _ x} =l l r e est ini- ar e t he t eet . G l iie needs t e
ebt ain an exp t essien Fer f il jxi. G l ue al . se needs t e mal t e an init ial guess ier il ie r eei.
say . it , { see Figur e I- L3}. f l ir t } gives t he sl ep e ef t he t angent r e t he cur ve at x.
it s}
. l r l I]l '
I
IiII
Figur e 4. 3 Pr edict ing r eel in t he Hewl en- l t ap hsen Miet hed.
3- t iI Numer ical ant l Anal y t ical Met hecl s wit h r aar r aa
G l iit he t angent t e t he cur ve
_ f l - i' :]l Jl r l ixgl l
1 1 - 1 1 2 - y
Tf r l xl l
Set f t xy l =iiand sel ve l et scat t hat is.
f l xl l
IE I It Tr ggp l g
G hecl t ii- ' I_ f Ix1 ]iI st e. l l y es, quit . xl is t he r net p r int ent it y . l l ne, set I] =xy ancl
r ep eat t he p r ecess.
G ent inue r ep eat ing t he p r ecess unt il I f l x1 ]I - t E. hit al t er nat e cendit ien l et
cenver gence is
I+ f (it , ]|l f ' t x]} + I ~ : t a
This met hed is widel y used l et it s r ap id cenver gence. Hewever . t her e ar e eases
wher e cenver gence wil l net eccur . This can hap p en if
a- _ f T{ x]l changes sign near t he r r iet .
b. The init ial guess l t it t he r nt it is t t it il at l r t iITit he t r ue r ent .
l l eiie cenibines t he l ~ l ewr enFl - ap hsen met hed wit h t he sear ch iuer l ied l er ebr aiii-
ing a smal l int er val in which t he r eal t eet l ies. cenver gence wil l net be a p r ehl em-
sl - . 4 The f zer e Funct ien
M. h. TL. - it El i has a buil t - in Funct ien t t iebt ain t he r eal r r iet s t il a t r anscendent al equat ien-
l t is t he l aer e l iinct ien- Tn get st ar t ed cl icl t r in t he Cemmand windnw and t y p e in:
as hel p Eaer e
This gives sever al ep t ieiis en using t he l t er e l unct ieii. seme el which ar e shewn
bel ew. The f ir st is ap p r ep r iar e l l ene has senie idea wher e t he r eet l ies. The sec-
end is mer e ap p r ep r iar e when t her e is mer e t han ene r eet and al l r eet s need r e
be ebt ained. il he secend sheul d be used in cemhinat ien wit h t he sear ch met hed
descr ibed ear l ier .
1 = FEERDt FUH, KG } t r ies t n f ind a aer e ef t he f unct ien FUH near
se. FUN accep t s r eal seal ar inp ut 3 and r et ur ns a r eal seal ar t unet ien
val ue F eval uat ed at H, The val ue H r et ur ned by FEERD is near a p eint
wher e FUN changes sign t it FUN is eeut inueusi, er HaH if t he sear ch f ail s-
H = Faaaet eux, xe1 . wher e 3 in a vect er et l engt h 2 , aaeumae xs in an
int er val wher e t he aign et Eut xet l iidit t er e f r em t he aign et Funt xet aii.
an er r er eccur a it t his is net t r ue. cal l ing Passe wit h an int er val
guar ant ees FEEEU wil l r et ur n a val ue near a p eint wher e FUH changes sign-
E = FEERUl FUH, HD, G PTIH5 ] minimises wit h t he def aul t ep t imiaat ien
iieet s et al get ir aicant l Tr anscent l ent al f qt iat iens I 31
p ar amet er s r ep l aced by val ues in t he st r uct ur e DPTIUH3, an
ar gument cr eat ed wit h t he UPTIHSET f unct ien. See UPTIMSET f nr
det ail s. Used ep t iens ar e Disp l ay and Tel x. Use UPTIDHE = E] as a
p l ace hel der if nn np t inns ar e sec.
R = FEER[ FDH, I, PTIDHB, P1 , P2 , - - - ] al l ews f nr addit ienal ar gument s which
ar e p assed t e t he t unct ien
[ x, evnn]=FIERDt FUH, - - - ] r et ur ns t he val ue nf t he ehject ive
f unct ien, descr ibed in FUN, at I.
Examp l es
FUN can be sp ecif ied using E:
x= t ser et esin, 3i
r et ur ns p i-
FUH can al an he an inl ine nhject ;
1 = f ser n[ in1 inet ' ainl 3* xi i, 2 i;
Sever al examp l es using bet h t he sear ch met hed and t he l aer e l uiict ien ar e shewn
bel ew.
4. 4. 1 Examp l e Pr egr ar ns
Examp l e 4. 1
isear ch- m
iThis p r egr am det er mines t he r eal r nnt a nf a t hir d degr ee p nl y nnmia1 -
t The p r egr am p r educes a p l nt nf t he f unct ien. Next t he p r egr am aaar chea
t f er int er val s wher e t her e ar e sign changes, t hen it cal l s t he f ser e
s f unct ien t e ebt ain t he r eal r eet s.
cl ear ; cl c;
xmin:- l b- D; xmax=1 . ; H2 5 3; nr =D;
dx=t xmax- xminl l ni
t p r int f t sear ching f er r eet s, r eet is eht ainee by t eer e f unct ien sn' it
t p r inct t x t 1 n' l ;
f nr n=1 ; H+ 1
xt n]=xmin+ t n- 1 ]* dx;
f x[ ni=f uncixt nii;
f p r int t t t e. ef t 1 e. 3f in' , xt n|, t x{ niii
end
p l nc[ x, Exl , cicl e{ "f l xl vs- xi], xl ahe1 { x l , y l abel l f t n}' ], gr id;
f nr n=1 :H
p =f xt ni* t xin+ 1 ];
if p c D- U
nr =nr + l ;
xr t l izxt ni;
xr t 2 i=nt n+ 1 i;
r t t nr i=f ser e{ * f une' , xr }t
end
if p ==. e
nr =nr + l ;
r t t nr t =xt n+ 1 i;
h=n+ l ;
end
and
if nr ~ = e
f p r int t t it nin neet s ef f unct ien f t xi=e t nl n' ii
t il I Numer ical ant l Anal y t ical Met hecl s wit h MA TLAE
f p r int f t r nnt nu- r nec \ n' ];
f er n=1 =nr
f p r int f t t is1 a. t r t n , n, r t t nl ];
end
el ae
f p r int f t it nt n He r eet s l ie wit hin xmin c=xe=xnax* i;
end
E f unn- m
f unct ien f =f unet xi
f =x s- e. isx a- sa, 1 * x+ as- 1 sa;
Ther e ar e t we way s r e ent er p ar amet er s int e t he l unct ien l unc. m. These ar e
a. The use el t he gl ebal st at ement : . l - idd t he l el l ewin g t we st at ement s r e Examp l e
4. 1 just al t er t he cl ear ; cl c; st at ement s:
gl ebal an at as as;
a3=l . ; aE=- 4. 7 ; al =- 35 . 1 ; aU=35 . l ? E:
Then add t he exact gl nhal st at ement en f unc. m just af t er t he f unct ien
st at ement as shnwn bel ew:
f unct ien t =f unet xi
gl ebal an at as as;
t =al * x* 3+ ae* x 2 + a1 * x+ aU;
b. E- y medil y ing t he l t er e l unct ien r e incl ude p ar amet er s a3. al . al . and al l . Fer
t his case
aJ=l . e; aa=- t . s, ai=- 35 . 1 ; au=s5 . l ? E; weul d st il l he added
af t er t he cl ear ; cl e; st at ement s.
The st at ement r c[ nr ]=f aer nt f une' , xr J; weul d he r ep l aced hy :
r t t nr i=f r er nt f unc' , xr , I I, a3, a2 , a1 , aG |;
and t he cnr r eap nnding f unct ien st at ement s weul d he r ep l aced hy
f unct ien f =f unet x, a3, aa, a1 , aei
f =a3* x 3+ a1 * x* 2 + a1 * x+ an;
The ceel l icient s a3, al , a1 . and al l can be r ep l aced by a r ew vect er . t hen l et case l al .
t he added st at ement s weul d be
gl ehal at
el l i- 1 - U; et l l - - 4. 3; et ii- - 35 - 1 ; el l i- E5 - 1 35 ;
f unct ien f =Ennct x|
gl nhal a;
f =at il * x 3+ at 3i* x 2 + at El * x+ a[ 1 ];
hl st e: The indexel a vect er st ar t s wit h l and net l l .
Fr iir case [ bl ], t he ceei- l it ient s a3, al l , al and al l can al se be r ep l aced by a r nw vect er ,
t hen t he added st at ement s weul d be
at ii=1 - U; at 3i=- 4- T; at 2 i=- 35 - l ; at 1 i=H5 - 1 36 ;
r t t nr l =f aer nt f une , xr , [ ], ai;
Rest s eh- Ugebr sic and Tr snscendent sf Equst iens I B3
f unct ien f =Eune[ :, s]
f =eiii' x 3+ si3b* x E+ si2 * n+ s[ 1 ];
MATiAB s Rest s Funct ien
MHTLAE has s f unct ien r e eht sin t he r eet s ef a p e|]. - ' 1 1 - er nis]. The Funct ien is r est s-
Te ebt ain t he use eFt he f unct ien, in t he CUMMFHHU windnw t y p e in
he hel p r eet s [ t his gives]
RDT5 [ CJ eemp ut es t he r eet s ef t he p nl y nemisl whese eeef f ieient s
ar e t he el ement s ef t he vect er C. If E has H+ l eemp enent s.
t he p el y hemisl is E{ l J* H N + - - - + t [ N]* I + E1 H+ 1 J.
MATLAE gives t he eeeicieht s ef t he p el y nemisl whese r eet s ar e V. Te ebt ain t he
use ef t he f unct ien. in t he CUMMAHD Wiil t iw t y p e ih:
>1 hel p p el y [ t his gives!
PDLY[ U], wher e U is s vect er whese el ement s sr e
t he eeef f ieient s ef t he p el y nemiel whese r eet s ar e t he
el ement s ef ? . Fer veet er s, RDDTE and PDLE ar e inver se
f unet iens eE eeeh et her , up t e er der ing, seal ing, and
r euheeif er r er .
r ea1 [ n} gives t he r eal p er t ef x
imsg[ n] gives t he imaginar y p ar t ef 1
Examp l e 4. 2
t r eet s_ p el y . m
t This p r egr sm det er mines t he r eet s eis p el y hemiel using
E t he buil t in t unet ieh r eet s .
iThe f ir st p el y nemisl ie: f =n* 34- ? * x* E- 35 . 1 * x+ B5 - 1 TE. The
ir eet s ef t his p el y nemiel ar e al l r eel -
t The seeehd p el y eemiel is: f =s 3- 5 * s 2 + 2 3* s- E5 . The r eet s et
t his p el y hemisl er e het h r eel she eemp l es. t emp l es r eet s must
ihe t emp l es eehjugst es.
iTe eht sin mer e inf e en eemp l exnumber s de t he f el l ewing.
In t he cemmand windew t y p e in hel p eemp l en number s .
el eer ; el e;
i1 b=1 . D; { 2 ]=- 4. 7 ; t i3J=- 35 - 1 ; ii|=B5 . 1 TE;
v=r eet s[ e1 ;
f p r int f [ * The r eet s ar e; Rn' };
v
p r iht t i The eeet s. et t he p el y hemisl whese r eet s ar e v sr e1 in J;
eeef =p e1 y [ u]
f p r int f i - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - l n' J;
e{ 1 i=1 . ; s{ 2 ]=- 9- 6 ; ai3]=2 3. U; aii}: - 5 5 . 6 ;
w=r eet s[ s1 ;
f p r int t i* The r eet s er e: Rh );
w
f p r int f [ The eeef e- ef t he p el y nemisl whese r eet s sr e v sr e:l n' ];
eeef ; p n1 y [ w]
r e=r ee1 iw|
im=imsgiw1
H4 I Numer ical Hncl el nel y t ieel Met hds wit h MATLAB
- s.
Figur e F4. 1 a A t hiel - : p l at e t t nder gning ennveet ive heat t r ansf er .
Pt nieet s
Pr t t jeet 4. 1
The t emp er at ur e dist r ihut ien eia t hiel t l iar p l at e. init ial l y at a unil er m t emp er a-
t ur e. ' 1 1 , . and whieh is suddenl y immer sed in a huge hat h at a t emp er at ur e ' l l _ . , , is
given hy [ see Figur e P- il a}
- sint jit . - es 5 H ]t ' "5 i " r ' J
i L
Tis, r i=; r M+ - at 1 I. TiiZ , Mia mum "HE { P- i. l a_ i
- . - | "
' ||- ' l , I' l ' l El ' I|' ; "
I =l l }? nf t he p l at e t hiel t uess.
s =t he t her mal diiiiusivit y ef t he p l at e mat er ial .
5 "ar e t he r eet s ef t he equat ien:
F[ 5 ]=t an5 %=D { P- ii. l h]I
wher e
l i=t he eenveet ive heat t r ansf er eeet i- ieient Fer t he hat h.
t i =t he t her mal eent _ l ut _ ' t ivit y el : t he p l at e mat er ial .
_ l her e ar e an innit e numher il l : r eet s t hat sat isf y Equat ien { _ l 7 "* ' i- l h]I, t hese heing E],
ii- 3, i5 =|. - - . . E- D. Figur e P4- l h sht nvs t hat t he int er :- ieet inn hit he et t r ve hl l il r wit h t he
eur ves t an El gives t he r eet s uf Equat it an I[ F' ii. l h}- l "- l ut e t hat El l ies het vr een l l and
El l , 5 3 l ies het vr een It and Br t il , E3 l ies het vveen l it ant iIir t l l , er e- Et t ht r aet ing Tm
Ft t miF. - qt t at ien l l ~ ' l l . Ia} and dividing hy i"[ J Tm, we nht ain Eqt t at ien { P4. l t ].
T( , r ]T_ - - 5 l I1 |i5 ' ":l ' l ! . I- I"- * 2 - ? { l i- 1 ' . ]e_ "5 i"iE
L ' L
I s:sIIU a - - st i-
2 1 , - 1 ; ees[ 3Hisi|t l _ 5 In]+ - 5 K L}
' Fnr a t l er ivnt it in nl it his equat ien, see Ft eet inn HIE.
Rent s nf el geht at eane Tr anscendent al Eqt t at inns I B5
Lt it hii- . . l t . i. . "|it Il ' i
t an- ii- M
ii
it - i' i
s
E-
- 5 ] I 5 3 I H2 5 ii :- 4
H E- 1 | in
Figur e F4. 1 h l nt er seet iun uf hl t and t an El eur ves.
iip l et t 1 l ' \ Tl :ii' il ' t - l _ l ' l _ :l vs- t ime Fnr sever al dif f er ent val ues t 1 - i\ a:. l . |". sht nt l t l ap p ear as
shnwn in Figur e F- 1 i. l t ' . .
Final l y , t he heat t r aiisier r at ie, Qr r . t t i' s, l ir e- t n t he p l at e t n t he hat h in t ime t is
given hy
- Il l - [ _ r :| Eir iE sin E eus I: _ |g- . - L. - 1
R. el TIt ' 1 ' , 1 - -
Q Q it W: E; l sin 5 et i- sil i"+ 5 t 1 l il y - 5 l . l t l l l '
#
"t - \ I' |' l |iIl ' l ' _ "
QIII} =t he amt :- t t nt t t iil t ear r r an. ' - t l qer r et l , Fr nm t he p l at e t n t he hat h in t ime t -
Q, =t he amnunt el heat t t ansl ir r t et "l Ft nm t he p l at e t n t he hat h in innit e t ime,
whieh equal s t he ehange in int er nal ener gy in in l init e. t ime.
Tr at iu
l Al l
a' . I' L =U- Ll
. Ir , "i"_ =[ LE
Jr . - ' L =[ J1 1
at . - ' L - l . l . h
Jt . "L = 1 . l Il
t
l ' l '
Figur e Pt - L1 1 : Ty p ical Tr at in vs. I r ur vest
it - B I Numer ical ene Anal y t ical iviet hut is wit h MATLAB
Tabl e F4. 1 Temp er at ur e l t at in, TIIATID
Iii.
Timet si EI. [ i ELI El . - 4 l J. i' :i [ LE 1 . [ l
I
l l 1 . 1 ] Lil 1 . l Il Lil il l I 1 . 1 ]
I
iii - - - - - -
l '
El ]
EDI]
1 . Wr it e a eemp nt er p r egr am t hat wil l sel ve Fer t he r eet s 5 1 , El , . . . , 5 , using t he
Fr er u Funct ien in l vl iit TLiit E- Pr int eut t he E val ues in HT r ews ant if t cul umns-
il t l sn p r int nt l t t he Funet it inal val ues at t he r uut s, i- e. ; f [ i5 n},
Nst r . ' Cl nl y Eiiiiival ues wer e asl t ed t n he cemp ut er ed.
E. Sel ve Equat ien { l ie- l . 1 e} Fnr TRATIU Fer . t ' i' . - L =[ Li], il l , l ]. r - i, ii. t ' i, il ii, Li],
and t =ii, Iii, Ii[ l l , . . . . 1 l Jl ] secends. Pr int nut r esul t s in t ahl e l hr t n as shewn in
Tahl e l si. l .
iit l su use i' viit TLit E t u p r ut l uce a p l ut as shuwn in Figur e Pil e.
3- Cunst r uct a t ahl e ihr QR, - t iTi- U vs. r Fnr t imes ii, l l ], El ], 31 ], . . - , Eil l ] seeunt is-
Ii. Use l vl i- "t Tl . , - iiit n p t nt l t uze a p l et p iQii. # l Tit ' ivs, t . Use t he ihl l nwing val t t es
l iar t he p ar amet er s eit he p r ehiet u:
1 ' 1 , =3i' . l EI, T =5 C, it =sif t wimi- C
it =l l l . l ]' wim- C, ii=l i. l J im, is =l . l . Z i' El :- t I[ i"imiis
Pr uieet 4, 2
We wish t n censider t he t emp er at ur e t l ist r ihut ien in a semi- inf init e sl ah { see Figur e
F i. l ], , init ial l y at a uniihr m t emp er at ur e, whese sur f ace is suddenl y suhjeet et it n
cnnvect ive heat t r ansier it em t he sur r uunt l ing air . The t emp er at ur e, Tiin t he sl ah
wil l he a Funct ien eiip nsit inn and t ime; t hat is, T=T{ a:, t ]I. It wil l al su dep end en
t he p ar amet er s: ii, I, Tm, t it , and Et , wher e it =eenveet ive heat t r at t sier eeef l ieient , I
=t he init ial t emp er at ur e ef t he sl ah, TH is t he air t emp er at ur e, and it and Ct ar e t he
t her mal eenduet ivit y and diiiusivit y ef t he sl ah mat er ial , r esp ect ivel y . ' l he p r nhl em
can he snl ved hy Lap l ace Tr ansiur ms. The sel ut ien is
it s . Il r 3l It ' . r I-
r * , =_ l }{ 1 _ gy , - , - + sJt _ Tl . 1 t , t ]Tr _
Hgr ixei l i e i' r _ t
G iven: Ti' =l il ac, =TUUC, ii: =1 ' l u' l iii- i l "Iil i"i' m- LT, I1 =l , l 1 5 + i it iii iml is, ant i
iii : l ' l ][ l \ s' it |1 I- C. we wish t n det er mine t he t ime, t , when t he t emp er at ur e in t he
Rent s niel igehr aic and Tr anscent ient aiEquat inns I H?
s 1 - r _ ,
I
JII
Figur e Fr - L1 Semi- innit e sl ah under gning heat t r ansf er .
sl ah r eaches t he inl l nwing t emp er at ur es ant iat t he Fnl l nwir t g p nsit inr t s:
T: [ l "i, iii, I- i i, , il }] ' C and :e =[ t ]. 1 , 1 1 2 , [ i. _ i, El si, t ]. i, ii. t 3, iii , l l t i, iiil , 1 . il ]nt
Use l ' vl il l t Tl . i5 t H t n snl ve Fnr t he t ime Fnr each cnnt l it inn and cnnst r t l cr a t ahl e as
shnwn hy Tahl e T - 4. 1 .
Use t he sear ch met hed t n nd an int er val in which t he iu|t ct in|t Tii' [ :e, r _ i
changes sign.
Assume r hat t t it ir r ie 3t ' it it ' ]It ]It ' |I, r and suhdivide t he t ime demain int e EDD
int er val s.
iit l sn cr eat e p l nt s nit ime [ ii]! vs. . ' l t ' Fnr t he Fnur t emp er at ur e cases l ist ed in Tahl e
F' =5 l , 1 - il t l l in- t t r p int s shnt t l t l he nn t he same gr ap h-
Tabl e P- 4. 2 Time t n Reach Sp ecif ied Temp er at ur e
r im] Tf Ci T5 ED . ? . ' i . 3- t i
t "l . l . - . - . - . .
[ 1 . 1
l ]. 3
1 . [ ' |I
BB I hiumer icaianciiinal y t t cal ivt et hncl s wit h MATLAB
Tahl e F4. 3a Equat ien sf St at e var iabl es f ur st ir , - Dsy gen, and Ear bun Dinside
G # E a t r - t m"t t ""- in b mi g{ Nr n ]
as H it r neii ir r nni it l t mel
1 . - "t it 1 5 . 95 9 :- t 1 [ l i l ]. [ l 2 5 - il l B31 4
2 Ct sy gen 1 1 2 2 it 1 i]1 U. D2 | _ - J? E31 4
3 Car hen cl ieside 5 4. 43 "s1 l T t J. Er I- 1 ' EiEt 3 B31 4
Pr t t ject 4. 3
The ect uat inn nist at e l - nr a suhst ance is a r el ar innship het weer t p r essur e [ p ], t em-
p er at t t r e { T}, and sp ecic vul ur r t e { T}- l viany gases at l nw p r essur es and r nncl er at e
t emp er at t t t es hehave ap p r esimat el y as an ideal gas. The ideal gas et |uat inn eist at e
wit h p in l ' "- l it ni, v in miil - zmnl , T in H, and in { hi|t t ]Ii[ l ' { l t mnl } is
_ ITT
l :"_ T
v
wher e H. is t he univer sal gas cunst ant , i- "t s t emp er at ur e decr eases and p r essur e
incr eases, gas hehavinr deviat es ir r nm ideal gas hehavinr . The l 3l , er , l l ichl ' - iwnngl s
et p , t at inn nist at e is nit en use- t l t n ap p r nsimat e nnnideal gas hehavinr - Hedl icl 1 -
l l iwengl s equat ien uist at e is [ 1 ]
ET a
P _ t r - h r t e + l et - "1
The val ues Fnr R , a, and h Fnr t hr ee gases ar e t aht t l at ed in Tahl e 1 7 "- il f t a-
We wish t n det er mine t he p er cent er r er in t he sp ecil ic vul ume hy using t he ideal
gas r el ar innship whil e assuming t hat F~ ' . edl ichl " i. we|t g' s equat ien eist at e is t he cer -
t ect equat ien eist at e ihr t he t hr ee gases l ist ed in Tahl e P- =l . f ia. Var y t he t emp er at ur e
f r em 35 D H. t n TDD iiin st ep s ei il l ii. whil e hel din g t he p r essur e censt ant at 1 . iJl 3. ? . 2 :
l l . T' l ~ l it r r i. Using t he sp ecif ied t emp er at ur es and p r essur e det er mine t he sp ecic
vel umcs, T, hy het h t he ideal gas equat ien and t he l i. edl ichl ' iweng' s equat ien and
det er mine t he p er cent er r nr in t he sp eciiic vnl ut ne r esul t ing ir nm t he use nf t he
l . f . l . EH. | EH5 E' l ' _ 1 |. l |. ' l l . ' l ' |' I. THl ' EE l . ' l 1 t ' :" |, ' JE|"l :E|' ]l . ' ET' 1 ' [ ]' |' l |1 ' l Il ' H' ; " 5 ], ' ]E' CiEE ' \ I' i. ' . ' l l l . ]. I' |' I. E t i] TIE
|r ~ v . |
Id i' - Fl r dl - . l ' | l ' - . 1 - ' 1
iit t er r er E ' "" st ]t }t _ ]|
U l - it - t l l ihl iwt t ng
Rent s cu Aigehr at c ant iTr anscendent al Equat inns I B9
Tabl e F4- . 3b Tabl e f ur G as 1 t i- l t ir )
l cl eaiG as t iet it ich- it wnng En ii, Er r er in - F
Tt it ' , t p t ht imii Ft in . - t er n nil 1 ? t r n iir mel , iI
35 D 1 . l ]1 1 ' 2 1 =- :1 l . ' l '
dil l } 1 J1 1 32 . ":- t l I1 ?
T- ' l JLl 1 . t _ l 1 31 . 2 :- :1 [ F
Wr it e a l "v l il l Tl _ i5 |. El - p r ngr am ut il ising t he Faer n Fun- ct inn t u cal cul at e t he sp ecic
vnl ume hy l il . et l l ichi{ t vnng' s et p t at ien. hsst t me t hat Fvar ies het ween il l and Ll
n1 - iil t t t inl . Use il l suhdivisinns en t hev demain. Cc:- nst r uct a t ahl e as shewn by
Tabl e P==' l . ih.
Rep eat t abl e f er gases 2 and f i. In y eur p r egr am, use af iir l eep r e sel ect al l t hr ee
gases. Use an ijl eiset f l addet r e sel ect t he p r ep er cnnst ant s Fer t he gas.
Pr nject 4. 4
Rep eat Pt eicct =' - 1 . 5 , but r ep l ace t he Redl icl t l { weng' s equat ien wit h van det l ii aal s'
equat ien [ l ], which is
ET a
v- t s vi
P =
The censt ant s a and h ar e t abul at ed in Tabl e P- 1 . 4.
Tabl e F4, - il l Tabul at inn niEnnst ant s a and b
Hm ] [ t n ] - ( Hm J
G as # G as ir mni_ l r t i it t t mnl
1 iit l t 1 . 35 3 at 1 U- T l ]. l Ii- BF H31 4
2 Et sy gen 1 . 3t :Et II- Ii1 t J1 ' El . i]3 | F B31 4
| s Ear bnn dinside as- t r it - ' i1 l l ' r " t t t aas asst
' il ' [ t I ivumer icaianct sinaiy t ical Met hnds wit h MATLAB
_ v
/- at y t =- Hit ! y i
Fr ee sur f ace
II
. e J.
l
sh
l =' ! s' [ _ vi
Figur e F435 Fl eat ing l eg having a cir cul ar cr ess- sect ien.
Pr eject 4. 5
ii. weed cir cul ar cy l int l er , having a sp ecic gr avit y , 5 , ni' t J. ' 5 - ii, Heat s in wat er as
shewn in Figur e Ps' l . 5 . Fer a Heat ing bedy , t he weight eiit he Fl eat ing hedy equal s
t he weight el ' l - l uid disp l aced, t hus
5 "r , . ssi =r , . i |[ l 1 =' i- 5 a]'
wher e
. 5 =t he sp ecif ic gr avit y eit hc weed.
: ' l Ii' l ' |' _ ' 5 PL"l l ' _ ' it ' _ ' 1 i' l |"L"l . gl ' l |. ' ' l i. ' l IF"|- ' 1 - ' H. ' l Il l _ ' |' -
- e' _ :- |' . :eE- "i
=t he r adius nit he cy l inder .
=t he cy l inder l engt h.
=t he vel t t me el l wat er disp l aced.
av =r es =at sr y t ey =Ii- , l it i- ey
it F t r - s
. a . ' I 2 r 2 - - _ l ='
iv =LiI t l l iii_ y HEP: , . ! L{ g(_ ]t + - , l ii_ y + R sin H (p , ; 1 _ =_ ; |:g
IIJI
The int egr al was ebt ained Fr nm int egr al t ahl cs. Subst it ut ing t he l il nit s il l int egr a-
t ien gives
t r =. t { t , - t - sial s- - he - st + st sin %- s sin eel [ 1 1 - * t _ - =_ ; , ; ].
sin_ ]{ l ]l =]' |:, ". 7 - 1 ,
it nnt s nf sigebr aic ant iTr anscendent al Equat inns I EI1
Subst it ut ing Equat ien { P- f l . ":ic]| int e Equat ien l l - 1 l . ' f ial and r ear r anging t er ms and
dividing by l il igives
. e _ t i . e . - e 1 _ st _
- _ - - 1 a- - - - ' - at - s- as _ t i
f l sl l s s + 5 1 " l s l i in
l l ii- i' =l it , det er mine siusing t he Faer u Funct ien.
Pr eject - =l - . t i
Du p ar t s { aiiand { hiniPr nject LIE and t hen, using h* l il t Tl . . - ' 5 t His Faer n l qt t nct in- n,
det er mine
a. The t ime when t he vel ecit y eit he p ist en, descr ibed in t hat p r eject . r eaches l ei:
eiit s maximum vel ecit y .
b. The t ime when t he accel er at ien nl : t he p ist nn, descr ibed in t hat p r niect , r eaches
iiiniir s mar t imum accel er at inn-
Pr eject 4. ?
In er der r e sel ve t he t emp er at ur e dist r iht t t ien ef a t hicl t r ed having a cir cul ar cr est -
sect ieu, init ial l y at a uniiet t n t emp er at ur e, In and which is suddenl y it nt ner sed
in a huge bat h at a t emp er at ur e L. ene needs t e det er mine t he r eet s ei], { . 1 r l ,
wher e _ , l ' | is t he Bessel Ft t nct inn nit he f ir st hind nl ' - er der l . Hnwever , in t his p r eject ,
t he r ent s nif u, wher e f l is t he Bessel Funct ien t t it he l ir st l t ind ninr der U, is al se t u
he det er mined.
l vl iit TL. hl ihas it t nct iens t hat eval uat e t he Bessel iunct iens. The l vl Ft TLi' t l i
iunct iens Fer y ", [ sr } and f , , [ a:} ar e t i- er se. jr ' [ ], seI1 and i1 er sr i, r ' ([ l . s], r esp ect ivel y .
1 . Cr eat e vcct er s Fer j, , I[ :t ] and _ , i, t _ :t } Fer t ] 5 , 1 , _ ~ 5 at }, subdividing t he . v demain
int e "- l l ][ l suhdivisinns [ r t l . r c=il l }.
E- Cr eat e p l nt s t t iqy 7 , , [ sr ' } and _ , 7 ]{ . 1 r } vs, Jc nn t wn sep ar at e gr ap hs-
ii. Using l ' vl , - ' l t Tl . h. l ii s iaer e Ft t nct inn, det er mine t he r ent s ei, i, , l s} and _ i, [ st ]= int
it 5 I 5 - iii. Pr int eut t he r eet s in t we sep ar at e t abl es.
Pr nject 4. 8
The t emp er at ur e dist r ibut inn nia t hicl t r nd having a cir cul ar cr nss- sect inn, init ial l y
at a uniint m t emp er at ur e, T1 , , and which is suddenl y immer sed in a huge hat h at st
t emp er at ur e T1 , , is given hy
TRM_ Tl r . r . l Tm _ 2 a. , s EH i, ii, Rl i, , t i; , r if _ . r . , . (, , _ , , _ g_ ,
r ; , - T 1 | , (as) r . r , , t s, ss
" s
' - ' I[ i' t ii' ]+
92 I Numer ical ant ir l naiy t icaihdet hnds wit h MATLAE
wher e
j, and _ , r ' , , ar e Bessel l ianct iens ef t he f ir st l - t ind-
ii=t he cenvect ive heat t t ansiit t ceel iicient .
it =t he t her mal cenduct ivit y eit he r ed mat er ial .
it =t he r adius eit he t ed.
n =t he t her mal dir Fusivir y nit he r nd mat er ial -
i' t . nR=t he nt h r nnt nFEt |t |ar inn { Psi- Eh]:
F{ i' t it ]I jil l it iii=ii [ P- i. 3b}
I, [ i' t ii]| ir ii
l vl i' t TL. ' * t l ihas l iunct iens t hat eval uat e t he Bessel l ' iunct ieus_ , i' , , l it ] and I, Ea}. These ar e
_ , r ' , , I[ . c] =t ir r r eii[ iJ, s} and _ , i, t . 1 t ] =iiesr r t ji[ l . x]. l - l et s ef _ , t ' , , t s] and j, [ i- t iar c shewn
in Figur e Pr ia and Figur e P1 - l . |El h, r esp ect ivel y . l t can he st - en t hat h- nt h
Funct inr t s have an innit e numher nit er ns- Eur FI[ il . . ii", l is singul ar wher ever
f , l i' t ii ] =ii, Heihr e we can eval uat e Tiil r , t iwe neet l t n det er mine t he val ues
el iii? t hat sat isl qy Equat ien ' [ F=i. 3h]. The p r eject is r e det er mine t he val ues
el iiiiit hat sat isiy Equat ien - l _ P4. Eh]I. Designat e t hese val ues as it uii . l et r t =
1 , 1 , 3, . . . . Te accemp l ish t his, l ir st det er t uinc t he t er ns eiy l , hy t he l iaer e f unc-
t ien; designat e t hese val ues as{ it R} , |, , { it ii}_ , . , _ :. . . . et c. ; t hen, l t newing t hat
1 In vs. st
as - - -
|.
' |- I- :-
D. . .
F' - I- I
5 - I: |_ |' _ . - I =1 _ | U1 4 I- J- =_ I l ' - - 1 - =. r | t - * ; I Er L- I- J Ln ! r |=- _ 2
I
Figur e Fr - ' l . Ba Fl et ei, i, , l . 1 t if unct ien.
Rent s e+ f Al ' gebr . siC and Tr anseendent af Equet f ns I ' 33
f l ' \ "I- . 1 - '
t t s - m
_ . - . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D_ _ 4 _ .
I1 3 -
[ L2 . . .
U _ . . . . - . . . .
_ [ ]_ 1 _ .
_ |:|_ 2 _
- I1 3 - - . . . . .
l II. ' ? l | i | | i i i i |
[ II 5 1 |1 ! 1 5 ELI I5 31 } 35 4' ]
I- '
Figur e F4. B|:1 - Pl ot of I, II. 1 t } f unct ien.
t he r eet s uf Equat ien I[ P* - i. E|::|]I |ie bet ween t he zet es e1 F_ , r ' 1 , det er mine I- HR f ur
r t =I. E, Er . _ ~ f |[ II' hf , t he Fzer t s Funet it m- Fnr e1 :smp 1 e:I[ 1 |R] |ies het ween
{ RH} + E and [ F- . R]|. E. (1 . R]! Hes het ween { KR} + E and { 1 . R}H IiE. ,
_ , I1 . | J||- . 1 I , I|. . ! 1 . .
et - . :. Thep |t 1 . s t mt l |n|nus 5 - 1 1 s used heeausef l is singul ar at t he t er es ut j.
Use t he f qt r - |1 e|wit 1 g 1 . - ' :1 |ues:
s=sss. s- , i_ . e=3s- s w_ _ . R=l ]' . 1 1 t t 1
m L r n L.
Pr int eut s t ahl e nFt he r st EH} val ues uF ' |. _ Ti' ? in eel umns hf ve. Al st s p r int eut
FULHR} in et nl umns evf ve. but in e Fer |1 1 at .
Ref er enee
l . Mer r an. M. and Shep - ir e. H. H. . Fur sef ssr nr r t t ef s ef I"Ir er r ; - t sr s:1 . ' r m. I* r ::' es. Iehn ' Wi|e , ' Est
Sens. I [ ::- hul - t en. H]. EH1 ]- i.
Chap t er 5
Numer ical Int egr at ion
5 . 1 Numer ical Int egr at ion end Sin1 p sen s Rul e
"We went t e evt t l uat e t he int egr al . I. wher e
I = _ [ l l . s] el s { i. i_ l
. - I
I l ' l |l . l . | . ||' . l i . ' l |. ||:' t he 1 - t :1 1 - t is t qr mn st =. - "I. t n st =F5 inns st s1 1 l 1 t ii1 . ' isie||1 s, wl t er u st is an
I- T"! - "' i; ' Il ' 1 l | ' l |f ' g1 ; * I|' -
I l ' i- l it ' t ' t | t St ' . =- I' l l - 5 r ul e euit sist s t 1 l "t :t :nt 1 et . t ir 1 e gr uup s ul ' t hr ee p eint s t ut t he - L- LU"- ' t '
Hs]I l s}- ' set - eit d- degr ee ' [ _ 1 - 1 . 1 ~ l j_ r I1 e|- t 1 t i; 1 l 1 =: t p ar shel ssl and summing t he st ems
l . l I' Il Li. ' l _ ' 1 ' ' l ' i' l l i. ' ' |J1 ' =l . |' . 5 . l . l J' Ul . :' l . l ' i[ II] Ul iHiE|. Il . I' l l I. l i' |. 4' _ i=1 F||I' . |1 "|' . ' |' I. iI' [ ' l . i. L[ l i. ' ii:|. 1 ' l i. ' - El . ' |. 1 |' l l L' l . - L 1 ' l Il ' 1 L' ' l ' _ ' l . 1 1 "' r "l L' l i_ ' ::i- L l L'
Figur e 5 |)-
F. :- :1 ". - ; t |n_ iIl l s] in u Tat }- l ist 5 - er ies Hl ' l t I|- HT } ; l 1 . - iil t g_ [ l |f e' e* r e|' |"n. s; t l 1 ; =|t is,
H2 1 - :} =s{ :- t :- t i}- ' + h[ _ :- t :- t i] + e [ il l
Then.
- . _ - . - . s.
Ft : _ H:|_ _ 1 IJ. 1 - P:- ]L- [ jg =I [ 3 I- 1 . ; - |; i::|J + h [ st - 1 - t i} + t i] t l s: [ I5 1 3],
L _ |' . "|_ |'
Let 1 f , =:t s:
9' 5
' 35 I Humer icaiandeinet vt ieeiMet hds wit h MATLAE
I .
1 | Jr 1 Jr ; L J
' - I
r |- ||
. ' 1 ' |. . 1 t . e|. . 1 t
I. Jr
I] II l It ' 1 ' - |' |l ' 1 ' - r :|~ 1
Figur e 5 . 1 Ar hit r ar v t hr ee p eint s en t he eur ve f t xi.
' Ihen
dig =t I|. ' - L
and when 1 - t =1 t _ - 31 1 :, t i=- iii- :, ant iwhen it =:~ :i+ x, =st
l vial t ing t hese suhst it ut iens int e Equat ien ( $ 5 . 5 - Iigives
. ' L _ + l J. - _ |l _
. r ' i. 3 r im =I Fix} t ir e = |. [ ail + hi+ el t ig
a' , _ | _ _ _ - H
_ e .
is wel t
. I|. v
. . is . s .
=it eei- - it - eei- * + - t eer - _ - t - se. - Tr + e. . t 1 :eir { . s]
s s 2 1
Ce- l l eer iil t e p nsver s ef t i"- . 1 : gives
E:
Al ' - I. r I| ! ' = ' l " - Ir ! - ' - ' 1 ' 1 "- I
i"- l mv Fl { :\ - :i' ]I =[ :i=- r :
iii:- t i+ , ] =FM =at is} 3+ h if + 1 '
iisi_ ]i=t i_ _ 1 ==at . ' ixII 1 + h- [ . - 1 vi+ e
Ht it iing t he t we aheve equat iens gives: t im + :_ l =Ea . 1 1 :t 3+ 2 :;
_ . - 3 Is
"- - .
II-
IIIEI:l ii IIIII
1 - :
||- I- I
PIEII L-
Numer ieaiint egr at ien I El ?
. t L_ |
me !
. III! -
I
|- :' |l
Figur e 5 . 2 l nt egr at iun ar eas.
5 - nl ving f er a gives:
1
e=Z [ FiH+ t J[ ' . 1 i- 1 ]
Ex
Then.
. - - . 3 1 |r _ _ l + t l , EF|]{ . * . xl }+ l i' ir J|. :t
1 3. 1
_ ' :- ; l :r i]1 :- _ - L ' _
5 . -
I' l I'
=T[ t |_ , + l ; _ , El i+ l l ]
u. _ .
- "die :|=t r i|_ I' I- I =? l Fi1 + ""H' _ s + 1 - it l if - Lil
Tn nht ain an ap - p r - t u- . ' imat i- nn Fnr t he int egr al , i, we neet it n sum al l t he t wn- st r ip
ar eas unt ier t he eur ve Fr enis =A r e s =H { see Figur e 5 . 1 }; t hat is,
1 %, : Fit , + - * ' ii . + I5 ]
Ft ; =%[ i _ . r + - it . + i"_ . ]
I-
a_ . =%[ r . , + sr + r _ . ]
A ; =%1 [ f 1 _ , + - if "+ l ]
9' 3 I HU. ' 1 l Ef t EEiEIEl ' Anal y t ical l ' ir f iEt ht ]' 5 wit h MATLAB
Thus.
Jl _ |1 H
This is 5 - l f f l p t l l iir ul e Fnr it t t egt at it :- n.
5 . 2 l mp r ap er Int egr al s
Examp l e 5 . !
I=j' l t ig[ l + a* ]dg
I
' l l ' ie al t - er vc int egr al is ir np r cip et since hat h t he numer at t :- t ant it l et t er ninat t it ar e zer a
at t he l nwer l imit { :1 - : =l l ]- The e:- t act val ue nF. |"ean he nht ainet il ay Fl esit l ue The- :1 1 ":- , r in
Einmp l es Var iabl es- l t is i' =TE =H- 31 2 - 45 ?
Let
1
l I=J t 1 g[ l + xi ir =Il + L
J: _
it
wher e
1
II : | l t 1 - g[ l Y+ ar id?
E
ant i
E1 - ' . [ J = ' t ! IE' [ l + I }ir
at
Ta eval uat e I3. esp anel l egit + siin a Tavl nr Ser ies al seiut s =t i, giving
l t igI[ 1 + . vi=. ei. v1 + i. w. - "l l . e4 + l ei + ~ ~ -
1 ii ii 5
l = _ l it s] t ie =%[ Fl + r - if . + it } + as, + IF. - , + + - if + t "n+ , ] (5 , 5 )
1 . ' |' . * l '
t hen
Numer ical int egr at it t n I 99
l gl :l + xl - I I- . v+ if l . 1 r ' l + 1 . 1 3
I E ii l 5
L
Is =J- { l - 1 :- t + Lxl - - l . 1 :' l + l . 1 r l ' - 1 . 1 : + l . v + }sil ' . v
2 5 sl 5 G T
il -
l E 1 1 l 4 1 5 l L, l _ .
I. =ee + e' . e + e"e + e +
* - Ii 9 Iii . 1 5 5 1 " 49
Eval uat e I] l ay Simp ser f s r ul e
Tl
Tn nht ain Ta}- ' l nr Ser ies exp ansien l l : l - ngl l + siuse
1 . =l
f ix]: f t a; |+ f ' t t ii. e+ f "t ai%+ f " t ai%+ +
f il l } =l egit ] =t i
if
_ f ' =; l t ig[ l + :|r ]=; ; _ f TI[ i]]|=l
l + . :e
f u_ - l 1 ; f ar t ) :_ |
{ ' l + xi
f a=ii, 1 f mt ai=1
{ l + xi'
f il e: 3' 2 LI- . |' l
[ l + . a* ]
ii
f "=+ iil ' ~ . f "t si=s- s- s
l l + xi"
er e.
l eg(1 + . vi=l ]+ . vi. v:+ i. v' 1 ' 3. 2 ii l l - al l
. 1 5 2
. v + ia:5
4- 5 - 2 5 - 4- 3- 2
. 2 I 4 i l l r
I I I I I
l ng{ 1 + Jr ] =. v
s s 4+ 5 t - +
1 ' I]"[ l ' I l vumer ical ant iAnal y t ical Met hods wit h MATLAE
5 . 3 MATLAB"s Quad Funct ien
The l ' vl i' i. TL. i5 . E Funct ien int eval uat ing an int egr al is quad. A descr ip t ien er f t he
f unct ien ean be ebt ained l av t y p ing hel p quad in t he cemmand windnw.
G = quadiFUH, A, Hit r ies t e ap p r eximat e t he int egr al ef f unct ien FUH
t eem A t n B t n wit hin an er r er er 1 . e- E using r eeur sive adap t ive Simp sen
quadr at ur e. The f unet inn Y = FUH[ 1 ] sheul d aeeep t a veet er ar gument 1 and
r et ur n a veet er r esul t E. t he int egr and eval uat ed at eaeh el ement ef H-
Q = quad[ FUH. h, E, TULt uses ah ahsel ut e er r er t el er anee ef TDL inst ead
er t he det aul r . which ie 1 . e- E. Lar ger val uee nf TeL r eeul t in Eewer
t unet ien eval uat iena and t ast er eenp ut at ien. hut l ess aeeur at e r esul t s.
quad[ FUH, h, H, TL, TRAEE, P1 , P2 , . _ ip r evides f er addit ienal ar gument s P1 ,
P2 . _ . t e he p assed dir eet l v t e f unct ien FUN. FUHl H, P1 . F2 . "- i. Pass emp t y
mat r ices f er TEL er TRACE t e use t he def aul t val ues-
Use ar r ay ep er at er e . s. . f . and . * in t he der init ien er FUN an t hat it
ean he eval uat ed wit h a veet er ar gument -
Funct ien quadl may he mer e ef f icient wit h high aeeur aeies and smnet h
int egr ands.
Examp l e
FUN ean he ep eeiiied as:
an inl ine ehjeet :
F : inl inel ' 1 . i[ x- 3- 2 * x- 5 i* };
Q = quad[ F, D. 2 i;
A f unet ien handl e;
Q = quad|wmy Eun. e, Ei;
wher e my f un- m is an H- f il e:
f unct ien y I my f uht xi
F = 1 - f t x. ' 32 * x- 5 3;
Bee al ee quadl . inl ine. e.
l t has been f aund t hat t he quad f unct ien is aisl e t n eval uat e cer t ain ir np t np er
int egr al s [ see Exer cises _ ' . i. l d. 5 . l e. and 5 . 1 1 7 }.
Examp l e 5 . 2
iint egr al k- m
iThis p r egr am eval uat es t he int egr al ef f unet ien f k bet ween a 5 h
t by HATLnB' e int egr at ien p r egr am QUAD
el ear ; el e;
3=' l :l - l I' J; l ' J=1 { ' l . l :I|:
int egr =quad{ f k' , a, h|;
f p r iht f t Eval uat idh ef t he int egr at ion ef f k ever int er val a, b Hn ];
r p r int t bv HhTLnBa t nr egr at ien p r egr am t nHn' i;
t p r t nr f [ f h=x 3+ 3- 2 * x* E- 5 - 4* x+ 2 D. 2 1 n1 n' i;
f p r int f [ int egr a1 =if Ent n , int egr ];
e ! k. m
iThis f unct ien is used in an int egr er ien p r egr am named int egr al k
1 f unct ien is f 1 =x 3+ 3. 2 * x 2 5 - e* x+ 2 . 2
f unct ien f l =f hini
r 1 =e. * s+ 3. a* x. * s- 5 . t ~ x+ as. ai
Numer ical l nt egr at ien I 1 t I1
Examp l e 5 . 3
t int egr el g. m
iThis p r egr am eval uat es t he int egr al ef f unct ien f l bet ween a & h
t hv HhTLhE s int egr at ien p r egr am quadl
el ear ; el e;
int egr =guad{ iunet 2 ' . a. h, 1 . ee- 5 |i
ip r int it t nl h int egr at ien eiit ever int er val a. h in' i;
f p r int f [ hg HATLnEs int egr at ien p r egr am 1 nt n' i;
f p r int f [ f unet 2 =t f t t ' 3+ t + 1 iEnin i;
p r int t * int egr a1 =t f inin' , int egr i;
if unet 2 - m
iThis f unet ien is used in an int egr at ieu p r egr am
t named int egr al g. The ienet ien is E1 =t f t t 3+ t + 1 i
f unet ien t L=f t t i
r 1 =t - f t t . * s+ t + 1 . ei;
Examp l e 5 . 4
t int egr al e. m
iThis p r egr am eval uat es t he int egr al ef f unct ien f l bet ween a & h
t hv HhTLAE s int egr at ien p r egr am quad er quad
el ear ; el e;
ep e=e. ee1 ; a=ep s; e=1 . e;
int egr a1 1 =quadt Eunet 3' , a. hii
int egr a1 2 =ep sD. I5 * ep s 2 + 1 - UjH- e* ep s 31 - ef 1 e* ep s e+ 1 - ef i5 . e* ep s 5 .
- 1 . f 35 - e* ep s* E+ 1 . Die9- * ep s T;
int egr a1 =int egr al 1 + int egr a1 a;
t p r t nt iI Evaiuat ien ef t he int egr et ien ei 1 ever int er val e. h in i;
t p r int iT* hy HaTLnEa int egr at ien p r egr am l nl n' i;
f p r int f f f unet e=l eg[ 1 + xiixint n' i;
f p r int f int egr al l r if int egr al ir if t hin , int egr al 1 . iht egr al 2 ];
p r int i; * int egr al =t r inl n' , int egr a1 i
t f unet 3- m
t This f unet ien is used in an int egr at ien p r egr am
t named int egr al h
if unct ien is f 1 =1 egt 1 - e+ n}f x
f unct ien f l zf t ni
f 1 :l egt 1 - + xi- f n;
5 . 4 MATl . AB"s DBLQUAD Funct ien
The MATLAB l u net ien f er numer ical l y eval uat ing a deubl e int egr al is DELQUAD.
Ft descr ip t ien t it t he Funct ien can he ebt ained l :i]. t t y p ing seize DBLQUAD in t he
cemmand windew. The descr ip t ien Fel l er - vs:
Q = esLeunn{ auu, xn1 n, xeax, r n1 n, vunxieval uat es t he deubl e int egr al ef
FUHt I. Y] ever t he r eet ahgl e EMIH e: 1 e: HHAI, YHIH e: E e: EH1 1 - FUR is a
f unet ien handl e. The f unet ien E=FUHt H, Yisheul d aeeep t a veet er K and a
seal ar T and r et ur n a veet er E ef val ues el t he int egr and.
1 [ l ' 2 I Numer ical and Anal y t ical Met heds wit h MATLAE
Examp l e
Q = dhl guadt e int egr nd, p i, 2 * p i, e, p ii
wher e int egr nd is t he H- f il e f unet ien:
f unct ien s _ int egr ndt n, y i
s = y * sin[ x]+ x* ees{ y ];
wer e t he int egr and ean he eval uat ed wit h a veet er xand a seal ar F.
Mensguar e r egiens ean he handl ed hp set t ing t he int egr and t e eer e eut side
ef t he r egien-
ii. p r egr am t e eval uat e t he vnl ume ef a hemisp her e ihl l uws-
Examp l e 5 . 5
it we_ D_ int egr al - m
iThis p r egr am eal eul at es t he vel ume ef a hemisp her e ef r adius =1
t The dhl guad f unct ien esl eul at es a deubl e int egr al ever a r eet angul ar
E r egien KHIH e= E e= HHAI. THIN e= Y e= TMAE.
Cl ear ; el e;
v=dhl guad[ f un2 D' , - 1 , 1 , l , 1 i;
f p r int f [ U=t 1 . 4f l n' . U];
t f un2 D
iunet ien s=iun2 Dt x. g|
- F. F.
1 f t 1 - [ x- 2 + g. Eia=l l
I- U;
el se
e=eqr et 1 - ie. * a+ y . * aii;
end
Exer cises
Exer cise 5 . 1
Use l vl . h. TLl t E' s quad Funct ien t e eval uat e t he Fel l ewing int egr al s [ net e t hat int eg
r al s d. e, ant il at e imp r ep er int egr al s)-
_ 4i
sl it
a- i"=- [ 4 _ +
f ir I- I- 2 r J
a
LE
_ sin xt l l x
l s. l I 1
_ m il l t isin :- :
5 - I =Isinhx- cesxeht
s
I-
Numer ical l nt egr at ien I 1 03
1 Jl t ir r
d. I = [ El f
U J1 - xi
l
g- I:. [ l eg. t t r =t . ' . t
U l l - l l
*
1
r y ey isst
il a"l
Ll
Pr eiect s
Pr eject 5 . 1
The sel ut ien t ier t he disp l acement . l "[ x. . t l . l r el n t he her l r ent al el a vl hr at ing st r ing
{ see Sect ien 1 l ]. 2 } is given hy
I _ sr t t x r r t t t nt
l "I[ x. t i= E a unit es?
. l . l If I
r r ' - i
' |r ' l . I' l ' l El ' I|I' , "
if as
=_ - _ a, . _ ~
an L nf t xisin L
Use l vl . ' * t TLl ' il i- ' s quad iiunct ien t e cl et er t nine an, l et . I". t =1 , Il l . Cr eat e a
t abl e and a p l et ef r t vs. iI' . ' i' . - l _ ' . i1 l ' l . t i' l . =i. t ] at and
t "i. =i. r , t ] - =:=x- - ::=t ]- ? 5 . l I.
t l . I2 t J. 1 2 x. t t . ? 5 . i~ =- := r e: L
f eew
Pr eject 5 . 2
l n det er mining t he t emp er at ur e dist r ihut ien in a cy l inder el r adius R [ see Unst eady
Heat Tr ansf er l l in Sect ien 1 0. 2 . 3], t he Fel l ewing int egr al invel ving t he Bessel
t unct ien, _ _ l ' m ar ises:
Fl
l g =Ir f ul hmr l ar r { p jgay
1 04 I l vumer it al andanal y t ical l l r l et hecl s wit h MATLAE
wher e hm is det er mined l ay t he equat ien
vvher e l s is t he cenvect ive heat t r ansl er ceeicient and l l : is t he t her mal cenduct ivit y eF
t he cy l inder mat er ial . In Pr eject l l ]. _ it he val ues in Tabl e P5 2 eiii. wer e eht at ned
Use l ' vl . l ' t T' l . . l il i - ' s quad l unct ien r e det er mine l l " Tal t e l l =0 1 2 m Censt r uct a
t ahl e ef l m vs. indexat
J ii - I' l l
. i- I=. it %=s t r s set
l , il ~ l i' l
Tahl e P5 . 2 hm vs. r n
indexm
l l . . .
1 1 4. ; l t |- T- ' 5 5 !
2 32 ' - 2 Et l ' l 5 3
3 3F. 2 E- 05 3
4 5 1 . 301 5 0
5 t il l Fit - 1 - ' - l
Chap t er 6
Numer ical Int egr at ion
of Or dinar y Dif f er ent ial
Equat ions
5 . 1 The Init ial Val ue Pr ehl em
I l r r ir it r l l - "iil r r r r ' "r er ' iu"t ' ir i' l l ie val ues ef t he t l ep ent l ent vat iah- l e ant it he neces-
sar y t l er iir at ives at e l - t nt ivr n at t he p eint at which t he int egt at ien hegins-
I Il l - Iil l l - l ". l - I' l l - . |::l |l l l ' - |! "' Il "- Il l Fr il r t r . "' t - f r t r hr ir l r i. l ir l , l r 1 . "t ~ ' t ? r r i' r ir r _ g . - l l - l r ' r hr r r l il f l l ivcn t he t l if f et ent ial et |ua-
r inn ant iinit ial t it int iit inn
, r l ' i- _
_ _ }- ' - - f l l _ a. ' . _ }"l '
' i t st i
_ ]t ' l ' l l ' l =_ i- , ,
Iit iht l ivide t he s t l uiiiain int e l - l st t l it l ivisiuiis. l "- l et l t ut l iiivt il t - es |n. i|' t . ' l iiiig in t he
s dir eet iul l .
I Eiiit e t he init ial ct :- iit l it inn is l t nev- n. we t an asst it t t e t hat l it - t . sut 1 1 t ' t l l ' l ' r it t t 1 I"y '
p nsit l eiix_ _ . t he vat iahl e_ t - I is l t nev- n. We vvish. t e p r edict y _ , _ .
t it t p p ese we use a Tay l er 5 - cr ies esp ait sieiiahet it 1 :: and enl y use t he l l |' st t we t ei' ui. s. t hen
f l _ r .
3. - |; _ - ; . - _ _ + , t - _ . l ' - t t esi
1 - ' vl iet c_ _ |r |l _ it ' l r _ _ iat id it x|_ . x_ it - t ee Figur e t i. l _ i.
T05
1 0||' :iI hl umer ical ant l r l l nal y iical Met heds wit h MATLAB
J"
l l Fr il l
- - - ' I. l ' r |+ l
- . _ - _ J- |I' I"'
I" - - - - - - """_ " l l :t
Fr il l
it xiii
Figur e 5 . 1 Est imat e el y i_ , _ 1 .
Fer t he ceniigur at ien shewn in Figur e 1 3. 1 . _ }' r l + l | evet sheet s t he t r ue val ue el l : y m.
Piup p t :- se in E- t l uat ien iii- - 2 ] we use jr ' :_ iinst eat l t if f : giving
t i . =it sir . - ' _ . l ' l - I
"||3. "l "||:I' f i'
J an Z I |_ |l ' |
l ' dl r ' l l l "l r l ' 1 i+ ]l "' l . =+ 1 ) l E"5 l '
r t
Fer t he cenl igut at ien shewn in Figur e t i- - l , _ }' g[ 1 unt ier sheet s t he t r ue val ue t al l y - _ , _ l - . - it
her t er est imat e f er jg] is nht ainet ihy using t he aver age hf t he t wn der ivat ives. The
- [ I - -
cer r ect ed val ue l er _ _ }' y _ ]. denet ed J' , . , |. is given by
- ' - il l . r r '
J, IJ:l l _ - 1 Z Jl l i' l ' 5 [ J- I: ' l ' l :_ :|- ' l i+ 1 :l l ' l 1
Equat ien { (3. 4} is l t nevr n as t he cer r ect er equat ien.
We new suhst it ut e Equat ien [ G al l int e Equat ien it - 1 . 1 } and ebt ain
t i; , il ' =f (s, H~ _ r , l . l l t est
l "' ~ l ew suhst it ut e Equat ien it i. _ il int e Equat ien it isi]. giving
. . - , l , ,
. 1 5 . - . =. i. + g[ . r , + t . i, _ LJ 1 t eat
|". , _ 1 . .
l f | _ y _ + ' | - J ; - 1 |- c est ep t t er at t en f er - }|Il |+ | and meve en t e t he next st ep t e der er mt t t e
- ' . . * - t . . - r . ' . . . . . . t . ' . .
y gl . y JH. et t _ . l f | y m it - M |; ' - =- e cent t nue uer at t en; t hat is, subst it ut e jg] int e
l vumer ical l nt egr at ien ef Eil r dinar y Dif f er ent ial Equat iens I 1 0?
Equat ien (0. 5 ). ebt aining [ _ }' :H]l " t hen suhst it ut e iy f g l l "int e Equat ien { Ei. ~ 1 l l . ebt ain-
i1 1 gy :+ 1 , et c. .
Er r er est imat e. E =%y mil |. Il . 1 "l . wher e xisf . gs: xr _ _ ! .
I The easiest way t e det er mine t he accur acy ef y eur answer is t e deubl e t he nut nher
ef suhdivisiens and cemp ar e answer s. if t he desir ed accur acy is net eht ained.
cent inue deuhl ing t he numher ef suh- divisiens unt il t he desir ed accur acy is
el :|- t aine- t i.
6 . 2 The Feur t h- Or der l l unge- Kut t a l vl et het l
The f eur t h- er der Rungel { ut t a met het l uses a weight ed aver age el l der ivat ive est i-
mat es wit hin t he int er val ef int er est .
iiup p ese we ar e given t he equat iens
y =ir l =f ix. _ y iand _ y { 0] =y "
l n t he Eul er met hnd we use
l it , , - l . - _ _
1 ' . . . =s + r . + l t . . . l
2
l n t he F. ungel ' l l ut t a met hed, we use
l s as as s
l r i+ |_ l ' l . + El |+ 1 + 3+ 4]
wher e
t l [ =f { xI. , y I. ) =Jr : 1 t val ue ef _ y ' at xf
l l : =J(' [ xJ. + %, y - J. + gi- 1 ] - - it est imat e ei' _ y ' at xi+ 3
l g =f [ xr + , y ; + gr - l - :1 ] 1 t a secend est in1 at eef y "at xJ+ i
il l : =f { xJ+ h, _ _ y I + . |l r . t i' _ , ' ]l %iest in' t at e el f ' y "at _ r J_ |
1 0H I l vumer ical ant l r l l nal y t ical l l viet heds wit h l vl . - * ' t l "l . AE
6 . 3 Sy st em ef Twe Fir st - Or der Equat iens
Ll ensider t he f el l ewing t we r st - er der er dinar y dil f er enr ial equat iens:
a"I. i
; =f t s. y . 1 1 l : r il l ] =gr
sf
Ii=g' [ x. y . 1 Ji; ut ei=um
Tal t e
h
y r =y r + E [ l l + 2 l _ , + 2 l _ i+ l q_ ]
l . -
eJ+ |=ej+ ? t t =l + 2 s, + 2 . l =1 + . ig]
} . -
wher e
. l =l =_ , i ixJ. . _ y f . uy _ i
l l l l : gl l xil l l ' r i"Ur ' }
h l it h
l l : :- ' l r l ' l h+ E l ' i+ E* l | l l i+ E' l l t l
l i l i t i
l = . + - . + - l . u_ + . t *
2 1 - l l : E l r 2 1 ]
| | I. 5
h h h
t l l t g=f l [ Jt . - l ' - E, Pit . - ' l - El l y , - l . l r l ' . Ii! ' b]
' s s s
l = _ + - , _ + - l _ , ' e_ + ~ . i_
l El l i2 f l 2 * 2 l
l g =f ix; + l t . y y + h. f :|. uy + et a}
l g ==gix + h. f y i+ hi}. Ll ; + hl r j
wher eh =ax.
6 . 4 A Singl e Secend- Or der Equat ien
Fer a singl e secend- et ' der er dit t ar y t iif l ier ent ial equat ien. t he met hed ef sel ut ien is
t e r educe t he equat ien r e a sy st em ef r we f ir st - er der equat iens.
Numer ical l nt egr at ien ef t IJ' r t l ir t ar y Dif f er ent ial Equat iens I 1 00
G iven t he f el l ewing singl e secend equat ien wit h t he init ial cendit iens:
1
t l s
l l l zit z l l r r l l l l
r gt f ess
set =it as r t e =it
r hi-
Let _ y =Ll . t hen y =E=1 1 ' =f l ir . _ , iI. l l l and y i=gl x. _ JI. l t l =1 . 1 . Then f er t he
net at ien used f er a sy st em ef t we hr st - er der equat iens isee Sect ieu 6 . 5 }.
t i l
l l t :l "l t " l r =l "l i+ E' l h' l l |=1 ' l l l + %l E2 ' l s:l ' l ' i' + l l l "E=|
Examp l e 6 . 1
Sel ve t he f el l ewing t we f ir st - er der er dinar y diif er ent ial equat iens by t he Hunge-
l t l ut t a met hed
r l
I: =2 r e_ ' 2 r y =f it , r , _ y ]
:i%=i+ is =sisal
aer at e
r it ii=1 . 0
y t ei=s. t t
t f r
. . _ _ _
f M el r
sit
3, _
l l W . e r
IT- l l E FTDl Il l l CITl Il r f l - I l l t ||. "1 ' iI
ir unge2 - m
iThis p r egr am sel ves a sy st em ef 2 f ir st er der er dinar y dif f er ent ial
t equat iens by t he Runge- Kut t a met hed. The eguat iens ar e;
t dr f dt =2 * r * exp [ - 0- 1 * t i2 * r * y =f t t , r . y }
t dy l dt =- y + r y =gl r . y l
f e=f ep en| eut p ut - dat . ' w' l ;
f p r int f t f e. ' EUHG E- HHTTA PRUBLEH l n' l i
f p r int f { f e. ' t I y Hn' i;
f p r int f l f e. ' - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - l n' i;
n=1 UD; dt =0. D1 ; r |l i=1 . D; y [ 1 ]=3. D; t [ 1 i=U. 0;
f er i=1 :u
' l 1 I:i+ l _ l ' =Il . ""IIl . 1 1 ;
hi1 i=r p r imef t t ii], r l ii. y t i}|;
Lt l i- y p r imeEt r iil . y t iit :
1 1 0 I Numer ical ar it l Anal y t ical Met heds wit h MATLAH
Pw
' u' u
i=r p r imef t t IiI+ dt f 2 , r t i}+ dt f 2 * ht 1 |, y l ii+ dt l 2 * L[ 2 ]i;
i=y p r imef t r f ij+ dt f 2 * kt 1 }, y { i]+ dt l 2 * L|l ii;
ht 2 i=r p r imef t t f if + dt f 2 , r t i}+ dt l 2 * ht 2 |, y [ ii+ dt l 2 * L[ 2 ]i;
Lt 2 i=y p r imef t r ii:+ dt f 2 * kt 2 }, y { ii+ dt f 2 * L|2 ]i;
ht di=r p r imef t t Iii+ dt , r t ii+ dt * ki3i, y t i}+ dt * Li2 ii;
Lt di=y p r imef t r iii+ dt * ht 3i. y iii+ dt * Lt 3ii;
r t i+ l }=r t ii+ dt l E' [ hil i+ 2 * hl 2 ]+ 2 * ht 3i+ k[ 4]J;
y l i+ l l =y l ii+ dt l E' [ Ll l l + 2 * L[ 2 l + 2 * Ll 3i+ Ll 4l it
end
f er i=1 :1 0:n+ 1
f p r int f l f e. i1 0. 2 f r 1 s. sr s1 s- t r t n' . et ii. r t ii. y t iiii
end
f el esel f ei;
p l et t t . r . t , y . ' - - I, xl ahe1 t t ' i, y l ahel t * r , y ' i. t it l el r s y va t ' i.
gr id;
h r p r imef - m
t This f unct ien is used wit h r unge2 . m p r egr am
f unct ien dr dt =r p r imef it , r , y }
dr dt =2 . 0* r * exp t 0- 1 * t ] 2 . * r * y ;
s y p r imei. m
s This t unct ien is used wit h r unge2 . m p r egr am
t unet ien dy dt - y p r imeEl r . y i
dy dt - - y + r * y ;
6 . 5 MATL. t B"s ODE Funct ien
l ' vl i"t TLh. B has an UDE f unct ien named f . :l l ]E=i' _ i. l l descr ip t ien ef t he f unct ien f el -
l ews. This descr ip t ien can he ebt ained by t y p ing hel p DUE- ' - l 5 in t he cemmand
windew.
[ JDE45 Sel ve nenst il l :- dif f er ent ial equat iens, medium- er - t ier met hnd.
[ T, Y] = eDEd5 t eDEFUN, T5 PnH, Yet wit h TSPAH = [ r e TFIHAL] int egr at es t he
sy st em ef dif f er ent ial equat iens y =f t t , y ] f r em t ime TD t a TFIHAL wit h
init ial cendit iens 2 0. Funct ien DEFUH[ T, r ] must r et ur n a cel umn vect er
cer r esp ending t e f t t , y i. Each r ew in t he sel ut ien ar r ay 2 cer r esp ends t e a
t ime r et ur ned in t he cel umn vect er T. Te eht ain sel ut iens at sp ecif ic
t imes TD, T1 , n. , TFl HhL t al l incr easing er al l decr easing}, use TEPAE = [ TD
Tl TFl H. IIt L|].
[ T, Y] = DEd5 iDDEFUH, T5 PhH, Yu, UPTIDH$ isel ves as abeve wit h def aul t
int egr at ien p r ep er t ies r ep l aced hy val ues in UPTIUHE, an ar gument cr eat ed
wit h t he DDEEET f unct ien. See DDEEET f er det ail s- Cemmenl y used ep t iens
ar e scal ar r el at ive er r er t el er anee ' He1 Tel t l e- 3 by def aul t ] and vect er
ef ahsel ut e er r er t el er ances ahsTel ' [ al l cemp enent s 1 e- 5 by def aul t i-
[ T, Y]==UDEe5 t DDEFUH, T$ PAH, r d, ePTIeME, P1 , P2 "_ ip asses t he addit ienal
p ar amet er s P1 , P2 , . _ t e t he UDE f unct ien as DEFUHt T, t , F1 , P2 _ . i, and t e al l
f unet iens sp ecif ied in PTl UHS- Use UPTIDHE = [ ] as a p l aee hel der if ne
ep t iens ar e set -
Numer ical l nt egr at r en ef Dr t l mar y Dif f er ent ial Equat iens I 1 1 1
Examp l e 6 . 2
t edsss ex. m
t This p r egr am sel ves a sy st em er 3 diiier ent isl equat iens
t hy using edess f unct ien
s y l ' - y 2 * y 3* t . y 2 ' - y l * y 3. y a - - e 5 l * y 1 * 2
. y 2 t 0l - 1 . 0. y st ei- 1 0
cl ear ; el e;
t y t t ai- e
init ial - [ u. e 1 . e 1 . e];
t Ep anr 0. 0:0. l :l 0. 0;
ep t iens- edesst l Rel Tel . 1 . ee- E ahsTel [ e- e s- ee- ]i
[ t , r ]=edee5 t edy dt 3, t sp an, init ial ep t iens]
P=[ E Y]:
disp f ei;
t 1 =F1 =. 1 i:
v1 =P - . =ii
y 1 =F::
y 1 =F1 1
. 31 :
. 41 :
f id=f ep en{ * eut p ut - t nt , ' w'
f p r int f [ f id, ' t y l l y { 2 i } n
f p r int f [ f id, ' - - - In i
f er i=1 :I:1
f p r int f l f id, ' is- at at t ie a t n ,
t 1 [ ii, y 1 t i}, y 2 { ii, y 3t il l
end
f el eseif idi
p l et [ t l . T{ :, 1 i, t 1 , T{ :, 2 J. ' , Ti xl ahel i t '
y l ahel [ T{ 1 i, 2 t 2 }, T{ 3]' J. t 1 t l e{ 2 vs t ' ]
gr id,
t ext t d- 0. 1 - 2 , ' y [ 1 ] ], t ext 5 t ext 4 y
01
t dy dt 3. m
s f unet iens f er examp l e p r ehl em
E y 1 ' - y 2 * y 3* t . y e - y l * y 3. y a e 5 1 * y 1 2
f unct ien r p r ime- dy dt 3l t . si
t p r ime=r er est 2 , 1 };
Yp r ime[ l ]=Yl 2 i* T[ 2 ]* t ;
2 p r ime[ 2 ]
2 p r ime[ 2 ]
Yi1 l * Y[ 3i;
D. 5 1 * Tl l l * Yi2 i
Examp l e 5 . 3
k ede_ vib. m
s This p r egr am sel ves t he met ien ef a sp r ing- dsshp et sy st em The gever ning
s equat ien is a secend er der er dinar y Dif f er ent ial Equat ien t xvs t ihy
t HhTLeB a edess f unct ien.
I m- is kg. h- 4 l m. e- 2 . H- el m, al p ha- e es H emega- 2 r a
s y t l t - x, y t 2 i- xdet - v. y p r imel y t ai
t y p r imel ei- sl p ha* sinl emega t t i- cl m* v- hr mt y l l i
cl ear ; el c;
init ial - [ u. 5 e];
t p an- 0:0. l r 5 0;
[ t . y l - ede45 l dy dt _ vih . t sp an init ial ?
P- [ t vi:
t l =F[ :
I=Pi:, 2 ];
F=Pi:, 3l ;
. 1 1 :
1 1 2 I Numer ical ant l r t nal y t ical Met heet s wit h l ' |vl r l l T. l r iB'
f p r int f l t x v l n i;
f er i=1 :5 :5 U1
f p r int f t ' E1 0- 2 f i1 0- eE t 1 U- af l n' , t 1 t ii, x[ i]. vt it i;
end
p l et it l . xl , xl ahel l t i, y 1 ahel | x i. t it l et xvs- t ]. gr id;
f igur e;
p l et it l . vl . xl ahel l t i, y 1 ahel | v' i. t it l et v vs- t i. gr id;
t dy dt _ vih. m
t m=1 u kg, he s l m, ca 1 - D H- sl m, al p ha=e. e5 H, emegaa 2 r adl s
iy t 1 t =x, y { 2 i=xdet =v, y p r imel ay t l t ;
t y p r ime:2 iaal p har sint nmega t t i- cl m* v- kf mt y t l i
f unct ien y p r ime=dy dt _ viht t , y |
y p r ime=r er esl 2 , 1 l ;
m=1 e; h=d; c=2 . e; al p ha=e. c5 ; emega=2 ;
y p r ime[ 1 ]=y t 1 i;
y p r ime[ 2 ]=al p ha* sinIemega* t icl m* y t 2 i- kl mt y t l i;
6 . 6 Or dinar y Dif f er ent ial Equat iens That
ar e Net Init ial val ue Pr ebl ems
when an er dinar y dif f er ent ial equat ien invel ves heundar y cendit iens. inst ead ef ini-
t ial cendit iens. t hen it is cenvenient r e use a numer ical ap p r each t e sel ving t he p r eh-
l et n. f in examp l e ef t his t y p e ef p r nhl em is t he def l ect ien ef a beam wher e heundar y
cent - iit inns at hnt h ent - is nf t he l "- t eam ar e sp ecif ied- wit h cer t ain t y p es ef hnunt - iar y
cendit iens. t he numer ical met hnd wil l r educe r e sel ving a set ef l ineat equat iens t hat
f al l t r ue t he cat eger y ef a t r i- diagenal mat r ix. The sel t t t ien ef a set ef l inear al gebr aic
equat iens t hat ar e cl assied as a t r i- diagenal sy st em invel ves f ewer cal cul at iens t han
t he sel ut ien ef t he set by G auss El iminat inn. This is enl y imp er t ant if t he sy st em ef
equat iens is l ar ge. ' l he sel ut ien ef a t r i- t l iagenal sy st em is discussed next .
6 . 7 Sel ut ien ef a Tr i- Diagenal Sy st em
ef Linear Equat iens
Sup p ese we have a sy st em ef equat iens ef t he f er m
l . r I l l l l l l x c
t t t
h_ , l r t , _ l l l l I : i"
0 . t =q 1 . r y 0 xi= r g
' if - |Et . ' Fi=
0 I] . f r . l a . x r .
' 1 - i "l "l
l l l l l l - 1 5 5 l :- t a cg
J
i I1 ii1 I
This sy st em is designat ed as a t r i- diagenal sy st em. The set ef equat iens becnmes
Numer ical l nt egr at ien ef Et r t l inar y Dif f er ent ial Equat iens I 1 1 3
- ha- it : + xg - a, x, 1 =c, r [ t i- l l l }
- 5 7 4. - ' 1 ]- ' _ q ' l ' :l i1 ' qt I_ 1 . t :. , : ii- ' 5 '
. f t 5 x_ . i+ x. J=t i { - 6 . 1 2 }
I. - Iencep t :
1 . [ Tine can sel ve Equat ien { t i- B} f er xiand suhst it ut e it int e Equat ien il l . - l l . giv-
ing an equat ien invel ving . "- l il g ant - ix_ . |. which is designat ed as Equat inn [ t i- _ - Il "iL
2 . Cine can t hen sel ve Eqt t at ien l f t hl il f er t he x_ - , in t er ms ef xy and suhst it ut e
int e Equat ien (0. 1 01 . This gives an equat ien iust invel vingxy and x. , . which is
designat ed as Equat ien [ l 5 . 1 t ]' i.
5 . This p r ecess is cent inued unt il t he l ast equat ien. When x4 is subst it ut ed int e
Equat ien (5 . 1 2 1 . an equat ien enl y invel ving xg is ebt ained. l hus, x. can he
det er mined-
= - l - Then by hacl t subst it ut inn, nne can nht ain al l t he nt her xival ues-
l vl et hed:
1 . Put t he set ef equat iens in t he gener al f er m shewn in Equat ien [ (1 . 1 3]:
x, =r t , x, - , 1 + t l =, x, _ ] + r , - (5 . 1 5 1
f il er s. "t il =t 1 and f er m equat iens, a, , , =I1 .
2 . l iy t he suhst it ut ien p r ecedur e eur l ined abeve. ene ebt ains a set ef equat iens
ef t he f er m
xi=di+ eix, , | [ t ic]- - l jt
Nair . "Fer i=m. e, =0.
Then.
Kin =dnt
Hn1 . [ =dn1 . [ + Er |:|1 :' :m
x| =d, + e|xy
Ther ef er e. if a gener al exp t essien f er d, and e, can be ebt ained. ene ceul d sel ve
t he sy st em f er xl . "' ~ . "' l l ' e st ar t wit h t he assump t ien t hat we can p ut t he l _ il iequat ien
in t he f er m
:t , _ | =d, _ 1 + e, _ , x, t we shewed t hat we can de t his f er i=2 ]
1 1 4 I Numer ical ar t t l anal y t ical l l . - l at he. - . :l s wit h M . - l Tl _ . s1 t B
Then. t he equat ien
iii=al Ii+ 1 T hil t - t T Si
becnmes
if s: at 31 + : T l :"t l f l i- 1 T Ei1 :i:l T Si
l l _ bi' :i1 il it : l if t T l JiLl i1 - T T ail f at
[ If
c- , + b, di_ l a,
iii_ ' l ' iil ' l i. |. |:|:l . | l ' l i"; i. Hi, i
l _ h Ej_ l l _ l l JLEJ' _ ' |_
Thus,
c. + b. d. a.
di_ |. t |l ; E- _ 1
l _ hi' Ei- 1 I 1 - hiTil l l l l l l il
val id f er i=2 . m.
l ' v' ar e: ' l he ver y f ir st equat ien in t he sy st em is al r eady in t he f er m x, =d, + e, x, _ ,
ant ial se t hat
a- l ' || : U
Thus.
d1 =cl . e1 =a|, and b] =[ 1
Then, xm =r im and by bacl - t suhst it ut ien
1 :r nl =d' r nl T EmIxm
xl =d| + ey xy
Summar y :
Set up t he equat iens in t he f er m ef Equat ien { + 5 . 1 3}. t hat is.
x| =a, xi + b1 x||+ cl
est abl ishing val ues f er ai. bi. and ca.
Det er mine d, and e, f r em Equat iens (6 . 1 5 ).
Det er mine d, and cl f r em Equat iens it ' ; i. l E- 1 . f er i=2 . 3. . . - , m.
El et et mine xm-
l _ - l et emine xi, f nr i=ml , m2 , - . . , x1 , f r em Eguat innsiif i- 1 2 1
I[ t i. l t i_ i
{ ' e. 1 ' . l l
Numer ical int egr at ion el f Or dinar y El if f er ent ieiEquat iens I 1 1 5
Fin e:- t anip l e eFt he use ef t he t r i- diagenal l net het if ar st l hr ing a sy st em ef l inear dif -
f er ent ial equat iens using t he nit e dif f er enee met her iis shewn in Seet ien 5 . 9. Finit e
diiier enee Fer mul as ar e devel ep ed by t he use ef just a f ew t er ms in a Tay ier Ser ies
exp ansien. ' l his is shewn in t he nest seet ien.
6 . 8 Dif f er ence Fnr mul as
Diiier enee Far nit t l as ebt ained by Tay l er Ser ies er t p ansit nn ar e usef ul in r et l ueing dif -
iet ent ial and p ar t ial dier et it ial equat iens t e a set uf al gehr aie equat iens.
G iven y =f { . 1 r }_ . a Tay l er Ser ies exp ansien abeut p eint . t _ is
r at : 1 er r :
_ s{ e_ . + t }=}' { xJ}+ y [ r Jih+ %* + %Fr ' * + - - -
wher e Jr =r . x.
Let
; , t ' [ :cI+ 1 ' :|=Jr and _ ]:' (. 1 r I} =J; - ; , J}- ' l [ . r t ' I_ ]=J. - Jf ' , et t t .
r + l
' ihen t he ' l ' a; . r l er Ser ies exp ansien equat ien can he wr it t en as
If f ir : l g! I Fir ! El 3- 1 " l g - i
_ ]; ' r _ H=_ }' r - |' _ :|I' I_ i|S- I" T- I
Al se. Fer equal l y sp aeed p eint s en t he . 1 : axis.
I y in { F; ] S _ }' :"(. i; }3 r ig { . F. r }
J"[ . t ; _ - . F:i=J' , - _ 1 =1 , "' J' |:' 1 5 i+ ' T ' |' Tl "
El l
. r s i:" r J . - W"5 "j I t
y f _ |=y f y r Ir + 2 ! 3! + 4! + ~ ~ ~ { t 3. l Ei}
Ret ur ning t e Eqt l at ien [ $ . 1 5 ] and using t we t er ms in t he exp ansien gives
=1 * . + r ! it
Sehr ihg f er ji.
r - , ' J - -
. r _ r + r
I}||I H
1 1 EiI Numer ical and Anal y t icaiil it et heds wit h MATLAB
I i. I I I I
Using _ ; |- r - + 1 ' invel ves an er r er er r :- r cl er iii. Ihis is t he f er war t l r iiiier ence
ii?
f ur mul a f ur _ }r ; uf ur cl et t it . Simil ar l y Ft t i- r r iEquat ien I[ t ii- l Ei]. using nnl y t wn t er ms ir i
t he eit p ansir in gives
r - ix.
I _ r r { sail
. 1 . B
J . _ J? . . . .
Using J1 : E I invel ves an er r er t it t ir t l er iii- This is t he hackwar t l d. l i:l ' - iEl ' EI' IC' E
iFL|ITI1 ' l . . ' l . i3 FIJI US? ' [ ]. l l ' d. ' l i1 ' 1 ' J5 .
i"' - l nvv siip p nse we st iht r act Eqt iar inn l t i- l * J]- Fr nm E. IE||. 1 iE|. l . ' l I' l (5 . 1 3), keep ing nnl y
t hr ee t er ms in each eqt iat i- en. This gives
_ Ji' J. H jg ==l y |"Ii
5 l 1 1 l l . - ' ing i"r t r _ }r J"gives
I, I}l r + _ + r i'
j, I- Hr ' (5 - 1 1 )
. . l ", =- i- 1 _ . ]"' _ 1 ,
Using y r ? - Lt iinvel ves an er r er er f er der t it . This is t he cent r al r l iiie r ence
i
Fiir miil a Fer J : el it . t r i. l er Iii.
l Fwe acl t l Equat it in (5 . 1 3) and Eqt iat inn { t ' 5 . 1 Ei]=. keep ing t inl v t hr ee t er ms in each
equat ien. we nht ain
Ti- ' 1 ' l ' J' |. _ , | =E}' r + _ ir |. . * i. r :
St il ving :Ft t r _ }r J gives
. + . - zt -
L. . _ r . . 1 ii; r . { H5 }
. + . 2 .
Using J, - _ H _ ' }Ii+ l TI] y r ir t vcil ves an er r cir |' . ' 1 l ' - l l . ' 1 - l ' t ji, El ' bl . This is t he cent r al
l ' . i.
. 1
r . . H
iiier ence. l cir mul a Far Jr . al cir t ier 5 ' 2 .
Si":- met imes in numer ical anal y sis. when a heuncl ar v cendit ien invciives t he
. . . . . . . E
r st der ivat ive. J", cine might wish t n use siene- sided est imat e Fur y ef er der Iii.
This car t ht : acct :- mp iishccil a]; wr it ing
iH . 1 H.
L2 =J; + _ _ t ' ; l _ l iIi1 ]|+ 5 ; (say + ; r r es}- + - - - [ F- . 2 - ' - i]I
E}; Equat ien (1 3. 1 ii}
1 . |. H _ | I. IN
it - _ . r t t r . - 1 Er , - iit ar , * 1 + t ct ssi
Numer ical int egr ar icin cii' Eir cl inar y Dif f er ent ial Equat iens I 1 1 1 '
Using nnl y t hr ee t er ms in Eqt iat it ins { t ". i. I- ii] ant l { t i- . 2 5 ] at icl mul t ip l y ing Eqt iat icn
{ 5 . 1 5 } hy (- ' - iigives
iF. f '
s - iiii' r T* "* i ' _ ; |r J+ | - y r _ ]- "l _ . i' ? . l ' i[ t i- . . ' ! E- ]'
The t hr ee- t er m eqiiat ien i:il Equat ici|i(5 . 1 - ii] is
r . - it =r i+ r . i1 * i3' + %il i' i it - I~ . 1 r i
. i' 5 i. t ; l i; l ing Eqt l at inns |[ Fi. 1 { ii] at icl l l - . . - 7 1 ? ]! gives
r . - is - r ir . - . 1 =- l ' * r . - - l ir . - "ii
Sal ving f er y : gives
- _ + - i Ei_
_ ' }|r + . E "Tl r + ] "y r
Iii
Equat ien 1 5 . 2 3} invel ves an er r er cif er der t ie . This is t he ene- sided l "cir war - :1 Cl l iT|f . ' - [ ' -
ence Fet miil a Fer y f ef er cl er IF.
This f or mul a can he uscl - ul in ap p l y ing a heunr l at y cendit ien ir ivt il ving Jr at I] ,
t he st ar r ing p it t inr t il : t he at cl t imst in. Simil ar l y ,
1 H 1 =' - . l 1 H
J_ i' J_ _ 1 :J. r 5 |' _ _ ' ||' ; [ - 2 . FT' l ' }' |' ; _ ; ]. "J l :". Tl . l ' :|, * - =_ :|. r r _ ' - 2 . |' _ l ]i":' i' ; . l il ' "; |I' j
Again use enl y t hr ee t er ms in Equat ien { i5 . i' Ei:iand Equat ien l [ t 5 . E J' ]|, and mul t ip l y
Equat ien (6 . 1 91 hy { - =1 } ancl ar l r it he r esul t t e Equat ien [ t 5 . Ef l ' ]: t hat ist
4 1
- 4}- ' J_ 1 =- sl y + l - iii )- ' :giiF' _ _ }' l _ H
4 1
_ ; r :_ 2 =y |. 2 it y |. "+ ; ii y :'
iiit l it l ing gives
It - 2 _ T}' i- 1 :_ T- IiTl izl il r
St il ving Fnr y f .
r , _ - t - ar e + r ,
y r - t ' iissiiji
' Er is
1 1 iiI iiiuiner ical anciAnaiy t icaiMet hnds wit h MATLAB
Eqt iat ieit l E . il . i} invel ves an er r er at er der iii. This is t he aiie- sided backwar d
dif l er eiice l iar nt ul a ii; ir _ y _ af cir der ir i-
This f et mul a can hi: usef ul in ap p l y ing a heundar y cendit ien invcil ving_ ; , "at
It . - . _ _ - 4|. t he end p eint in t he I demain t hat is suhdividi- d int e hisuhdivisiens.
6 . 9 Def l ect ion r if a Beam
The gr iver ning ecp - iat ir in f er t he cl ef l ect inn iif - . 1 heait iis (f er a der ivat imief r l iis equa-
t ien see r l t p p endis Al l
ir il y _ i h"' [ ir }
|! l - ITIIT Eil l r r l
{ t i- Lil }
wher e
H- _ v =dcf l cct icin uf t hc heam at ar .
il r ir =int er nal hcnding mt i1 Tier it -
f i' =mnt l t ihis nf el ast icit y t if t he heam mat er ial -
i' =mciment cif inet t ia t i- l it he cr ess- sect icir ial ar ea.
Cunsider t he heam sheiwn in Figur e - IS- l Tt it iht air it he f init e dil f ct encc har m
t if t he gever ning e- t t uat inn. st l ht l ivit l e t he . 1 at - t is ir it - t il "- I st l ht l ivisini- is. giving sr ]. ar r .
a:_ . . . . . . . e5 + , _ l - et t he t l el l ect i- t ins at t hese p eint s he
. 7 ' i' . ]"i=. l "s' - - - P. - l ' H+ |
sil l y
The nit e diil er eiice f er Tas discussed in Sect ieii1 1 3. 3. is given by
F _ -
SIT- l " - ' }' , . + | T 1 " - | T 2 1 '
. i- if 1 - ". it i- - ssi
iii " iii- it
)-
Pl
A Il l B
i. . |
i. - _ , 4
L
is
a
RI:
Figur e B- 2 Beam l eading.
Numer ical int egr at icin cl f Cir cl inar y [ iif f er ent iaiEquat iens I 1 1 9
Thus. t he gever ning dif f er ent ial equat ien heccimes
r + I M
' 1 ' ' f "_ 1 ' TI - ". f er r r =2 . 5 . - 1 i. . . . . N
, t _ i~ * E! "
l l - ' l l '
1 1 ir iHIT
- 1 - . =5 - ii. . . + 5 - i- - . 1 ; . " aaa
Eeundar y cendit iens:
y l =U [ if - . - ii- ii
y ; . _ - H =Ll { (3. 35 }
The sy st em uf equat iens is a t r i- diagn- nal sy st em-
Tu nht ain an esp r essien f er t he l ::- ent l ing mcimer it t hin. f ir st sel ve f er t he r eact it ms
R, ait d R1 .
L
2 ar r : =t i=. f ' f 3l - . :| . t J' l _ | s:? ' - gt - I
Sal ving f er R3 gives
aiiPL? _
st . _ + - t eat ? - i
" EL L
L
EJT- S- H : I] : , F:l :I_ . I. ::l + Iil l - L1 [ L- E|' ]
Scil ving f er ii . gives
ii - PI] Li . t 1 IL
i" I T + * ' i ET t is- - ar r }
l nt er nal hencl ing t nur ner it s ar e t aken ahciut t he neut r al ait is t t f t he sect it t n at a:- Fur
U . 5 it 5 ii { see Figiir e 5 . 5 }.
. i' l r i' { . s* }+ ii. |a' - gil i' ]ir =i]
Sr il ving f iir il r ihr } ancl esp t essing t he equat ien in Finit e dif f er ence f iir t iigives
r t r n =r t ]- en - it s- ssi
1 2 0 I hiumer icaiancir t naiy r ieaiit vt et hocis wit h MATLAE
1 1
5 . . .
~ ir ~ " - II- |
El .
l a}
i"i. ' r t
5 ' r l r t
ijh}
Figur e 6 . 3 Sket ch indicat ing t aiint er nal moment at sect ion - t r . wher e t il 5 it 5 i' - , ;
{ hist r ess dist r ibut ion.
Ft :- t l . | st - t : E 1 . : [ see Figur e { S- - ii},
L
1 - r i"[ - 1 "l + ii. - r L| [ it R1 1 =t i
Sol ving f or it - t [ a' } and esp - t essing t he et . ]uat iun in f init e dif f er ence f or m gives
l -
r ' |r i' " =. if |. t ' t r . - ' L; { . 1 - t r ; ] g' ; . _ j J].
ir r l
1 1 '
' 5 M
1
f f !
Figur e Ei. ~ ' |- Sket ch indicat ing int er nal moment at sect ion ii, wher e 1 - :: it 5 1 .
Nunt er icaiint egr at ion of Ct r ciinar y Dif f er ent ial Equat ions I 1 2 1
L] PI
. u (1
L- 3 il _ - It 1
I
R i - i- 1
oi t o
Figur e B- 5 Sl t et ch indicat ing int er nal moment at sect ion - it , wher e. I- 1 - =: it 5 l , [ at
as seen f r om t he l ef t side and t h] as seen f r om t he r ight side.
For l g - c it E l . Il see Figur e t 3. 5 a}
L
i vi"l . ir l + f j[ it Ll i+ iir L- 1 [ . 1 t ? ]ii' t a' =t i
Sol ving f or i |isl "[ - t r } and esp - r essing t he equat ion in f init e dif f er ence f or m gives
L
iii. = av. . . L. i [ i. - 3 ) is- as
For t his sect ion. it is mo|' e convet iieiit t o sel ect t he sect ion f r om t he r ight side of t he
heam (see Figur e f S. Tl . ' J' _ l ' .
il r _ 1 ' t sj + i' i' _ ! (L sjl =Li
Sol ving f or il dil - t r } and esp - r essing t he equat ion in f init e dif f er ence f or m gives
air "=r t : it - gt t o- sit }
Equat ion ' [ il S- - - il jl is equival ent t o Equat ion { ' 1 5 - l if t ] f or il l - =i|' f or t he r egion L1 - t iat iL-
The sy st em of equat ions is t r i- diagonal and t ht is can he sol ved hy t he met hcid
descr iheil in Sect ior it i- i' . { See Pr o_ jei- it s t ' i. t iand i i- Ei- II
Pr oject s
Pr oject 5 . 1
An air p l ane y ing hor izont al l y at SIIJ mis and at an al t it ude of Sil l ] m is t o dr op a
f ood p act - t agc weighing . Tt ]l ' _ l l ] l * ' - l t o a gr oup of p eop l e st r anded in an inaccessiiol e ar ea
1 2 2 I t iiomer icaiancl - r t naiy t icaiMet hods wit h MATLAE
gt .
air p
it - t '
It v, , -
l l '
r . F
%
+ L ' :l l
' ||_ r '
Il l
G r ound
Figur e Ft i. 1 Air p l ane dr op p ing f ood p ackage.
r esul t ing f r om an ear t hquake. A wind vel ocit y . l r " _ _ . of ED mis Hows hor izont al l y in t he
op p osit e air p l ane dir ect ion { see Figur e F' t S. l jI. iii. dr ag f or ce. LT . act s on t he p ackage in
t he dir ect ion of t he f r ee st r eam. V . as seen f r om t he p ackage { see Figur e F' l S- l ijl . "- S- f e
wish t o det er mine t heir . . =t . t r or ] val ues when t he p ackage hit s t he gr ound. wher e
[ . 1 r . y ' ]I =t he p osit ion of t he p ackage at t ime it .
[ t i. t r ]I =t he hor izont al and ver t ical comp onent s of t he p ackage vel ocit y . r esp ect ivel y .
Liover ning equat ions:
. - of _ - -
r r t =t kIt - i+ ii
t it
_ _ _ _ gr _
t ' =iii+ ~ . r y =? i+ g- f y
I I
_ t r r
o=cjp ? ". aa
l "' . . =J' l t r + l * "| i1 + ' - ' 1
wher ef ait dj ar e unit vect or s in t he it and y dir ect ions. t esp ect ivel y . Fis a t init vec-
t or in t he dir ect ion of t he f r ee st r eam vel ocit y as seen f r oiu t he p ackage. Q, is t he
dr ag coeiiicient . t iis t he air densit y . and A is t he f r ont al ar ea of t he p ackage.
Equat ions r educe t o
e viA
Ti- I P cost i [ Ft 5 . l a_ i
r ir EM
. . i. c". t r - it
gr - g SM sine it - - is- i|; i_ i
Numer ical int egr at ion of Ct r cf inar y Dif f er ent ial Equat ions I 1 2 3
sf .
gt ; it t Ft i. ic_ i
i_
g s t Ft ' i. 1 t I}
il l ! "l ' l r f r l t r
cos 1 "t =i and sin t ' i* = { F* Fi. l e]I
it ; l s;
l it it ial condit ioit s:
- 1 cl f l ]=t l . y [ il j=f l , t i- I[ t _ ' J]l = 5 l ' Jml s. vI[ f l }=' l l
Use t he f ol l owing p ar amet er s:
c. =an. t f t =t a- t s l t gr mi. - it =an mf
Using t he l vl - ' 5 i. TLl t B f iinct ion [ "}l _ Jl - I- if : t t iiiht aiiival ues f iir t r . it . y . ii. viat
int er val s of [ I- 1 - [ I seconds f or [ I - - c==r - c=l [ i. ' l l seconds.
t a] Lir eat e p l ot s of it and _ y vs. r hot h on t he sar ne gr ap h.
{ hi} [ ir eat e p l ot s of t r and v vs- t hot h on t he same gr ap h.
{ cl Cr eat e a t ahl e cont aining t r . it . _ y . t r . viat int er val s of I[ i. 1 l J seconds. St op
p r int ing t he t ahl e t he r st t imey 3- Fit l t im.
{ dj Use l ' v l r ' i' |. TLFLEis f unct ion int er p l t o int er p ol at e f or t he [ r . Jr . r . r _ . vjl val ues when
l . T1 E |' l |H. t ' _ ' l "l ' . 3. g' f _ |T1 t ; ' E1 1 1 1 - l - |' If . i. . PTTTIT t . ' l l l l |. ' |. T1 EFiE \ "El . l LIt ' ; "S.
Pr oject 5 . 2
f t smal l r ocket wit h an init ial mass of 5 5 1 ] kg. incl uding a mass of IUD kg of f uel .
is t ir ed l r oin a r ocket l auncher (see Figur e l t . ' . i. E}. The r ocket l eaves t he l auncher at
1 '
l g v
- . - - """' - ' E[
F
f ir ot t nd
I
! iFi- m
I- Cc
' ; t . [ l ~ IIt Lt nt
v gig
Figur e P5 . 2 Rocket t r aject or y .
1 2 4 I l "t l Ul Tit . =! l ' f t I' i:1 ' f . H' i1 Ef r ' 5 |Hl jf f l Cii5 l ' f if t - "l Ef f 1 DEf 5 wit h MATLAE
vel ocit y vu and at an angl e of B"wit h t he hor ieont al . Hegl ect t he f uel consumed
inside t he r ocket l auit cher . The r ocket hur ns f uel at t he r at e of It ] kgl s. and devel op s
a t hr ust T =Iit it - t it H. The t hr ust act s ait ial l y al ong t he r ocket and l ast s f or ii] sec-
onds. r t t ssur r ie t hat t he dr ag f or ce al so act s asial l y and is p r op or t ional t o t he squar e
of t he r ocket vel ocit y - The gover ning dif f er ent ial equat ions descr ihing t he p osit ion
and vel ocit y comp onent s of t he r ocket ar e as f ol l ows:
zicg- Ecg
r if t at t it
gf ql r r - . l
_ r =it ins- Sir ius- y t r aal a
af t in iii
n t r r ii
sir S C
iii=v _ { ' Pt i. It dj
iii*
' |iil iI' I' l l iII' L'
I 1 I
v =vi+ v ,
El is t he angl e t he vel ocit y vect or makes wit h t he hor izont al -
ut is t he mass of t he r ocket [ var ies wit h t ime}-
vgvh. ar e t he Jt ancl y comp onent s of t he r ocket l s vel ocit y r el at ive t o t he gr ound.
His t he dr ag coef f icient .
g is t he gr avit at ional const ant .
t it . _ y I| ar e t he p osit ion of t he r ocket r el at ive t o t he gr ound.
r is t he t ime of r ocker ight .
cns El =vgf v and sin iS' =v}_ l v-
Suhst it ut ing f or cos f l and sin H in Equat ions { I* Ei. . i' . aI| and I[ l * t 5 . . ? . hj t hey hecome
Sr "if i"f f if + if ' it s ii
i= . e
f f r r r jl vi+ vi "T
* - ' f ~ . - * ' . - 1 " f t - f r t if i"f f { Pa at - r
if - * sr i. ||vl + v: "1 E L
The t ar get l ies on gr ound t hat l t as a sl op e of 5 %. The gr ound el evat ion. y g. r el at ive
t o t he or igin of t he coor dinat e sy st em of t he r ocket is given hy
_ y { =I5 + - t "i5 { . v3t it it ii [ FE- l g}
Numer ical int egr at ion of f l r cl inar y Dif f er ent ial f quat ions I 1 2 5
Using Equat ions { Ft ' i. l e]. I[ F' t ' . ' - el f }. (Ft ? - . 2 c}. and I[ Ft ' - Lid]. wr it e a coit t p ut er p r ogr am
in l ' vl ATLAE- using t he t iaur t h- or der f l - u|igel t - iut t a met hod descr ibed in Sect ions
5 . 3 and I5 . - - it hat wil l sol ve f or . t . y . sq. and v. f or t i5 t 5 EU seconds. Use Equat ion
{ ' P5 . 2 g] t o sol ve f or J, - H.
Use a Hir ed t ime st ep of l l t il second. Take :t [ [ I} =I]. _ y ' l _ t ]] =t ]. v. . [ i. i]I =vucos H. . .
v}. [ [ l - l =vusin f t . . . vg=l S' l l ml s. FL =' I]. t Ii' - i5 l - l sf l mf . gr =f . l . El ml sf . HE, =5 D . and
l a} Pr int o|. it a t ahl e f or :r . _ y . _ y F. v. . v. at ever y l . t "iseconds. Hun t he p r ogr am f or
t iE t E t il ] seconds.
{ l a} Use l v l ATLAE- t o p l ot it . _ y . a|t d_ y F_ vs. r and vi, v? vs. r .
icl Assume a l inear t r aject or y het ween t he cl osest t wo dat a p oint s wher e t he
r ocket hit s t he gr ound. ' l he int er sect ion of t he t wo st r aight l ines gives t he
I[ :s_ . y ]I p osit ion of wher e t he r ocket hit s t he gr ound.
Pr oject 5 . 3
Rep eat Fr oject t i- 1 . hut t his t ime use l id ATLAEis t . _ }El ' E"- l ' S f unct ion t o sol ve t he
p r ohl em. Use a t sp an =[ t t z l :5 t l ] seconds-
Pr oject 5 . 4
We wish t o er - t amine t he t ime r em er at ur e var iat ion of a f l uid. T- . encl osed in a
l '
cont ainer wit h a heat ing el ement and a t her most at . The wal l s of t he cont aiit et ar e
p ur e cop p er . The f l uid is engine oil . which has a t emp er at ur e Ty t hat var ies wit h
t iit t e. The t her most at is set t o cut ol f p ower f r om t he heat ing el eiiiet it when t he Il i-
r eaches 1 5 5 C and t o r esume sup p l y ing p ower when ir eachcs 5 5 C. J
Wal l p r op er t ies;
ii: =f "iE5 . [ l wl m- DC. r =H. 333! kjl kg- C. p =B95 4 kgl m- *
Engine oil p r op er t ies:
iii=1 1 - 1 3? wl m- "C. c=2 . 1 1 5 1 kjl kg- C. |J =f t - t kgl m- l
The inside sir e of t he cont ainer is [ B- 5 m at [ L5 m st { L5 ml . The wal l t hickness is
Il l ]! m. Thus.
l nside sur f ace ar ea. . r =l l _ . = l - S ml .
(Tut side sur f ace ar ea. . - l ag: l - Sf if l - IS mf -
Engine oil vol ume. ' l :. . . =H. 1 2 5 mi .
Wal l vol ume. l t ". . . || =t l . t il ' 5 3 m- ' -
Tf ie p ower . Q. of t he heat ing el ement =l t ]. t ]f l f l w-
The inside convect ive heat t r ansf er coef f icient . f r . =St il l wl mf - C.
The out side convect ive heat t r ansf er coef f icient . f r =Ht ] I. - v' f l ' l ' t : l :.
1 2 5 I f ' t l r UH' l Ef f E' H' f HHEf r ' Sl it ' 1 f jf f f Ciii' f if l i- "f t . :l ' f f ' l U' t . 1 f S wit h MATLAE
Using a l ump p at aniet er anal y sis [ assume t hat t he engine oil is wel l mii- t ed} and t he
Fir st Law of Ther mody namics. t he gover ning equat ions descr ibing t he t ime t em-
p er at ur e var iat ion of bot h mat er ial s ar e as f ol l ows:
as .
Y =a, t a. - a_ . _ i+ . 1 . iv- s. - so
i:i' El
gm =. t i_ . _ { l i. |' J. . Eim}ii_ . it iE_ =r r gf l eg + r t jjl l il - [ f t ' :' i. - t l bj
wher e
g=g- g
E . . . =T. . . - T. . -
TTf TTI_ f Tis f Tr is - Tl . - = r t Q
. - ; r 1 =i. it 1 =i' . r t g=i' . a_ i=n. + ag. - a, _ =i
i' iI' I|' . |' . - T . l "if If If T . l "if If l f T T T . i|' l |I|' . - IF.
_ ||' |||" u' r . :- I i- i' r . :- I _ , I' _ , I'
Init ial condit ions:
Ty { t i' j =Tgf j =1 5 C
T. . . =1 5 C
Using UIJE- ' - i5 f unct ion. const r uct a simul at ion of t his sy st em. Hun t he t ime f or
f l it if l f t seconds. Fr int out val ues of Ty and vs. r at ever y l l l f l seconds. Const r uct
p l ot s of T; - and vs, t -
Pr oject 5 . 5
We wish t o det er mine t he al t it ude and vel ocit y of a hel ium- f il l ed sp her ical l y shap ed
hal l oon as it l if t s of f f r om it s moor ing- "f if e wil l assume t hat at mosp her ic condit ions
can be descr ibed by t he l - l . S. St andar d At mosp her e. We wil l assume t hat t her e is no
change in t he bal l oonis vol ume. The gover ning equat ion descr ibing t he mot ion of t he
bal l oon is
is- a
_ ={ l l it ? sgn* D} { Pl - 3- 5 il ' l '
wher e
=al t it ude of t he cent r oid of t he bal l oon.
=buoy ancy f or ce act ing on t he bal l oon.
=t he t ot al mass of t he hal l oon mat er ial . hal l ast . and t he gas-
|:|' =T~ E_ El ::it ' - 2 '
=t he t ot al weight of t he hal l oon mat er ial . bal l ast . and t he gas =l ' v' l g-
=t he dr ag on t he bal l oon.
sgn=+ l . if E2 [ l ' andsgn=1 . if - q[ |_
sl it sir
Numer ical int egr at ion of Or dinar y Dif f er ent ial Equat ions I 1 2 ?
The U. S. St andar d At mos her e as a l ' d l p p p ie t o t iis bal l oon p r obl em consist s of t he
t hl l owing gover ning equat ions:
. if p _ _ . t p _ . a _ s . t r _ . ={ i=1 _
sl it : T p f as . a. r . - . r t f . t \ - ' p f
OI
sip _
_ =_ F' . t " t Po- 5 hl '
sir
T=Ii"iiL. e { f t i. ' _ i- cj
wher e
y a =t he out side air p r essur e at t he cent r oid of t he bal l oon.
gr =t he gr avit at ional const ant t hat var ies wit h al t it ude.
=t he gas const ant f or air .
=t he out side air t emp er at ur e at t he cent r oid of t he bal l oon.
=t he ver t ical vel ocit y of t he hal l oon-
=t he air t emp er at ur e at t he ear t hl s sur f ace =2 t iE. l 5 Fi-
=t he l ap se r at e. i=- _ ? i- c - J - e
The second- or der or dinar y dif f er ent ial equat ion. Equat ion [ F' l 5 . ' ia]. can be r educed t o
t wo r st - or der dif f er ent ial equat ions. by l et t ing
TT d
_ =. ,
gt I[ Ft i. i_ ]'
Then
sf v l
E=E' l 5 - if - 5 5 1 1 * 1 ' - T- l l { Fii- f ie}
iihe t hr ee equat ionsl :' - quat ions - [ F' 5 . Se] t _ ' Pt E~ . 5 dJ- and - [ F' 5 . 5 b]r e r esent t ht e . . p e
coup l ed or dinar y dif f er ent ial equat ions t hat can he sol ved using l ' v l ATLAEis
i. Til Til E- iif ' ' ' 5 ' l . i|. I' l CIIIt ' l l I' l - T. l Tl ' l t ; l Il l I. It . "I:|. i' . ji|, I' l ' l ::|I" FEIICE, B, L5 gI"ii' E' I' l hy
. s=. igv ijvasn
and
5 ' " .
l g - . :ig' [ $ ]
wher e
p =t he air densit y at t he cent r oid of t he bal l oon.
v =t he vol ume of t he bal l oon.
1 2 3 I Numer ical anddnaiy t icaiiviet hocl s wit h MATLAB
r g =t he r adius of t he bal l oon.
r . =t he r adius of t he ear t h.
El i=t he gr avit at ional accel er at ion near t he ear t his sur f ace.
g=t he gr avit at ional accel er at ion at an el evat ion of t he cent r oid of t he hal l oon.
For l ow f t ey nol ds number . Re. l ess t han t ]. l . t he dr ag f or ce D is given by t he St okes
f or mul a. which is
=II- it r m. i; vis. s|i; i
For f l ow sp eeds wit h Re 31 - [ L1 , use
o=c. Ev - ii t it s- sii
r
wher e
t ' T_ . =t he dr ag coef hcient .
. - l =t he f r ont al ar ea of t he bal l oon =Jt r j.
|. t =t he f l uid viscosit y .
I
_ H r t v3_ _ sjj
l l
The f l uid viscosit y . jl . can be det er mined hy t he Sut her l and f or mul a. which is
I is n+ 5
l l =l - 1 . . F T _ [ _ E [ Pt i- . _ 5 l t ]i
U .
For air . S: l it ]. - =1 f f . t in =l . ? l e5 l * ~ l - sl mf . iij. =2 ? } Fi-
Tf ie dr ag coef f icient . { Ta- . is given by
2 - it 5
C _ + + t ]. - =1 [ PE. _ f i|j
J Rs I- t t + \ JiEe
Wr it e a comp ut er p r ogr am. using l vl ATl . Af i s Of iF. il S f t mct ion. t hat wil l det er -
mine t he bal l oon' s al t it ude as a f unct ion of t ime. Cr eat e a t abl e of l f il l il ines giving
t he bal l oon' s al t it ude. vel ocit y . and t he p r essur e of t he at mosp her e at t he bal l oon' s
cent r oid. Al so. cr eat e p l ot s of a vs. it . v vs. r . and p vs. r . Use t he f ol l owing val ues:
r vr =at an kg. r |. =r - sis JTI. t r =ar ssif H1 5 . it =ass _ l l f kgl ' i. ]. r t =ass- is t t .
il . =t ]. t ][ l t iiS l iil m. gm =9. 5 1 misf . r r =t 5 ? ii' Ie+ 5 m.
l _ l se a t sp an =[ i. f l :t i, l :l [ ]t l f l and t he f ol l owing init ial condit ions:
r sI[ ' l ]. } =r h. vf f l ji=1 ]. p f t l j =l . l ]l f ' i. 1 e+ S
Numer ical int egr at ion of Or cl inar y Dif f er ent ial Equat ions I 1 2 9
Pr oject 5 . 5
A smal l t an k wit h it s l ongit udinal asis it t a ver t ical p osit ion is connect ed t o a p r essur ir . ed
air sup p l y sy st em as shown in Figur e Pl it i. The t ait k cont ains t wo gat e val ves. one t hat
cont r ol s t he p r essur izat ion of t he t ank and t he ot her t hat cont r ol s t he dischar ge of t he
t ank t hr ough a conver ging nozzl e. "l he r ank is inst r ument ed wit h a cop p er - const ant an
t i. ' l . l iI1 ' I' |' l ' [ . ' l 1 ' . ' - l l . ' Il . ' l . Pl t ' _ 3I' 1 |Ll . 3 F|. I' L l ' i- . ' Sl . l 1 ' L"|. ' l ' H|' l Sl ' . l . l . l CL"|' . WC ' l I' l i. ' l l Fl f - l Il f . ' |:' l I ' l I. l . ' l . l L' |. ' 1 ' _ "|' |' l P' - |i. ' I. ' H. ' l il . . ' |l "l i. ' H. |. ' l . l l ' _ l . PICS"
sur e t ime hist or ies of t he air inside t he t ank as it is being dischar ged. We shal l assume
t hat t he air p r op er t ies inside t he t ank ar e unif or m. f l ue t o it s l ar ge heat cap acit y . as
comp ar ed t o t he air inside t he t ank. we shal l assume t hat t he wal l t emp er at ur e r emains
near l y const ant dur ing t he dischar ge p hase of t he p r obl em. l if e wil l al so assume t hat
t he change in kinet ic and p ot ent ial ener gy inside t he t ank is negl igibl e. Ap p l y ing t he
ener gy equat ion t o a cont r ol vol ume encl osing t he int er ior of t he t ank gives
t r _ viso
El it r ig I- in l =t r ig It + %- l - - ' l ' [ ]g- H
wher e
t o=mass
it =int er nal ener gy
y r =p r essur e
p =densit y
l s =vel ocit y
r it r =t he mass f l ow r at e of air er - t ir ing t he t ank
[ =t he r at e of heat t t aiisf er f r om t he wal l t ot he air inside t he t ank
r
- r - |- ' - - 2 | it
subscr ip t r t =air
subscr ip t t a =wal l
subscr ip t r =condit ions at t he esit
T- IiCont . - ' et ' ging mu:- al e
Pr essur e t r ansducer
To dat a aequisit ioit device
Tf ier r nocoup - l e
To dat a acqt t isit ion device
1 - For air sup p l y
Figur e P5 . t ' iiAir p r essur ized t ank.
1 3t . t I Numer ical anr idnaiy t icaiiviet hocl s wit h ivi . - =t Ti_ AB
H. if . t r ast - i
f r f f j =f . =t . . . 1 ". t ' r at - t - i
wher e
If ] Z 1 :"|' ||. T1 Hf P:]. "' .
J. =sp ecif ic heat at const ant p r essur e.
' . =sp ecif ic heat at const ant vol ume.
T =t emp er at ur e.
' P"- "' 1 .
5 _
jg] =t r am t T. _ - - 1 1 . 1 r r s- aii
ii- l . I' l ' l l iII' L'
it =t he convect ive heat t r ansf er coef f icient .
r t g =int er ior sur f ace ar ea of t he t ank.
The equat ion descr ibing t he r at e of change of iit ass in t he t ank is
r iot ; _
I=_ "' 1 . { F' t S. IEie' ]I
Subst it ut ing Equat ions I[ Pt i. I' . 5 b]I t hr ough (I t i. 5 e]- int o Equat ion I[ Pt i. 5 a} gives
. . - T T . - t if nit af ir f
"= r is + l i; r - t r ; i- ' . t . - r r t ~ ar . r i
Id- I m T T - ' . i. l ' miT- I T miT If 2 - El l I ml
wher e
ck J =air sp ecif ic heat at const ant vol ume.
l l - '
ii; =r at io of sp ecif ic heaes f or air =i.
E
|' . IT
We have assumed t hat t r . . . and cl . . . do not var y signicant l y in t he t emp er at ur e
r ange of t he p r obl em. The f unct ional r el at ion f or t ier in t er ms of t he ot her var iabl es
is obt ained f r om one- dimensional comp r essibl e f l ow- t hr ough nozt l es. Two p os-
sibl e cases esist . dep ending on t he r at io of The p r essur e p g is t he back p r essur e.
which is t he sur r ounding air p r essur e. f ir
f l ase 1 :
is r t szs
f l .
Numer ical int egr at ion of Or dinar y Dif f er ent ial Equat ions I 1 31
Then
if . = f ". -
' ir l git
r t , - no
T
T_ . |. l
t . t . - - i.
i+ r . t r . ~
a
f . ==. if . . f - ' . . T' i
vr =Me
r ii=L A ii
r R- Tr r r
Case . T:
5 c =r i- - it s
f f .
Then
Pr T D' 5 T' B. if ia
. t r . =1 - t i
Tl
Tr it - 1
1 + ;
a
a=t =Jt at
is=ef <at ;
it s
wher e? is t he sp eed of sound and . i"v. f is t he Mach number .
Fr om t hese r el at ions it can be seen t hat Fif i: is an imp l icit f unct ion of t he var i
abl es oid. and r . These equat ions. al ong wit h Equat ions (PIS. t ie] and { Pt f i. [ if i
1 32 I Numer ical and Anal y t ical Met hods wit h i"viATi_ . r t E'
f or m t wo coup l ed dif f er ent ial equat ions of t he f or m
t - T. - -
gr =f . t r . i. . vr . l
dot
BIT I
J: If ; . l . | mo Ti
This sy st em of equat ions can be sol ved using t he ODEdj sol ver in . l v' l ATLAl 3.
However . bef or e t his can be done. one needs t o det er mine f J' . We shal l assume t hat
t he heat t r ansf er f r om t he wal l t o t he air inside t he t ank occur s by nat ur al convec-
t ion. We wil l al so assume t hat t he wal l t emp er at ur e r emains near l y const ant . since
it l t as a mt ich l ar ger heat cap acit y t han t he air . The emp ir ical r el at ion f or nat ur al
convect ion f or ver t ical p l at es and cy l inder s is
- t i. . . t i- ssr t o- r uf f ' 1
iiiT PH jg- 1 - _ . [ P I
- iiai- r
wher e
r - r ' t i"
(Tr : if ir ashof numher EB f if "T l F' t S. Eih]I
ii4. . "F' - . 3' 1
Pr is t he F' r ar idr l number . if is t he t her mal conduct ivit y of air . L is t he cy l inder
l engt h. jig is t he viscosit y of air . [ 3 is t he coef hcient of eit p ansion. and gr is t he gr avi-
t at ional const ant . The p r op er t ies of Pr . i. ' . _ . . . j. t _ . ar e eval uat ed at t he f il m t emp er at ur e.
if ] . which is
_ _ i
T - _ [ l . S[ Tn_ + T"]| and p f - [ RT]
_ r
I l
For an ideal gas. Since|. T is a f hiit l p r op er t y . t ake|3 = Air p r op er t y val ues
- . . . r
f or t hese var iabl es ar e given in Tabl e Pt :i. 5 . '
Using l vl AT' LAl 3' s ODE- 1 1 5 f unct ion. det er mine t he air t emp er at ur e. air p r essur e.
p i. and mass. oil . in t he t ank as a f unct ion of t ime. Use a t sp an =[ . r :t ]. ]:' i' [ l seconds.
F' r inr our a t ahl e of t hese val ues at ever y l second. Al so. cr eat e p l ot s of vs- t .
p l , vs. t . ar id t n. vs. r . Use t he f ol l owing val ues f br t he p r ogr am:
o =t i- avvva m. 1 . =[ I- 5 3- t i} m. ir . =- t i- t iaiass m. . P_ _ =i- r iais. - + s jl t kg- t i}.
. ~ a=l J. ? ' 2 l e+ 3jl t kgFt t i' j . t - =1 - t int g s- st ir mit t y . b=y . _ g=1 - sis. - + 5
_ . t =. _ | =Tt isl - I3- ' - id Him]. I. . . =2 ~ it i. S Iii. 2 ; =2 31 - t l . _ iH. and ii . =2 5 2 . 2 _ ]l [ kgl ' i. ]I
Numer ical int egr at ion of Or dinar y Dif f er ent ial Equat ions I 1 33
Tabl e P5 . 5 Air Pr op er t ies vs. Temp er at ur e
r r r o j- 1 r r ~ . ' - sr . - my it it r t il t m- it l Pr
t il l ] Ei. Ei|2 2 4e- t 3 [ t . t ]D' Ei2 - 1 5 [ L2 2
1 5 ! ] 1 . ' IIi2 B3e- 5 l ]. t ]' 1 32 3S H. 2 5 3
2 t i[ l 1 . 32 t t ' . - ie- 5 iJ. l ]1 t i- [ I' l l H- 2 33
2 5 ! ] 1 . - t t t il il l e- 5 il l - T2 2 2 2 E1 2 2 2
3t ]t ] 1 . ' El El 3t ]e~ 5 I3- l T2 5 2 - =1 t ' . l - 2 t ]El -
El - St ] 2 . l 32 Se- 5 l 3. [ l 3[ l t ]3 t ]' . Ei' 32
wher e
LT =t he inside diamet er of t he t ank
=t he inside l engt h of t he r ank-
{ T - f l S3 i-
=t he diamet er of t he it t t aal e.
Pr oject 5 . ?
=t he init ial air t emp er at ur e inside t he t ait k.
=t he init ial air p r essur e inside t he t at ik.
Tl . . ' |i- t il - . "i|' l |E1 "l ' LT I' - E3 |' =E' I' l l l l ' _ T. f . ' it . ' l l ' |l iFi. Tt ' l l I' I! :if ' l l |"2 ' l . "H. I' t ' ; "El l ' l ' l . "' If t "[ l l ' ' ||f El T' l . Il :l - l ' :"I"iEl . |' E' VET}- ' I:- [ ]|TIl l ' |Tl l ' l l |' l l . |' I ' l . . ' |. I' T. T' ij:l l l T l i. . 1 i3I' I
gest ed ar eas. in t his kind of col l ision ver y l it t l e or no damage is o- hser ved af t er t he
- ccident . This indicat es t hat most of t he el t er invol ved in t he im act is absor bed a
by damp ing mechanisms at t ached t o t he damp er s (p ist on. honey combs. et c. )-
Ther ef or e. one may use a l inear model in which each vehicl e can be r ep r esent ed
as a l ump ed mass wit h a sp r ing- dashp ot ener gy - absor bing bump er - A l inear t hr ee-
degr ee- of - f r eedom model f or such a col l ision is shown in Figur e Fif i- 2 The mass and
p osit ion of t he st r uck vehicl e ar e oi. and a' . . r esp ect ivel y ; t he mass and p osit ion of
- t r - t ' , ; . al . . |' - l l
.
if
. i- . . . . . . , ii. . . . . . . . . . |l . . . . . . . _ _ -
r mg kg - - - . _
j_ . s' - ' r ' - t _ .
:l :f . ' T Ti" G
r . + " T 1 ' 1 3
IT f
. _ - ef f Til l ie f f
_ * 3. ":t ! _
I
Figur e P5 . 2 Linear t hr ee- degr ee- of - f r eedom model f or l ow- sp eed car col l ision
by
-
_ - - r f r . ;

' l 5 AE Pap er t i' Bt t 3t :it t . Cop y r ight 1 393 SAE Int er nat ional . Wit h p er mission. )
1 34 I Numer icaiand. - ' - t naiy t icaiiviet hods wit h MATEAH
t he st r iking vehicl e at e i* . i' il ' 3- 1 l ' l t Il I1 . r esp ect ivel y : and t he mass and p osit ion of t he t wo
bump er s ar e oi. and . t ' _ . . r esp ect ivel y . l t is assumed t hat t he t wo bump er s r emain in
cont act dur ing t he invest igat ion p er iod.
The gover ning dy namic equat ions f or t he sy st em ar e given in Equat ions [ Pt 3. 2 a' j
t h t ough [ Ft S- ' 2 c]-
Q- - 5 _ f _ ' y _ Ji [ p gy j
ac s. as a. is It It f '
I I
Sir S" f r f ir + f * t i+ h ' ' ' ' ' r r a' _
av is. a . - s is. 1 f f f f f f l
TI- * =f t s - s- ]TI[ a - s 1 + C T Tif it T- " T1 ir is as
. . y ' _ r f t r ig ' J r r t j "T f t it ig r f t dt t it j af t af t I
at . . t . ,
I-
For t he|J. t er minEqiiat ion[ f ' f i. 2 a}. iiset hesignif ind. and t he + sign if g - :1 . I3.
if
- f r .
Simil ar l y . f or t hggjt t er m in Equat ion [ Pt 3. 2 bj. use t he sign if To- t i.
if
ant l t he + sign if ? st f i-
I
The init ial condit ions ar e
:r . l f l ' l =ii. a* . t ' iii=ii. . =r _ . l f il =f 3' iIP5 . 2 dji
Tr ] l f il f l TT l f l l l f Ti- T f il l - if { FE f l
at ' at ' " at ' " f
wher e i' . =. . . i. =. . C. . . and C1 ar e t he sp r ings' and t he damp er s const ant s of t he vehicl es.
H. is t he sp eed of t he st r iking vehicl e and |. l is t he coef f icient of f r ict ion.
The l inear sp r ing and dashp ot const ant s ar e deduced f r om an anal y sis of t he
t ime hist or y dat a coming f r om dest r uct ive t est s. Use t he f ol l owing const ant s:
C. =C. =2 l 3i][ t t 3 l ~ l sl m
if . =if . =5 Eii3[ l khl l m
in. = El - iiikg. r ii. =Eit iii] kg. r n_ . . =l ii. l kg
l - j. =2 . 2 2 ml s
For Equat ion I[ P5 . 2 al .
t il t : . it "s:
t ake|. t =(i. t l - f l if # 3- { I and |. t =[ iit l =[ l .
sir sir
For Equat ion [ Fif i- 2 b]l .
ir f r r f t c
t akej1 =[ l . f l - d if |? f I=- U and |. i. =l T if ? :f =' l l .
Numer ical in t egr at ion of Or dinar y Dif f er ent ial Equat ions I 1 35
Devel op a l vl ATLAl 3 p r ogr at n t hat wil l sol ve t he col l ision model p r obl em using t he
ODE"- i' if unct ion f or t ] Q it iit "i_ 4; _ Use a t sp an =[ t 3:[ l i- t i:l Ii. = il j.
- - t i
- - . at av. as so an - it - it
[ a] Pr int out a t abl e f or se. . . . 31 . l _ - . :c_ . _ . I 5 ~ , - " _ iiiI l i- 5 an _ r
g_ g1 . g. ; gnd_ air sir zir t it sir it s
it s it s . it s
l b} Pl ot se. . icy . and . v_ . on one gr . t [ . ih. _ I:mt . _ . _ . _ . . . . _ 1 ion a second gr ap h. and
gj I: gm af t r f t af t
T . f T- . 3. - . . - J l l - ion a t hir d gr ap h.
al r sir sir
t ever y
Pr oject 5 . 3
A smal l f in is used t o incr ease t he heat l oss f r om an el ect r onic el ement . A sket ch of
t he f in is shown in Figur e F' t S. l ' l i-
The t emp er at ur e dist r ibut ion in t he ho is gover ned hy t he f ol l owing equat ion:
S. =f i{ ; i"_ . ]"j
die it s if "
DI
gr ime- r _ i. r { T_ T}
a. at at : t -
wher e Tis t he t emp er at ur e in t he En at p osit ion it . T. . . is t he sur r ounding air t er n-
p e r at ur e. A is t he Fin cr oss- sect ional ar ea. iiis t he cor r ect ive heat t r ansf er coef f icient .
ii is t he t her mal conduct ivit y of t he f in. and P is it s p er imet er -
I
- I1 .
r 1 .
r 1 .
r H, ' l .
f -
ir "II- t h
. ! i' Tl
i _
' Hide View
T- op su r f ar e of
el ect r onic device

Figur e P5 . 2 . Fin at t ached t o an el ect r onic device.
1 35 I Numer it t l End. - ' |l }t HCl MEil 1 Dt Il 5 wit h MATLAB
s- l |:a* ]I =f ish}, P{ Jr } =1 ] + It - it
J. r _ L- I t t t :_ LLI
t s t t s t
A : wl inl t i[ L_ IL Hf , - =1 _ it t l l t ii- J}
L . - is L
The G a - t er ning Diil er ent ial Equat ien is
e I t s
Ll l t t - LT- ml 3 ? - l m - |:L. . 1 l "l "El :IIiIl i|' :l { T- TM; t Ps. a=n
L t t ht l Lt i1 r eL
The hnundar y en- ndit inns ar e
t et r a =Ir ; { I t 5 . BbJ
Tn nht ain t he seennt l he- ut t t l ar j- , ' et mt l it it t n wr it e:
The t at e t hat heat l eaves t he n at { at =L|} p et unit sur Fat :e ar ea
=t he r at e t hat heat is ca r t iet l away ht t znt n. - ' et :t int | p er unit sut Fat :e ar ea-
l _ . l _ . l ' l E 3. l Il ' i]"||I"E 5 |. ' 3' l IEI' I"l E! I' l |. ' C3. I' l l I. ' l ' l I "||||"I' l . |. "l IEI' l f 1 ' l El . l Il I' l ' EI' I1 iEl :l Il E3. l l 1 |"3. 5
t i? "
t i' Ei- { Ii=t r iT{ l , iT_ i { P' t ' 5 . Ee}
We wish t n sel ve t his p r nhl em nur ner ieal l y using t he Enit e dier enee met hnd.
Fir st subdivide t he at ait is int n I suhdivisinn giving a:|. at e. :- . * _ , , . . . . . a:|_ |. Tal t e t he
t emp er at ur e at Jt ' _ , t n he The nit e t l il her enee Fnr mul as Fnr gandl see
Seet inn 1 5 . 3} ar e l l it
, 5 - T T. + 1 ". - 2 ?
gr x- }_ . |+ l t l r . -
t it ' Et a
T T 1 ' "
i{ x_ } =L
r it e ' . - is:
The nit e t l iizl er ent ial Fnr m n:FEquat ien I[ I Et . iia]I is
t . t t | [ t it ] Ti + T_ | ET. ml { t il l } TH T.
il l - I. l . , ' " J J"
L Ax L Lt :
, 5 2 2 - t il _
. ' l ' . ' J. } ' l ' -
Numer ical int egr at ion cit "C- r ef iner y Dif f er ent ial Equat iens I 1 3?
Snl ving Fnr gives
, l
Ti_ { 2 w:Fl l l l l l Lx, . l il U' l El l l l t J. . v+ his [ Ef f ] { L . :r , i+ El t t l r l ] l
:. ~ =:{ |i@ { L. 1 t . l il l l l ihx:|TH + il l l l l L. =t t r ,
L I L I L l ' l '
, 1 .
+ hi [ If ] t t - :t ' r . :i+ 1 { t it }]T_ _ } t r - s. ss_ t
Equat ien - [ l ~ "t 5 . 5 d]I is val id Fnr i=Ii. 3, . . . , l .
The Finit e dil l ier encc Fnt r m l ist Equat ien t ' Ps. t t e' } is
l g Tit l l ; Ti_ Jgl :- it - :J+ 1 _ TD=- ]
Snl ving f nr i"]+ , gives
i L' t L' t . ' - :
T" =l + ~ "* ' * il T + it El
Ft l se, T, =T1 4. . .
The r at e nf heat l ess, t hr nugh t he n is given by
st
Q- ; ' t 1 Z )
wher e t i, is t he cr nss- sect innal ar ea nf t he Fin at at =- l "i+ .
Using t he met hnd descr ibed in Sect ien 5 . ? Fer a t r i- diagenal sy st er n cl equa-
t iens, wr it e a cnr np ut er p r egr am t hat wil l sel ve l int t he t emp er at ur e dist r ihut inn in
t he Fin and t he r at e cl heat In- ss t hr nugh t he En. Use t he l el l ewing val ues:
T; =IiEIi] C, T : 45 C. E =EH4 Wim- C, it =ED Wimi- C,
i=5 ii, t t ' , =. 1 cn1 , L=i' ; icn1 , L]=* ' l cm, t h=i]. 2 cm.
The eut p ut ct - Fy nut p r egr am sheul d incl ude t he val ues nl ih. L", T , Tm, Q, and a t ahl e
cl Tvs. at at ever y il l cr n.
Pr nject 5 . 9
We wish t n nht ain t he r eact ict t s. t he bending r ncment . and t he deil ect inn cr Ft he
st at ical l y indet er nt inat e heat n as sl t cnvn in Figur e PEt . Eia. The p r nhl em can he snl ved
by t he r net hed cl sup er p esit inn. Fir st sel ve Fer t he det l ect icn it - Ex} hy t he nit e
1 33 I Nut ner icaiandsinaiy t icaiMet hnds wit h MATLAB
. 5 "
it
|' <i i >l P L4
l v' l - "
. |.
:1 H
t i
I- t
L
Figur e l * t i. 9a Indet er minat e heam st r uct ur e.
1 .
t . , _
I I P
I
. |"l | s
L,
L.
Figur e I i:]t . Ei' h Det er minat e heam st r uct ur es
diiier ence met hnd ut il ising t he t r i- diagt nt al met hnd t n nht ain a snl ut inn l ist t he
st at ical l y det er t ninat e st r uct ur e shnwn in Figur e i f . 3. Jl :- . Then det er n1 it 1 e_ , t ~ IIL|iint
t he st r uct ur e shnwn in Figur e l :' ii~ . ' f . l is. l ' "~ ies. t det er mine t he val ue t si - Fin t he st r uct ur e
shnwn in Figur e l iif t - ; l ' c t hat wt sul cl cause t he t l el il ect it :- r t at L] in t hat st r uct ur e t n he
_ y { l - ]]. "| nt 1 may use t he l l - nl l nwing l iir r nt l l a t n t l et er r nine t he Fval ue t hat wuul t l give
t he r eqt t ir et l - t l eiiect inn at s. " =is { see Figt t r e F' i' i. :it l l .
I is |
st il l T 5 ; ,
Figur e l ' &. ' 3c Beam wit h singl e cnncenir al et l Inat l .
Numer ical l n t egr at inn - nt Cit ct inar y Dif f er ent ial Equat inns I 1 39
F
I
I
i |
I.
. , 4
Fl : Fa
R] _ - T T-
Figur e FB. ' 5 l d Beam l eaded wit h a singl e cnt t eent r at et l l nat l .
y I[ . vl =l f ji; l . vil l . l l t ii] [ xiii]
Fl l l t 1 1 t
= ' - ' . t " . _ r ELIE; [ at [ L l at IE! [ st t i5 | l it 3" t i
Final l y , st t p et int p nse het h snl ut inns t n give t he t r ue val ues Fnr t he t eact inns, Ry . RH,
and HE, t he h- ending t nnr nent t ' vt ' { . t _ l and t he del l ect inn _ }- ix]. Pr int nut t he iinal r eac-
t inns, R A. RH, and Ru. Pr int nut a t ahl e ni' ii- 1 1 %; ) and y l x} vs. . 1 : at ever y nt her nnde.
Use l vir ' * t ' l ' LPr l 5 t n p int r ict ' [ a- } and _ y [ :r ].
Let w == l ' l _ l ' l - t l * ' - l . |"r n, El =L5 it l l _ l - " l t l ' * - l - m* ' , 1 * " =3- 5 l t l ""- l , L =3 |- [ 1 , I_ . [ =1 _ f , I1 1 ,
L: =[ I1 5 m, L5 =1 - 5 m, L, =ir l j m. Let t he numher nisuhdivisinns nn t he . v at - t is
he if it i-
Chap t er 7
Simul ink
7 . 1 l nt r nduct inn
hl imul inl c is used wit h l ' v' l . ' i' t ' l ' Lr ' l Ll 5 "it n medel . simul at e. and anal y se dy namic sy st er r t s.
Wit h ii- ir nul inl t . mnt _ l el s can he huil t l qr um scr at ch. nr at l dit it sns can he made t n
et t ist ing mndel s- Ft ir nt t l at inns can he r r t at l e int er act ive, sn a change in p ar amet er s
can he t nat l e vvit il e r unning t he simul at inn. hint t t l it t h sup p nr t s l inear ant it t nnl in-
ear sy st ems. mndel ed in t nnt inunus t ime. samp l e t ime. nt a cnmhinat inn nl it he
t ' l - HJ- .
Sint ul inl t p r evides a gr ap hical user int er f ace I[ ' i. iUI_ il - nr huil ding mndel s as hl neit
diagr ams. using cl icl t - and- dr ag r nnuse np er at inns-
The p r ngr am incl ut ies a cnt np r ehensive l ihr ar y nFcnmp nnent s [ hl ncl t s]I- Using
scnf r es ant int her disp l ay hl ncl t s, simul at inn r esul t s can he seen whil e t he simul ar inn
is r unning.
F2 2 Cr eat ing a Mndel in Simul ink
i- [ Tl iel t nn t he Fiimul inl - t ict t n nn t he menu har in t he l ' vl . - ' - ' t Tl . . * "t Fit t nmnt at t t l
windnw nt t y |' iI:. ' Iiimul inl t in t he i' vl . ~ ' 5 t Tl . F' t Ft t nmmant l windnw. This hr ings
up t he l iir t t ul inl - t l ihr ar y hr nvvser t vindnt v { see Figur e T. ii.
E. Lil icl t nr t l r in t he Eiimul inl t l ihr ar y hr nwser wit t t l nw.
' l vIr t TL. - "t E". ii- imul inl t ' . and ii- t at el l uw ' ar e t t ' adt - t nat it s nl The l st at l t - ii- "t :t ' it s. Int . and at e used
v. - ' it l :| |. 1 - er t t t issinn- The l ' vl at l t 1 ' Il ' iFt 1 r l - t s dues t r - ut war r t t t t t t he at . t . ur a|_ ' y nil t he t est t . 1 r eser eises in t his
l 1 - nnl - :- This ht t nl t ' s use u- r t _ l isct t t ssit t - n t il is- l r "' |. Tl . . t 1 t Fi. i"iir |:1 I. t l inl t , ant l I it ar el ' l nsv st t il t vvar e nr r el at ed
] |- r n- t l t |- et s t ines nnt - en- nsr ir ur e t ' nt l nr semt ' nr nr s|' t nnsnr shi[ | hy The |"s- iat h"s"I- - ' t 1 - r l t . s u- Fa |' |- ar r iet t l ar
y r edagngit zal a|1 |1 r nat ' i1 nr |' t ar t ie||l ar use nit he l ' s- l . - "t ' l "l . . "' I. l ' ! i, Fiimt t l inl t . an- t l l ' |r at el ' l n1 . v snt l t t vt t r e.
1 41
1 42 I Numer ical and Anal y t ical l vl et hncl s wit h MATLAE
G ain 1 - I- | I . H. I||. l . l l . ' - I- I- I I ; |
if l l l l - ' ; q' L| I- I- - bl ' IIII- r I' \ - l -
' . I- - . |' - . I- . - |
. ' I- I l l - l ' |"| IaIv' l ' t |- . It
5 - - I. II. |I. l . 1 | _ , _ , |, , _ , _ , _
_ I|. g' t . |, , ; - |- , - , , |- , . _ Il Il :- I- el l s' I||I- ' |- II1 1 ||. ; l ' r . r I- :r II' I. I' f :eIII II- I; ' -
- |_ ; . h_ # . _ L - _ J_ H 1 - r :II:Is:. ' l |Il . il |[ "- l || _ :- I; , ; - - : ; 1 ' |. _ 1 t r - I - . 1 : l l - t |l |: I|:|. - .
. _ _ _ . . %. . . * ""' * .
' . . | I |
. , _
III!
i I Ln- . |t - |. | J. I L - t |f | t j r | I I:| ||. , , . _ L mum l
:|- :_ - _ - , I| 1 |- |; _ ||_ ; |. sI|1 |- r r
. ' |- . r l - I 1 . ' |l I| _ _ -
I- ' - ' . =I. ' - 1 - r :I:' c- ' - s H |_ :_ F- qt ,
l l - ' - ' |' |' . l - I - I- r \ t |r . ' |' . - ' r _ ' _ I _ - ' 1 - - It - - |
I] i
I- I- ' II[ I- I IIr L' l . |1 - . l - 1 - * l _ _ l
. ' I- r 1 ' |- I I ' |. _ |_ - I: _ r . ' |I- 1 - ' . |.
s . - I' l l - ' - :|e- . r r . ' I- . _ u_ _ _ _ _ _ . _ _ _
:|- ' - . |; |' |sF |I' . r |; . + 1 .
1 - ' - l ' I| l . I. ; . ||. I . |. |! - + I- m
I . - LI. I' . I. - . - ' '
l l - . ' . Is- t H. ' I- ' r - t - :l ". r - :I:- r s - ' - ' 1 - ' - "' "' - - I
. . ' |- ' 1 . s- . - . d' - ' l |Ir I- I . ' - . - - I. T I |
- |- l _ I I I- ' _ J- f I|I l II. f _ I_ I Pl - T Ir - |' |' :"' :|' T" |
I. _ I. . .
- I - - r e- t ' - zr l - :- :l r - :- 1 1
- - ' il . l J- |' iJ' l I|"l Il - ' :i' . I:- ' . |- II!
I - FI- t ed- FIII Il l h- f I' 1 I
- 1 . |1 1 - . |r . l - I III I-
Iscr - . 1 ' l :-
I- q' l I|- * Il - Fl
it
E |- t 1 - IF- I- . IH' l _ |
as . ,
D: F I
IT- I .
I' - iii
- ' Il 1 I
|. |- I- I- F- I"- F.
| |' ur h. I"
em|
- I I - IJ- |1 - r I- i|' |I- |- . - - l . l ' |' |' |
. _ - - . . . . . I
Figur e F. I Simul ink windnws. (Fr om MATLAB. Wit h |aer missinn. ]
3. Sel ect a new medel "[ l iar a new mndel l nr np en Fnr an e:- t ist ing Inndel . This
wil l hr ing up an unt it l ed medel windnw { Fnr t he case n:Fa new medel ] nr an
ezt ist ing mndel windnw.
"ii- TE iII' i' _ H. l . ' i. ' 3. HEW ]' |' i[ . ' |- l ' _ l . l l Il :y "' l l J' l . . I l ' |Cl ' . "i' - l l . FD CUP? l ]' l i' . ' l :l l ' . 5 FFIIJITI ' l Il ' l l I l . i. l 1 I' H. l ' }- " l :|l ' U' VI"E- |l I. l '
win- dt sw int n t he new mnt l el windnw- This can he dnne hy highl ight ing a
p ar t icul ar hl ncl t and dr agging it int n t he mndel windnw. Tn simp l if y t he cnn-
nect inns nihl ncit s. y nt t may need t n r nt at e a hl ncl t il [ i nr l l iii . Tn dn t his
highl ight t he hl ncl t and cl icl t nn f er mat in t he menu hat ; sel ect r nt at e hl ncl t
[ f nr E- iii ) nr Hip I:- l ncl t [ Fnr l E[ i' ].
Sir nul inl t has many cat egnr ies int dist r ibut ing t he l ihr ar y hl ael - t s; t hnse cf int er
est Fnr t his hnnl - t . ar e cu- r r 1 n' t nnl y used hl ncl t s. cnnt inunus, discet nt inuit ies. mat h
np er at ir r ns. p nr t s and suhsy st ems. signal r nut ing, sin l - t s. snur ces. and user - def ined
Funcr inns.
The hl ncl t s t hat wil l he used in t his chap t er ar e censt ant . p r nduct . gain. sum.
int egr at nr . scnp e. disp l ay . r el ay . swit ch. t n wer l t sp ace. mut t . and t hn. The p r nduct .
gain. and sum ar e in t he mat h cat egnr y . t he int egr at nr is in t he cnnt inunus cat eger y .
t he scnp e. disp l ay . and t n wer l t sp ace ar e in t he sinl t cat eger y . t he cnnst ant . st ep ,
and sine wave ar e in t he st t ur ce cat egnr y . t he r el ay is in t he nnnl inear cat eger y . t he
r r t us and swit ch ar e in t he signal r nut ing cat egnr y . ar 1 t . l t he Fen is in t he user - dened
Funct inns cat eger y .
7 . 3
1
1
3.
~ =' i.
it .
I5 .
Sint t il ir t l t I 1 43
Ty p ical Buil ding Bl ncks in Cnnst r uct ing a t vt nt iel
t it ddit inn nf t t vn eenst ant s { see Figur e ? ' . Ej|. Tn set t he val ue Fnr t he cnnst ant s.
highl ight t he hl nel t . cl icl t nn t he r ight hut t nn t n np en a t l ial ng hnct . sel ect
up dat e p ar amet er s. and t y p e in t he val ue nFt he ennst ant - Tn r un t he p r ngr ar n
cl icl t nn simul at it su in t he menu hat and sel ect st ar t -
F- uht r aer inn [ see Figur e Fif i}-
Fr nt l uct nit wn hl nel - t s { see Figur e F . 1 ' i].
[ iivisinn nl t wu hincl t s [ see Figur e F5 ].
Int egr at e a sine wave { see Figur e ? ' . t . ii. l n sine wave hl nel t p ar amet er s set f r e-
quency t n . ' . ? . r adsl secnnd.
i
I sir t l eds =i[ ensE:e]; , =i[ cns Iit 1 ] =l [ 1 ens l t ] (r ange l . ' |t l i
t r I I 1 { J
T. I
Snl ut inn nia sir np l e nr dinar y f ir st - nr der diiier ent ial equat ien. The met hnd
nisnl ut inn is il l ust r at ed in Ezt amp l e 1 7 . 1 . which cnnsit l er s t he t emp er at ur e
change nFa smal l , gnt sd heat - cnnduct ing nhject t hat is suddenl y immer sed in
a l iuit iit - iit emp er at ur e The t er n p er at t t r e. T. nit he nhiet t var ies wit h t ime-
The gnver r t ing equat inu is given hy Equat ien l ? ' . 2 _ ]' .
I
En nst ant
Ennst ar t t i
Fil isp l ay
Figur e 1 2 Ennst ant s, summat inn, and disp l ay hl nel t s inr addit inn.
l . ' _ ' u- I1 sLa1 t t E
Q | - t n | |
Fl l isp l ay i
N El i|
IIInnst ar |t 3
Figur e 1 3 Const ant s, summat inn. and disp l ay hl ncl t s inr suht r act inn.
1 44 I niur t r er ieal anciAnal y t ical l vt et hnt is wit h l vh- =t Tl _ . =- 1 t B
l l :' l ' . l ' |' . l l ' il i3]' l . l ' . "1 ' ii; I l I
- in
l 1 l "=J 1 l ' 1 ' ~ ' l |J' isnl av 2
Il l I
It . r m st ant 5 -
Figur e 1 4 Et r nsl t l nis, p r nducl , and disp l ay hl nt il t s int mul l ip l ical inn
' |
| st ii
Cu- nst ant h in I - L;
in-
| | Pr et l uct 1 1 _ ]- jg1 , |; 1 t - 3
El ] '
[ - 1 - r t - n st an t
Figur e 1 5 Et mst ant s, p r ndur t . and disp l ay hl nel t s f nr divisinn.
Fiit t e wave l nt egr at nr He- r ip e
Figur e ? . t i- Sine wave. int egr at it m. and senp e hl nel t s.
Simul inl t I 1 45
| "I |
Dl sp l ay
l nt egr at t sr . 5 . e- np e
ha. - ' t ne
Pr nd uei.
Censt ant 1
Cnnst ant
haT' 1 nf . "mt :
LT- 1 - IIITJIL FIT" T I
Figur e FJ El t icl t diagr am inr st :- l ving Et |ual it It I { I2 }.
Examp l e F1 1
Fir st p t l t t he equat inn in t he Fnr m
sr l T
j: T1
. - sil t ' l l l l l l
er _ i5 vt Tw_ t iT
al t mt me l
wher e
r e =t he mass nil t he nhject .
. 1 - l _ =t he sur l aee ar ea.
r =t he sp eeiiic heat nit he nhject .
it =t he cnnveet ive heat t r ansf er enet iicient .
The l hl l nwit t g p ar amet er s l nr Equat ien I1 1 2 } wer e used:
l t d l
' =iiJ it - =1 1 - Lil l
il . il ' I[ l F
1 ' ; =]i. i C
l il ncl t diagr am Fnr Equat ien ' [ i' . I]I is shnwn in Figt t r e Ii .
' _ ' - - l II - J "' 3' "
1 41 3 I hiut ner ical ancir anal y t icaiMet hods wit h MATLAB
1 4 Const r uct ing and Running t he l vt odel
l . To connect l ines f r om t he out p ut of a bl ocl t t n t he inp ut of a second bl ocl t .
p l ace t he p nint er on t he out p ut { or inp ut } of t he bl ncl t . r ight cl icl t on t he
r nnuse, and dr ag t he l ine t n t he inp ut { or nut p ut ]! nl l t he second bl ncl t .
I- i- To connect a p oint on a l ine t n t he inp ut of a bl ncl t . p l ace t he p nint er on t he
l ine and r ight cl icl t on t he r nnuse and dr ag t he l ine t n t he inp ut nil t he hl ncl - t -
3. Tn add al p hanumer ical inil or mat ion above a l ine doubl e cl icl t (l el l t but t on} on
t he l ine. Ft smal l hos wil l ap p ear on t he l ine. Ty p e in desir ed inf o and cl icl t
el sewher e.
4. Tin view t he r esul t s on t he scop e. use t he r ight mouse but t on and cl icl t on
t he scop e. hel ect op en hl cicl t . Ft gr ap h ap p ear s. To sel ect t he gr ap h asis. r ight
l :. l il :l ' i' . HIT gr ap h End . ' t iiI' . "l - Ei' _ "l . ' HITS Fl F' l i]Fl E1 ' i. ' l . El ' ior 3. |. l l . ' { ]l ' il :H. l 1 ' ; "- IF]. |T|l i. ' il ' 5 ' l : [ BEES l ' iEl . l iIi:' l Il F1 g
at t t nscal e is sul iicient -
Ii. Tn sel ect t he init ial condit ion. r igl u cl ici- t on int egr at or hos. sel ect int egr at or
p ar amet er s. and t y p e in t he init ial condit ion; sel ect UH.
t i. To sel ect st ar t and st op r un t imes. cl icl t on Simul at ion in menu bar . sel ect
simul at ion p ar amet er . and edit st ar t and st op t ime hoses.
T . Tn r un t he simul at inn. cl icl - t on simul at ion in t he r r t cnu har and cl icl t nn st ar t -
? . 5 Const r uct ing a Subsy st em
Sup p ose we ar e buil ding a l ar ge sy st er n consist ing of r r t any bl ocl t s and vve wish t o
1 ' 1 1 - l l Il . |. l CiI l . ' l . ' l L |' |l . l |Tl l ]l iI|' - [ Til l l . ' . l l ii]El ' l ' . 1 ' i3. |. ' . |' PL H|' i|' l g l . Fl l . ' l . ' l . L ' [ ]"|- ' l l I|' 3l . l l l ' . l l . l l J|:l ' ii. l ' . l . l H. EI' El . |' |' l - CHT1 l Il ' l _ '
dnne hy cr eat ing a subsy st em- The subsy st em wil l ap p ear as a singl e hl ncl - t . Tn cr e-
at e a st t hsy st et n. p l ace t he p oint er in t he vicinit y oil t he r egion t hat is t o hecnme a
subsy st em and r igl t t cl icl t t he Iuouse. This p r oduces a smal l dashed bos t hat can
be enl ar ged by dr agging t he mouse over t he r egion encl osing t he number of bl ocl t s
t o be incl uded in t he subsy st em. When t he mouse but t on is r el eased. a dr np dewn
1 ' . l . ' . l . L"l . ' l . Ll . 3. PPL HZ 1 ' . ' . ' i- - . l ' l l l l Il i' _ Cl . ' |:|"l i. ' H. l i- IL :1 5 l . . |l . Tl l i:y ". ' . ' i- ii- |iI1 ' . l ' . i- [ IT t l ' l iI 3. l . ' . l ' [ ]1 |- "II iL' I. 3. |' |' |Pl . l l I|. l il . ' 1 L' l L' Ll 1 ' i5 ' l I. I' l l Iy , EDD"
st ant l . and p r oduct hl n- cl - t s have been incl uded in t he subsy st em. l "' - l nt e t hat t he
st t hsy st em wil l have one inp ut ant l t wo out p ut s [ see Figt t t e T". iil . These t hr ee bl ocl - t s
wil l ap p ear as a singl e subsy st em bl ocl t { see Figur e i' . l ' ]I. Ft bl ocl t diagr am oil t he
subsy st em is shown in Figur e ? ' . l l . i.
1 6 Using t he mut t and f cn Bl ocks
P- . |t al t er nat ive t o t he bl ocl t diagr am f or Et t amp l e ? . l is shown in Figur e i' . l l . In
t his sol ut ion t he mus and f cn bl oel t s ar e used t o sol ve t he p r obl em. The mus bl ocl t
al l ows y ou t o sel ect t he number of inp ut s { r ight cl icl t on t he bl ocl t . sel ect mus
Simul inl t I 1 4?
i' t
Disp l ay
dT' - t it T I I I
T.
l nt egr at nr 5 - t _ ' t _ | p e
ba' t ' imt
- I l
hal mc
Pr oduct
ha. TInl ' . "mc
- I ii. |' e -
Cnnst ant
I
? Ti' ? ii}' iiii? ? ' i? ? ? ' if ?
t i- . TF. 4
l Lot Ist au|' . 1
Figur e ? . B Const r uct ing a subsy st em.
p ar amet er s. ant it y p e in t he number t t il il t p t l t t il . The up p er most inp ut is designat ed
as u [ I]. t he one bel ow is designat ed as u [ 1 ]. et c. The out p t t t il r om t he mus hl ocl t
shoul d go t o t he inp ut ol l t he l bn bl ocl t . The Inat h esp r ession in t he l cn bl ocl t needs
t o be in t er ms of t he u l l l s. Eiee bl oel t sl t et eh. Figur e I- ' . l l .
| it |
Disp l ay
t t T. t l t _ _ I ' 1 " I _ _ | |
5 I.
int egr at nr Eienp e
Uut I
l I' t 1 - Ii
t l il ut I
Subsy st em
Figur e 1 ' 4 Bl och diagr am l nr sol ving Equat ion 1 1 2 }.
1 43 I l siumer ical ann' r ' - inal y t icaiMet hods wit h MATLAE
l n I
ba' i' imc 1
H _
- I i:i. . ' - I:- 4
iil l l "- ' l haimc
Pr os- iuet
Cor t sl ant I
Wq hal ' in n' mc g_ R_ _ 3
ULLIE
Cor r al - ant
Figur e F- 1 1 ] Sket ch of subsy st em.
ITIIJI
I' t ht . "l _ I' t t c|I - u[ l ]
l f innst ant
, . , 1 _ _
r s- r - not l ' l l l l ' l ' l l l l . t - r s . [ s]'
, ' t ' t u
{ _ ' t ms; l _ - smt 1 Fen 1 u|_ |:gr i_ , ||_ u_ | To vr or l t sp ace
-
- an
Scop e
r =t t |s|
Figur e F- 1 1 Bl ocl t diagr am f or sol ving Equat ion |[ ? . 2 ]- using t he mus and f en
bIocIt s-
? . 7 The Rel ay Bl ocl t
Sup p ose a model invol ves t he addit ion of a heat ingl cool ing el ement t o a sy st em
cont r ol l ed by a t her most at - Ft r el ay may be used t o simul at e t he t her most at hehaw
int . This concep t can he r ep r esent ed hy t his simp l e dil il er ent ial equat ion in which y
is t o gn Fr om Iit n l t iant it hen uct uat e bet ween t iant iiii-
. . i. . so it _ y s s
; =t " wher e t "=
at - so t r y a t o
The bl ocl t diagr am l iar t his sy st em consist s oil an int egr at or . a const ant . a r el ay . a
p r oduct . ar t d a scop e. The r el ay p ar amet er s ar e
Simul inl t I 1 49
simout
To wor ir sp ace
' t '
int egr at or Eeep e
l l l l hl l l Eon st ant
+ l . or l l l I l
1 _ . l
I dy dt '
Figur e F- 1 2 El ocl t diagr am using t he r el ay bl oel t .
l iwit ch p oint on =il l
hwit ch p oint nil l ' l =' 5
Uut p ut when on =i
- t ' iut p ut when oi' F=+ 1
hl ot e: Swit ch p oint on has t o be gr eat er t han swit ch p oint ol l l .
The bl oel t diagr am For t his p r obl em is shown in Figur e F1 1 2 .
St ar t by set t ing t he init ial condit ion For _ y t o t i. At t his p oint . y Ii. t hus t he
r el ay swit ch is ol l l l and t he out p ut oit he r el ay is + 1 . causing_ y t o incr ease. The r el ay
out p ut wil l r emain + 1 unt il _ y r eaches Il l . t hen t he r el ay swit ch wil l t ur n on and t he
r el ay out p ut wil l he - 1 , causing_ y t o t iecr ease. The r el ay ot t t p t t t wil l he - 1 . unt il y
r eaches it t hen t he r el ay swit ch is ol il and t he out p ut is + l . The p r ocess wil l cont inue
unt il t he simul at ion end t ime is r eacl t ed.
? . B The Swit ch Bl ock
l inme p r obl ems may invol ve a Funct ion t hat var ies in t ime f or I] - =1 - = it st : t l and t he
r emains ar e const ant For r . s . r - =1 - = r y . This t y p e nil Funct ion can best be mot iel et l
wit h t he swit ch.
1 5 l iI l siut ner ical annir - inal y t ieaiMet hods wit h M' r =1 t Tl _ . 4. B
t . ' onst - ut t 1
<9 I
l l l "l l ' l l l 5 - w it ch ii- cop e
| 5 I
Const ant
t ir odu ct
Figur e 1 1 3 Hl ocl t diagr am using t he swit ch bl oel t .
Sup p ose
f ir r r l - I- =:. ' =r - =:=l i]
it : _
f it ] f ir r I- it - - :; t - - c=El i
The l iiimul inl t model For t his p r obl em is shnwn in Figur e T- l . _ l :-
Swit ch p ar amet er s iul is t he t op inp ut . ul is t he nt it l t il e inp ut . ant iuh is t he
bot t om inp ut }. Swit ch p ar amet er s il or t his esamp l e iol l ow.
Cr it er ia l int p assing iir st it t p ut : ul 1 1 > =Thr eshol d
Thr eshol d: ii- I
E- amp l e t ime { - 1 For inher it ed}: I
1 9 Tr igonomet r ic Funct ion Bl ocks
Funct ions such as sine. cosine. t angent . et c. car t be il ound in mat h op er at ions under
t r igonomet r ic iunct ion. The inp ut t o t he t r ig l l ut t ct ion bl oel t is t he ar gument t o t he
t r ig f unct ion. if t he ar gument invol ves t he indep endent var iabl e. t . t he out p ut o:F
t he cl oel t gives r . This is shown in t he Fol l owing er t amp ie [ see Figur e ' . 7 ' . I- i]I.
Cl oel t I
_ l l ' l ' l - ' i"El ' - l "I' l Tr l gonomet r ic qnp g
' l il uuct i- I- :u' t
If - ' . onst ant
_ l Il : c- t I5 [ Di l l l
Tn wnr l t sp aee
Figur e 1 1 4 Hl ocl t diagr am using t he cl ocl t , t he t r ig f unct ion. and t he wor l - t sp ace
bl ocks-
Simul inl t I 1 5 1
E- t r amp l e F"- E G over ning Equat ion For a Sp r ingsashp ot Sy st em
(iiven a sit t t p l e sp r ing- dashp ot sy st em subject ed t o an oscil l at or y il or ce. The gover n-
ing equat ion is
_ _ t _ ii F _ _ . .
- it + - t r + - 1 r =s1 n[ - [ I- ir l . - viii] =S m_ . - t r l l il il =l iml s { ' , i"_ j}
i"i"i' HI i". i"i"
The l ol l ot vit t g Simul inl t p r ogr ar t t (see Figur e T. l iigives t he sol ut ion. The val ues
used ar e
. l i=l l "~ l l m, e=il - f il t gl s, t t r =' Li' ii1 . - l s. F=l l "- I, r r r =il l ' It g
Il .
L. l il I' l - ILJFIII
u r . ||f ]; - ' t r il l ' r t l :. l - . -
III
II- . - t l r t - |t u=|t I -
I en
I
l l l l l l l l l l l l l l
E E in .
, _ - mg U icu I
' l l l L. ' - :Inst :. |:|I! 3
To "t "i' or ' . r =- s- |:- |- t e
4 . 1 r l t ' . =- ' r - l ' - "i' t
l l dxl l l l dl i
l l iain Int egr at or Int egr at or I
l ' - I 1 - I- ' I:I|l - =. =- p a I t ' I
l '
u :1 ||' | ||l ' l ' :I
|. TII:II' I- . l l l l l I
|I- ||"_ g|_ _ |: . _ |. r igunmnL_ u|_ ; _ J. I|JI. ' |. l si|s|_ |- r r i
I- t l
t s]
"I
I I
l unel aon l l "l l
Il l I:Il l s. l I. - I||l l - F l l l
t |]|:- ha
i' |' - it - ' - I- mt - I
Figur e F- 1 5 El l ocl t diagr am f or sol ving Equat ion { F- 31 -
1 5 2 I Numer ical ancl sl nal y t ical l ir t et hor t l s wit h st ar t as
To obt ain out p ut val t t es in t abl e For m. one needs t o send t he var iabl es t o wor l t sp ace
by t he wor l t sp ace bl oel t as shown in Figur e i' . IEi. Fil t er t he simul at ion is r un. t hose
var iabl es become avail abl e For use in any l vl r * t TLt t E p r ogr am. Ty p ical simul at ion
and wor l t sp ace p ar amet er s Fol l ow:
simul at ion t ime
st ar t t ime: o. o seep t ime: ao. u
Sol ver Up t ione
Ty p e: f ined- ot ep Sol ver : ode4 t unge- Huceal
Per iodic samp l e t ime eoneer aint : unoonacr ained
Fir ed st ep oiae It nndoment al samp l e t ime]; o. t
Tanking mode f or p er iodic samp l e t ime; aut o
Hor kep aoe Par amet er o
var iabl e name: a
Limit dat a p oint s t o l ast ; inf
Deeimacion: 1
Samp l e t ime i1 f or inher it ed]: - 1
Save f or mat : ar r ay
Pr oject s
Pr oject ? . 1
t it smal l r ocl t et wit h an init ial mass oFSSIT It g, incl uding a mass oil l l il l l t g nil Fuel .
is l ir ed Fr om a r ocl t et l auncher . The r ocl t et l eaves t he l auncher at vel ocit y vu and at
an angl e oil H"wit h t he hor izont al . hl egl ect t he Fuel consumed inside t he r ocl t et
l auncher . The r ocl t et bur ns f uel at t he r at e oil l l ] l t gl s. and devel op s a t hr ust T =
t S[ l "i]l ihi. The t hr ust act s axial l y al ong t he r ocl t et and l ast s f or il l seconds. Assume
t hat t he dr ag For ce al so act s asial l y and is p r op or t ional t o t he squar e of t he r oel - t et
vel ocit y - The gover ning cl il il l er ent ial equat ions descr ibing t he p osit ion and vel ocit y
comp onent s oit he r ocl t et l see Figur e Pt i. 2 l ar e as Fol l ows:
l il l =5 cosii|' gcosl il
t it in r r t
dd 1 ' RP L
%=sinH; sinHg
dh ns t o
m
igt ir
sir l
it - r _
sr _ l - * '
Simt r l inl r I 1 5 3
wher e
1 t a
v =v + v
is y
f l is t he angl e t he vel ocit y vect or r nal t es wit h t he hor izont al .
m is t he mass of t he r oel cet { var ies wit h t ime]-
\ l l 5 |TIl l , r . ar e t he 1 - : ant iy comp onent s of t he r ocl t et l s vel ocit y r el at ive t o t he gr ound-
Fl is t he dr ag coef l icient .
g is t he gr avit at ional const ant .
t t t . y ] ar e t he p osit ion of t he r ocl t et r el at ive t o t he gr ound.
t is t he t ime of r ocl - t et f l ight .
eos ii=vxl st and sin iii=v}_ l v-
Subst it ut ing f or cos El . sin El . and v in t he above set . t he equat ions become
gil l - _ . _ . ET v' Ii' t ' . l l 1 r i+ vj
g:- . m If + Ty m { Pit t a}
ail ), evil " vf . |l t ' l y |l v:+ v1 :
I Ii T l l l l P? - I- bl
t f l il r r r . l v; l + v r r t l l l l l
l a] Devel op a Sl l ' vl l . . l i. ihl l { model t hat wil l sol ve f or x. y . vt . v, , f or l ] S t S t il l
seconds. Lise a Ft :- t ed t ime st ep of [ I- 1 second. l iun t he p r ogr am f or t E t il l
seconds.
Tal - t e r il l ] =l l , _ y ' l i:l ] =Il l , vil l i] =veos l il u. v}_ [ ' l ]] =vusin Hg vD= l f t l l ml s,
Bu =l l . l i. =i]. l l : - i Z ihisil r n1 . and g =9- 31 ivr l si- Send t he r esul t s t o
wor l t sp ace.
t b] Fr ot n t he wor l t sp ace p r im out a t abl e f or t . - e. y . v, . vy ever y l l ] seconds and
cr eat e p l ot s of t s: and y vs. r ] and I[ v_ and vv vs. r ]. I
l c] The t ar get l ies on t he gr ound. which has al sl op e of l iis. The gr ound el evat ion.
y g. r el at ive t o t he or igin of t he coor dinat e sy st em of t he r ocl t et is given by
y g =1 5 + [ l l - i]' [ l . v jil il iil l l l l [ p y _ 1 cy
In t he wor l t sp ace p r ogr am det er mine wher e t he r ocl - t et hit s t he gr ound. t it ssume a
l inear t r aject or y bet ween t he cl osest t wo dat a p oint s. The int er sect ion of t he t wo
st r aight l ines gives t he l . 1 t ' . _ y ] p osit ion wher e t he r oel cet hit s t he gr nt t nd. Pr int ot l t
t hese l . t . _ y ] val ues.
1 5 4 I hiumer ical andt nal y t ieaiMet hocl s wit h M. - =t Tl _ . 4B
Pr oject F1 2
Rep eat Pr oject t i- . - P- l . bt t t t his t ime use Simul inl t t o const r uct a simul at ion of t his
sy st em. Scop e out p ut shoul d be l inr T] and 1 ' 1 vs. t . Set t he end t ime t o 1 hour and
p r int out t he bl oel t diagr am.
Pr oject F2 3
Rep eat Pr oject t i. - i. bt t t t his t ime use Simul inl t t o const r uct a simt t l at ion of t his sy st em.
Scop e out p ut shoul d be f or . - =. :. v. andp vs. r . Send - s. v. p . and r t o t he wor l t sp ace and
cr eat e a t abl e of iil ] l ines giving r s. v. andp vs. r . hl so cr eat e p l ot s of t : vs. r . v vs. t .
and p vs. r .
Chap t er 8
Cur ve Fit t ing
3. 1 Cur ve- Fit t ing Object ive
Ther e ar e r r t any occasions in engineer ing t hat r equir e an e- 1 - t p er iment t o det er mir t e
t he behavior of a p ar t icul ar p henomenon. The ezt p cr imenr may p r oduce a set of dat a
p oint s t hat r ep r esent s a r el at ionship h- et ween t he var iabl es invol ved in t he p henom
enot t - The engineer nt ay t hen wish t o esp r ess t his r el at ionship an; t l y t it ' al l y - This
anal y t ical esp r essinn is t iesignat et l as t he ap p t usit t t at ing f t t nct inn t o t he dat a. Ther e
il 1 ' Il 2 ' I- r - "r - ' l i' - II iij- ]' j_ ' l ' 1 "|- ' - l ' i1 l iIIIl . - ' - S.
1 - The ap p r ozt ir nat ing f unct ion p asses t hr ough al l dat a p oint s [ see Sect ion S- 5 ]-
l f t her e is some scat t er in t he dat a p oint s. t he ap p r osimat ing f unct ion may
not he sat isf act or y -
E. The ap p t nsimat ing f unct ion gr ap l t s as a smoot h ct t r ve. in t his case t he
ap p t ' t "_ e- t int at ing cur ve wil l not . in get t er al . p ass t hr ough al l t he dat a p oit t t s. Pt
p l ot of t l t e dat a on r egul ar gr ap h p ap er . set t t il og. or l og- l og p ap er may suggest
an ap p r op r iat e f or m f or t he ap p r o:- t imat ing f unct ion.
3. 2 Met hod of Least Squar es
Best - iit st r aigl t t l ine;
F- l iven a set nf t l at a j' l I1 l I' l Ii' i1 ' l l ' iI1 , j|- ]:]. ' [ 1 ! - II, y 3_ ]. . . . . is". y ]
We wish t o r ep r esent t he t t p p t t nt it t t at it t g cur ve. y _ . as:
y L=c1 t t - I- cl iii- i]
I5 5
I5 5 I l vumer ical ancl it t naiy t ical Met hocl s wit h MATLAB
Let
it =Er r . r . t =- cc =2 ir . - ins. + - r - . 1 1
|- l |- I
- I :I :I
=l l ' | T l f t l l t Tf t l l l ' l ' l l ": T l f t il t ' l ' l - l t l l l ' l ' ""l ' l l l l u T l f t l l s ' l ' Fr il l [ 3- l l - 3]
To obt ain t he best - l it st r aight l ine ap p r osimat ing f t t nct ion. t al t e 32 : [ l and
l l l l
i =. .
at ,
I1
iIl :. :l :2 |l :j. "1 - l jl l I|I' i| I' Il . ' ; , :l l l l
i=1
an "
i= ' . T[ _ y |. { . r 1 . vj + eI]l [ . vf j =f l
Set El l
1 :
IT l l Fl
l . T=Z . v|_ y | r |Z r |Tc:Z r J
r ] t i . ||
t il l
[ iIl 1 ]f |+ [ i. 1 "r ]t ' |_ :=i - ! |t "r _ ]Ir { Egg}
_ r _ t . ' - 1 - ' - :
|' I'
: =o=2 1 l y f f e|r I+ t ' ]jl l j
t ".
. . . |. _ ]
U |' |'
l i=Z ' y jej2 . 1 r r . nr ; ,
r ' =l i=1
El l
jl E. 1 |. _ . t | + r t e: =E_ y j. |[ 3_ - 5 }
. r ' - 1 i- 1
Sol ving by met hod of det er minat es:
l l l l
Eat s E- * r j. . t ' ,
F _ ' l l r ' _ ' l ' l . ' sl "l r T
Ey . st
2 r e]. _ y J. E- vi
f r
Er ; r t
Eur veFit t ing I 1 5 ?
_ sEs. - r . (E- s]{ E- r .
i . .
Est 3. . . - . - e_ ( . )[ s) il l
- if - . l J
sir - (Er . - t it s. - 1 HE- r f (Esi(Er . - i
For an r s degr ee p ol y nomial l it . t al t e t he ap p r oximat ing cur ve. }' L. t o be
_ . . . - 1 . . = r t
y jr l + t . _ :. t :+ r =r a + r . 4|a + + e_ m|. 1 t '
wher e r r t 5 r s I and n =number of dat a p oint s-
l vieasur ed val ues ar e t r p y i]. i=1 . Ii. . . -
Fl t l g Z 1 , - ' _ ; - l l l il jl
_ . l 1 - IE"
To minimize L- l . t al t e
st =it - 1 * . - r - . _ - 1 =2 j- r . (=". + =". s + as t ~ . . . - ct ]
I I
l ' i'
. . l ' . ' t '
2
=I]. et c-
' l
3%: [ I =Z l jy y . (ei+ t - y r ; + + em_ Ha"jl l j:j l Ij
r =]
at
E3: f l =E' 1 j:_ ]- ' 1 . { c] + e1 Jcj + + eg+ ]a' jl l j] jr jj
cl 1
, 1 :
l ' i'
gTil =i] =2 1 2 jiy I je] + r L. . 1 t J + - + e|_ ? _ :. 1 r r f ' "jj j:r f :j
||' _
|' I'
iv. -
r q
In
L
El i- 1 ' 1 _ . 3 _ El l t gjy j jr j + Ir ]- sir + + Il l - |H_ |_ :T|:l l l l l [ i- 1 _ ; l r l ]
1 5 3 I hiut oer ical ancl r l l nal y t icaiMet hocl s wit h MATLAB
The set of equat ions r educes t o
t r . + t 2 . i t z~ :i- + ~ . :+ t 2 - >. . . . =2 .
<2 t - >. s- + t 2 I. :1 . :- t o). - smit t en. . . =2 . . .
l S. S]
jZ [ sJ. " jr j + j2 ! s|f ' * ' j. - 3 + + jZ s. . - 1 . 1 " ). - ~ m_ l =Z r jl l y j.
Sol ve by G auss El iminat ion
The st andar d er r or of t he l it . - t n. is dened by
1 1 ' 1 -
It
t r =jigl y j _ 1 j|jl l j
wher e v =r t (ar t + I] =number of degr ees of f r eedom.
i v' sr t - : i' vl t i' t l 1 ' L. h. l :l ' l 3 uses mean squar e er r or f r nsey l . which is def ined by
1 " .
ir r t se] =gzt ir , , t ; _ , ]' t ssj
J is a measur e of t he p r ecision wit h which t he p ol y nomial deser ihes t he dat a-
Ruu t he p r ogr am f or sever al dif f er ent r r t val ues. Use t he one wit h t he l owest in
val ue.
3. 3 Cur ve Fit t ing wit h t he Esp oneot ial Funct ion
A mat hemat ical anal y sis of p hy sical sy st ems f r equent l y l eads t o esp onent ial f unc-
t ions- l f et t p er iment al dat a ap p ear t o f al l int o t his cat egor y . one shoul d use
y u=o, r = t s- t t n
as t he ap p r nsimat ing f unct ion. wher e oz] ant it it . ar e r eal const ant s.
For dat a p oims l . i:. . _ y ]]. l ag. jg); l . t , _ . y "]. l et sj =l ny iand ah =l r t y _ =l r t t t ] t ip s.
Let t ing I- LL =I1 . and r :_ . =l r r t t ] . t he above equat ion becot nes l inear in aj; t hat is.
- sL. =t ' . . v+ r ; l ii. l l ]
Cur vef it t ing I 1 5 9
For dat a p oint s [ :t , . _ v. ]. { I1 1 y y l . is. . . jg]. t he new set of dat a p oint s becomes
1 1 . . 1 . ]. i1 _ . I; i. is. . . 1 . ]
Fr om our p r evious wor l t . t he best - l it ap p r oximat ing st r aigl u- l ine cur ve by t he
met hod of l east squar es gives
f l _ r t z- t t r ejjl z- 1 r jjl Eejj { E1 1 2 }
r t E. ' r r T (Ear j
M F
and
F _ (sat ir et - (Et - . >se. 1
i as- if - [ ssj )1 t am
Then
ct . =e - ' . ct l =. - :.
and
_ i_ 1
r t t - i' e* HZ l "l _ ]1 ' , _ r , . _ , t t s- 1 - it
wher e y y _ i=y j. it - t i].
The above anal y sis can be used t o det er mine t he damp ing const ant in a mass-
sp r ing- dashp ot sy st em. This is accomp l ished by et t amining t he Cl scil l oscop e
gr ap h of f r ee damp ed vibr at ion [ see Figur e S- I]. The gover ning equat ion of t he
envel op e is
I
- 1 ' =r t ssvj- 2 mt j t s- t st
wher e
r =damp ing const ant .
sv =t he mass.
_ y =t he mass disp l acement f r om t he equil ibr ium p osit ion.
1 t ' r III I Numer ical anoisinal y t ical r l vl et hot l s wit h M. sl Tl _ . 4l 5
I y a- r t dy Ivs. l ' .
In _ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
' l Il l |i_ l I"|l Q
1 _ . . . . . . . . . . . . . . . . . . . . . . - - - - - - - - - - - - - - - - - - - - - - '
I_
j
l a . 1 - t l '
- _ - _ . il l . - :1 T
l ir v . l ' :t l '
I3
' - I- |'
. _ . - . . . . . . . .
. |_ ' ||_ - 5 _ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
_ 1 _ . . . .
_ |_ - _ :, _ . . . . .
_ 1 i t | |
t i Fr It ] 1 5 2 1 ' !
t t s}
Figur e B 1 Oscil l oscop e gr ap h of t r ee t l amp et t oscil l at ions.
l i_ _ :- t "|- t 1 t PE|:l ' l l ' l g l iquat ion [ I- i. l 5 ] wit h Equat ion l [ ii, l t i] we see t hat
Et l =y n and I1 ? =l l iwit h t r ep l acing . 1 r
T . il ' P. l
Ther ef or e. t =Iimct : { see Pr oject . . ' l . . l l i].
3. 4 MATI- AB"s Cur ve- Fit t ing Funct ion
l ' v l il t TLr ' l t l 3 cal l s - cur ve l it t ing wit h a p ol y nomial by t he name Pol y nomial
l it egr ession. The f unct ion p ol t it l I y st . _ _ ' |- . . t n] r et ur ns a vect or of t in + 1 ] coel l icient s
t hat r ep r esent t he best - f it p ol vnomial of de r ee at f J g or t he l _ . r |. _ v1 ] set of dat a p oint s.
The coef f icient or der cor r esp onds t o decr easing p ower s of r ; t hat is.
- U - I TI. |' |' - ' 1 1 :- I
Jar :. |' Tr . ":- . T' t ' l l ' . |' I' :. l l ' l l l ' t ' I3|. 1 ' Tl . . . t ' i' m. I|t "l ' t ' i"w_ ]
To obt ain _ y at l at . . . - - . - en] use t he l ' vl r "i. Tl _ . - "1 5 f unct ion p ol y val l s. I]. The f unc-
t ion p ol y val jr t , - t r ] r et ur ns a vect or of l engt h r t giving_ y :_ j. wher e
- 1 - a
=r 1 1 - . ' t r l l l + ajr jl + op cjl l + - - - ism- 1 t ; + . - r m] [ g_ 1 y j.
Cur ve Fit t ing I 1 &1
The mean squar e er r or l r r sse] is a measur e of t he p r ecision of t he l it . The r r t r e is
def ined as f ol l ows:
inst - =igl y . _ v, _ . t i t s- t st
wher e is is t he number of dat a p oint s.
Er t amp l e l - i. 1
t p o1 y t it _ t eat . m
iThis p r ogr am det er mines t he heat f ic p ol y nomial cur ve p anning
it hr ough a given set of dat a p oint s
cl ear ; ol e;
n=l S:2 :1 D;
F=l - BED - 5 2 0 - 7 0 BU l HS D BU 5 D 1 0 EBB];
1 I=1 :. 5 :l U;
mae=aer oa[ e];
f or n=2 :5
f p r int t t n=t it n' . ni;
coet =eer oet n+ 1 ];
one =p ol y f it t n, y , n];
y e2 =p o1 y val t enef , n2 ];
y o=p o1 y val l eoe . n};
mset ni=aumit y - y et - ail l l t
if nevi
f p r int f t n y y e Hot };
f p r int f i - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - t n ir
f or i=1 :1 1
t p r int t i t 5 . of t s. ot ss. at Hn' . al ii. vii]. y cl i]l t
end
f p r int f t KnHn' ];
end
it n==3
t p r int t i a y y e Hn' };
f p r int f t - - - - - - - - - - - - - - - - - - - - - - - - - - t n' ];
f or i=1 :1 1
f p r inef l i5 - Sf i5 - DE l S. Ef hn' . n|i]. y ii]. y el i]l r
end
t p r int It \ nRn' i;
end
iE n==4
f p r int f t n y y o 1 n' };
f p r int t t - - - - - - - - - - - - - ~ - - - - - - - ~ - - - - - ~ - - - - - - - - - t n i;
t or i=1 :1 1
Ep r inef [ "&5 - of E5 - G E IS- if in' , n|i], y [ i], y el i]l ;
end
f p r int [ t hn1 n' ];
end
if ==5
f p r int f t n y y e Hn' };
f p r int f t - - - - - - - - - - - - - - - - t n ];
f or i=1 :1 1
1 5 2 I Numer ical ant i. - t naiy t icaiMet hocl s wit h MATLAB
Ep r incf [ &5 . f 5 5 - Bf 1 S. l f l n' . r t ii. y ii]_ y el ii];
end
t p r int It l nl n' i;
end
eubp l oc[ 2 , 2 , o- 1 ! , p l ot t xE, y o2 , n. y , ' o' ],
1 l ahel [ x ], y l ahel [ y ]. gr id.
iE n==S
t icl ei Second Degr ee Pol y nomial Fic' ]
end
if o==s
eicl el Thir d Degr ee Pol y nomial Fic' |
end
it n- - 4
t icl e{ Four ch Degr ee Pol y nomial Fic' ]
end
iE n==5
cit l ei* Fit ch Degr ee Pol y nomial Fit ' 1
end
end
f p r incf t n mee l n' ]
Ep r incf t - - - - - - - - - - - - - - - - - - - - - l n' l ;
t or n=a:5
f p r int Et ' t g ss- a t n , o, mae[ n]]
end
8. 5 Cubic Sp l ines
Sup p ose f or a given set of dat a p oint s. al l at t emp t ed degr ee p ol y nomial ap p r oxi-
mat ing cur ves p r oduced p oint s t hat wer e not al l owed. For examp l e. sup p ose it is
It nown t hat a p ar t icul ar p r op er t y r ep r esent ed by t he dat a { such as absol ut e p r es-
Sl . - ' |. l ' E ' l i]F I. TSl Il ' I|. |I. ' l ' ; " ' l :l : |T. ' l Pl ' :"l ' H. I. ' I_ ' |. I' E:l 1 Tl :|. l T ITE Fl l . ' . l Sl . I. ' l . "I"l i:" HITLI. El l . IIITE E. ' l "l Il ' ; ' I' |' I. Pl IECI P{ ]l :|l ' FI[ J|TTIHI
ap p r oximat ing cu r ves p r oduced some negat ive val t |es- For t his case. t he p ol y nomial
ap p r oximat ing f unct ion woul d not be sat isf act or y . The met hod of cubic sp l ines
el iminat es t his p r obl em.
G iven a set of - [ st + I] dat a p oint s t . v_ . y i]|. i=1 . Ii. . . . . . in + 1 ]. t he met hod of cubic
sp l ines devel op s a set of r t cubic f unct ions. such t hat y t sr ] is r ep r esent ed by a dif f er -
ent cuhic in each of t he r t int er val s and t he set of cubics p asses t hr ough t he in + l l ]
dat a p oint s.
This is accomp l ished by f or cing t he sl op es and cur vat ur es t o be t he same f or
each p air of cubics t hat join at a dat a p oint .
s
sil l
ivhnu f hommmunn l T' - TS ,
jl + [ . dl ]y . . . (El m)
_ r ie
Cur ve Fit t ing I 1 1 5 3
J- '
J"- _ r l l It
. l l ' l r - I- I
int int
ii- 1 ] l i_ l
. - if
' l l l t I Tr il l I
Figur e B- 2 Two adjacent ar bit r ar y int er val s.
This is accomp l ished by t he f ol l owing equat ions:
i_ vi- s, - ]l . , . . , - _ . =i_ vi. s, ]i. , . . . -
l _ r ix, t l , , , , , . . , =iy l i- r , 1 ]. . . . t s. . t t n
l , r ix, - ]i. . . . - _ . =i, v"is, ]]. . . . .
In int er val ii1 ]. l - t j I S s S - vj] l see Figur e S- 1 ].
y t e] =. 1 j_ | + EH t r :t - J. _ | j + t TJ_ l l [ r - e_ . _ | l l + El :. _ |l - t r - t - r _ |]' l ' [ g_ g]j.
in int er val t ' . { xi5 x5 r m]
y l x] =r l j + Bit s se. ] + Cjl xsf ]: + L3Ji_ xx|, ]' l { gig}
This gives l t t 1 ] equat ions in in + I] unl t nowns.
dn-
l TT' Il . l S. ii- "El 1 I. IE5 FLII' El f 1 ' 1 El . l ' l Ll l - ' I' . ' n_ |_ ]1 ' I' l I. IFI' l I 1 1 1 ; E1 5 5 1 . - IIl ' l ' i_ * Ll . .
Sever al al t er nat ives exist :
l . Assume y l x]] =y { xn+ l ] =Iii
"t "i idel j. ' usedf or ces sp l ines t o ap p r oach st r aight l ines at end p oint s.
E. Assume _ j. ' l l l l :Ig_ |_ ]_ l =_ y l l l _ . 1 r u] and - }l H[ :l r :] =_ y "t x3]. ' 1 ' his f or ces t he sp l ines t o
ap p r oach p ar abol as at t he end p oint s-
l ' viATl - Aiil s buil t - in f unct ion ir t r er p l int er p ol at es bet ween dat a p oint s by t he ct t hic
sp l ine |1 1 et l 1 od.
l l - ' 1 4 I Numer ical ar t ol - anal y t ical Met hods wit h Mr l f l - AB
8. 6 The Funct ion l nt er p t f or Cubic Sp l ine Cur ve Fit t ing
y i=imet p l { x. y . xJ. . l sp l ir ie' ]
wher e x. _ y ar e t he set of dat a p oint s and xiis t he set of r val ues at which t he set of
val ues, y l i, is t o he r et ur ned-
Examp l e d. - 2
s cubic sp l ine
iThis p r ogr am uses int er p ol at ion by euhie sp l ines t o det er mine
S over p r essur e r esul t ing f r om a el ast -
cl ear ;
el or
dl St =U. 2 :G . 2 :2 . et
p t - EE|E|=[ I4. Iii1 4. - S l l il - Il l ' 1 ' - Er E- . 4 - 4- CI Lit - l I- ":r E- CI 1 - ' i' 1 - Er 1 . 1 1 l . l ];
iZ l . =|i|- i:ISl - 1 :2 - IS;
p =int er p 1 [ dist , p r ees. d. sp l ine' i;
:l d=t op ent ont p ut 1 . dac' . ' u t r
1 I' |:_ 1 1 t ' l 1 ! it ' . f [ f it ' l , "PEl . Il . i' l UUEHPHEHETJEE IFS. El l F. ' TiTt l ' - Il l "- E FE- DH BLAST l - . _ t ' :"|;
Ep r incf [ f id. ' CUEl E SPLIHS SIT l n ];
Ep r incf [ f id, ' disc over - p r ess Hn' l ;
Ep r incf [ f id, ' [ mil es] t p eil l n ];
t or n=t :a5
t p r int Et f id, ' i5 . l t t 1 c. s t n' , d[ nj, p jn]];
end
p l oe[ d, p . disc. p r ess. o ]. 1 l abel |' mil es f r om gr ound aer o l ,
y l ahel l over p r eesur et p eil ' ], aniei[ U- U. 5 . . S. U, S5 . S]],
gr id. t t t l ei' p eah over p r essur e vs. dist ance f r om bl ast ' |
t el oset f idi;
3. 7 Cur ve Fil l ing wit h Four ier Ser ies
Sup p ose an exp er iment al dat a set p r oduced a p l ot as shown in Figur e S. - iiand it was
desir ed t o obt ain an anal y t ical exp r ession t hat comes cl ose t o f it t ing t he dat a- Let
us assume t hat t he - l _ E xS l . . l f not . mal t e it so by shif t ing t he or igin- Act ual l y t he
or iginal abscissa dat a wer e f or ii . 5 - T t S il l . - iseconds. The dat a wer e shif t ed by l et t ing
x=t S i
The t domain was subdivided int o Tl ] equal sp aces. wit h . "t t =l iJ. Sl "ii' [ i=' i_ i. l l i
second. Thus. ar m xiis unif or m over t he ent ir e domain. An at t emp t t o Fit a p ol y -
nomial ap p r oximat ing cur ve t o t hese dat a woul d not be successf ul . However , t he
use of :- 1 Four ier ser ies coul d give a r easonabl e anal y t ical exp r ession ap p r oximat ing
t he dat a. l f t ic is t he ap p r oximat ing cur ve. t hen by a Four ier ser ies.
t ief xjl =an + Z jsmcost LISTj + t it "? sinjil l l l l l l l l . [ g_ ]gj.
r . v=] '
xl l - Il l
l . I' l I' S- I
Cur ve Fit t ing I 1 1 5 5
4- S '
4
3. 5 _ - . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 5 _ . . . . -
II
; _ . . .
. 5 _ . . . . | . . . . .
l I
1 1 5 . _ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . -
I - - I - I I I - I - - I I - I I I - I I I | I I - - - I I I I I I I - I - I | I - I - -
Ip u I - I n I I I I I I u - I I I - I I I u n I ; I - I I u u I I - u I - I u I - I - - I I |-
l l - l l Tl I I
_ . 5 - 4 _
J1
I I - n I - I - I - I I - I - -
I 5 u u I - I I I I I | n I I - - I - I n I I I n - I I - n I I | u - I n I - I I I I I - u n I - | - - I
2 Ii] 2 4 IS
Figur e B- 3 Exp er iment al dat a of u vs. x.
"1 - ' |i' I' Il iII' Il ' _
I t
t r = Lt il ijt - :' ]sf . 1 t
1 '
t .
r s =l Jl t r t xicosjl l il l jdr
" L _ i L
t .
ism = t i! l j. ' It * ]5 l l l j; l l l l l l ]
L - r . L
Using 31 ] t er ms in t he ser ies and Simp sonl s r ul e on int egr at ion an ap p r oximat -
ing cur ve as shown I1 1 Figur e f l - - ' - l was obt ained-
The sm cosj + hm sin[ t er ms can be p ut int o t he f ol l owing f or m by
t he t r igonomic ident it y r t cosjl + t i- Isinj- ' 1 =esinl l jl r - Il l ]. wher e c r ep r esent s t he amp l i-
t ude. The amp l it ut - l e. e. is given by
I"
A p l ot of amp l it ude vs. l l l l l is shown in Figur e S- ' _ i-
L
=t jl r t l + f il l
1 5 5 I Hur ner icaf a:1 dAna! y t f caIMef hnds wit h MATLAB
u, ue mm}
Q
Figur e H. 4-
:L.
E
- ' - 1 .
Figur e EL5
H I U- 1 Four ier Ser ies Fit
El
2 |
1 I I - I I I I I I I I I - I I I - I I I I I I I I I - I I I I I I I I I I I I I I I - I I I I I I - - I I I - I I - I I I I I I - I I I I I - I I - I I I I I - I I I I I I - I I - I I I I I - I I I I I I I - I - I I I - I I I I I I I I I - I I I I I I I I I I I I I I I - I I I I I I I I I - I I I - -
J
- 4 ' f
il it ed ue
Z G r een- L1
1 . . - . . . - . . . . . . . . . - . . - . . . . . | - . . . . . . . . . . . . . - . . . . . . :. - . . . . . . . . . - . . . - . . . . . - . . - . . . . . . - . . - . . . . . - . . . . . - . . . | . . . . . . . . . - . . - . . . . . . - . . . - - - ; . . . - . . . . . - . . . . . . - . . - . . . . -
3
1
r
L1 I _
1 - 1 f i | i f |
- - F. - 4 - 1 H 2 4 5
I
Feur ier ser ies f it eit he dat a. [ See cel er inser t f el l ewing p age El - . l 4 J
. |5 ||. |' n]:|. I- I. n"' |:i|' |-
TUUU . .
E:[ ][ ]IJ'
1 - 1 . ". . . - ' - - - - - - - - - - - - 1
5 - |IJU[ |'
mun, _ . . . . . . . . . . . . _
Lil - L1 L' l 1 ]I ' ' -
1 l [ ]{ ' ]l ]' - " -
1 U|:|[ |. - . . . _
U- | : i I | i |' F i |
H 2 =1 - IF: H HI I2 1 - =1 ]! ' - | 1 H
n"p i. , I' L
. . . . r m:
Fnur uer ser ueienef enent il , III]J||l udE5 \ r 5 + ,
I.
Cur v' eFii r ing I 1 - Ii?
Pr ajeet s
Pr ujeet 3. 1
. - it l er mul a deser ibir ig t he l l uid l evel . em, it t a t ank. as a f it t t t et iet t eiit it r ie. as t he l l t t id
dischar ges t ht augh a smal l at il iee. is
E=F { PB- l s?
wl t er e
Q, =t he dischar ge eeeieient .
1 1 %. , =t l t e il uid l evel it t t he t at t l t at t it r t e, t =H.
AU =t he ar ea er f t he at il iee.
AT =t he et uss- seet iut t al ar ea eit he t at t i- t .
. |' 5 |. r t exp er iment et t nsist ing t :- Fa cy l indr ical t anl r wit h a smal l - t 1 - r iee was used t t t
det er mine Cd Fer t hat p ar t icul ar ar il iee and evl inder . The t anl - : wal l s wer e t r ansp ar -
et t t and a r ul er was p ast ed r e t he wal l al l ewing Fur t he det er r t t it t at it t n aiit he l l t t id
l evel in t he t ar t l t . The p r ecedur e was t u l il l t he t ar t it wit h wat er wl t il e t he et iee was
p l ugged. The p l ug was t hen r er r ie- ved and t he wat er was al l uwed t e Fl ew t hr eugh
t he t t r if iee. The wat er l evel in t he t at t l e. iii ? in met er s. was r eee. |r r . l er _ l as a Fun- ::t ir _ t 1 t ei-
t ime, I- The exp er iment al - dat a ar e shnwn l l ' 1 Tahl e Pil l .
Tabl e F' . 1 it vs. t ime
He
hm, - |' mj' if s} . 1 1 , |' mJ If s J
H. 2 5 5
H. 2 5 5
H. HiEl - H
H. H[ t 5
1 1 H
1 2 H
H. 2 34 H. H5 ' . i 1 3H
H- 2 1 5 H- H- I1 1 1 4H
H. 1 95 H. H31 1 5 H
H. 1 i- "- El H. H2 2 TE- H
H. 1 IE|H H. H1 3 1 2 H
H. 1 42 H' . HHl :t 1 iEl - H
H. 1 2 5 H- HH2 1 9H
H. 1 1 H H- HHH 2 HH
H. H"El 5
1 5 3 I Numer r eaiandnaivt ical Met hnds wit h MATLAB
The diamet er s nFt he t ar ihce and t he t a r t l - t ar e Du =H- H' H5 f ' t ar e ar t - t l I3: =H- 1 45 m,
r esp ect ivel y . The Fr ee sur f ace el evat i- nr t , 5 , . at r =t iis H. 2 5 5 r e. The gr avit at ienal
c~ :. 1 nst ar t r , g' =5 1 . 5 1 - l ' ? ' i' |l . .
Use t he t ar e as del ined hjv F. qt |ar inn { $ . 1 2 } t n det er mine t he vait t e har C1 , t hat
hest [ it s t l t e dat a. v"ar jv E} l ir ct nt H. 3 r e Hi? i|t st ep s el l H. H] and eval uat e t he r ar e t iar
eae. h CH. sel ect ed. wher e
i"|- '
1 . 1
? 2 |' i* . t ' E:E2 [ |H' I1 _ I' r . l l Ir HP(r J. }] ([ 1 - , g_ 1 |; , }
. I- l
wher e
N =t he nut t t her nl idat a p eint s.
5 " ! { t i} =t he wat er ievel in t he t ahl - r . at r l as det er mined by Equat ien { i* 3. 1 a]|.
. t . IHP{ t I. ) =t he wat er ievel in t he t anl t at it as det er t t t ined hv er - t p er int ent .
Fer t he Cg wit h t he iuwest mr e. cr eat e a p l et aiiir w vs. r (sct l id l ine]! and sup er int p nse
3' 1 , vs. t as l it t l e :e' s cut t cr t he p l at el ' r 5 , q vs. r . r ' ! ' . |. l . ' . it I; I p r int eut t he val ue el ' C' _ , it hat gives
t he l ewest mr r .
r it l su cr eat e a Bl il r l ihe t ahl e t air r use vs. II' . ' . ' d.
Pr nject 3. 2
This p r uiect invc- l ves det er t uining t he hest iit p el vt t ent ial ap p r cet int at it t g cur ve t a
t he [ H vs. Q} dat a ebt ained F1 - cr na a p ur np manuf act ur er ' s cat al eg [ unit s changed t a
hi] unit s]. The t l at a p eint s ef t he [ H vs. Ct ] eur ve ar e shnwn in il l ahl e P5 . 2 .
Tabl e Pt t . 1 H vs. Q Dat a f r em t he Pump Manuf act ur er
Q H
{ mif h} Fm}
- E1 H
{ t n- r hi |' r n. i'
3. 3 43. 3 5 1 . 5 45 . 5
5 . 3 43. 4 5 5 . 3 39. 5
1 3. ? 43. 5 ? 5 . 3 35 . ?
2 5 - 5 43. 5 IEI- 2 - 2 32 . 2
2 ? . - 4 43. 3 5 3. 5 35 . 3
34. 2 43. 5 ' 35 . 5 34. - =1
41 . 1 42 . ? 1 H2 . P' 32 . 5
Cur vet t ing I 1 5 9
Tr y degr ee p eivt t nt nial s el f 2 t hr ct ugh 4 r e det er mine which degr ee p ct l vt t nt t t ial
wil l give t he snt al l est r r r r e. Use l vl . F' t TLr ' it l 3 s i' h1 . 1 t ' t t Il . ' it I2 t |' |_ || ' t iil . t :f |. - . t , which r et ut t t s t he eeiel l
cient s f er each e- Ft he t hr ee p el y nemiais. Then use l vIr * t TLr * t l 3' s f unct ien p at h- ea! t e
cr eat e Fer each p ul vnet r nial :
t a} A t ahl e cent aining Q, HE. and H, wher e HE is t he ap p t eet ir r t at ing cur ve f at H
vs-
{ hiA p int nFH; vs- Q [ snl id l ine] and H vs. Q [ smal l cir cl es], al l p int s - nn t he same
Piil gl .
Chap t er 9
Op t imizat ion
9. 1 l nt r cr duct inn
Jl he cil aiect ive er f up t imiar at it an is t t J maximiae e- r minimise st :- r ne l - unct it an f iThe
iunct it inf is cal l ed t he r r t r r , - iecr d, Fir r r cr r ' r r r r . l iur examp l e. sup p t ase t her e is an eiect r t r nies
ct t mp anjr t hat manuf act ur es sever al diiicr ent t y p es nf cir et t ir ht t ar ds. Each cir cuit
hnar d must p ass t h r nt t gl t . sever ; t idil iqer ent de|"r ar r n1 e|1 r . s I[ . s|. |ch as dr il l ing, t ; t t |t t p u~ -
nent asset t t hl v. t est ing, et c. . _ ] heiiue ship p ing. The t ime r e- |_ ]l _ :l i1 ' t :' t l Fer each cir cuit
hear d t n p ass t hr e- ugh t he var ieus dep ar t ment s is al se hnct wn. Ther e is a |1 ' 1 i:l 1 l II1 Ll I1 1
p r uduct ien quant it y p er r nent h t hat t he eut np anv t nust p r educe. Hewever . t he
ct smp anje is cap ahie - (J1 : p - r educing mer e t han t he minimum p r t r dt r ct iun r equir e-
]Tl . l ' _ "l ' 1 l i1 :[ ]l l i' L"3- l ' _ ' l "l . [ Ir - "Fl l ' _ ' l iil Fl L' i1 ' t ' _ "l _ ' l . il I i. ' ]' { ]' i- . l FLT t ' _ El l :l i' il i' I' H. il l ' ]. 1 . ' . l I' l - Tl ' 1 iI' |' i|' 1 ' I]' l . ' ' l I' l i' l ' l _ l I[ ]' 1 ' 1 "l . |' i|El . l ' il }" |Til . iI. l ' i. L"
t in each cir cuit hn- ar r l it p r t iduces is i- t nu- wn- The p r nhl em is t n det er mine t he [ t r u-
duct inn at t t nt t ut ni each t vp e t il l cir cuit hnar cl p er inunt h t hat wil l r esul t it t t he
nt axiniur n p r e- l it . . 4 sint iiat t vp e ciip r ct hl et t t t nav he t r ue in which t he uhieet is in
t nit t int ir e t he cast er f p r educing a p ar t icul ar p r educt . These t y p es at ap t it niea-
t ie- n p r t shl er ns ar e discussed in gr eat er det ail l at er in t his chap t er . in r nn- st up t imi-
I. H. t l . Ul ' 1 Pl ' t ' . ]' l . ' i|' i|' _ ' I' [ ' i1 ' i. , 1 . ' l I' H_ " [ ]' l ' ]_ l l iI' l ' _ ' l I i:l . I. Fl l :l Iil iIl i' I. , J |Ll . L' F|l L' l "H_ T l [ il ' ]' l . FiL"l r ' - l L' l . ' H. | "|. "ii:Il ' iEl i' l l |t _ ' Eii. ' 3l L' - I, . 5 ' |. ' ; . ,
. ' l t I' _ ! _ |, - - - . , . ' ! IL' - U. - Tl ' l l ' _ "i' i|' _ i=l . ]' t _ ' Ii_ ' i. :l l l IL |i. l [ l ' l L' t ' |". 1 . |' Hiit t ' J' t l l t ' - ". t i' . l "I. r i' l l l i"|! l l |E' . i' l ' H' _ Ii' _ ' iEl l ]iit _ l ' l ' il l iIil ' ' l r ' i. 7 l I|l |t ' . ' i' i- CHFI l ' il - L l ' i- t _ ' iL L' |' l ' It ' _ l . -
1 l . _ :||_ ' il I' l |' l ' l l :i". I|- "l l il l ' l l , ' |' l t . f ' t t l ' }- ' [ _ 1 t , I. ' - l ; "l |iil l ' i|! i- I l ' l . ' l l . f ' l , ' l ' l [ ' l l l . _ |. - il i- l t il i' 5 t f l l ; "t , ' [ l |' l g t ' ]- |_ ' l "[ l |' l ' il . i|| |. "]il l , |. - l f iiil iar l . _ i' [ ' l l ' l l , ' Tl i' il l
var iahl - es. :- :, , 1 :1 , . v_ , , r t , t hat eit her nt asin1 i' . - Les { ur t uit t it nir esit he nhjeet ive f unc-
t ict nf . ' In |nan_ v cases, t he chct ice uivaiues l er 3:1 , . 1 . - _ , , :=:_ t , at is net ent ir el y ir ce.
hut is suhject r e set - r ne r r iIr r r r r ' r r ir r t _ t .
1 i"1
1 T2 I Numer icaianddnaiy t icat ht et heds wit h MATLAE
9. 2 Uner t nst r ained Op t imiaat ict n Pr nhl ent s
in cal cul us it is shewn t hat a necessar y { hut net sut 5 cient _ ", l cendit ien f ct r f t e have a
maximum t ar minimum at p ct int F . is t hat at p cl int P. each t f l l i- l Il ' l t _ iir st p ar t ial der iva-
t ives t ' . ~ Ff , , he Ier n- ; t hat is,
ii_ 5 l _ . . . _ 5 i_
3. 1 :, TPTT Ha: l T' l _ Eixn TPTT U I
IFis =l , say , Jr =3ei, t hen a necessar y cundit it an Fnr an ext r cmum { maximum ct r
minimum} at x is t iir _ y "[ a ui=H.
Ft ' sr _ y t n have a l ucal minimum at xu. _ y [ x"} =H and _ y { x ] 31 - H.
Ft ]- r _ y t n have a l t t caimaximum at xu, _ y ' Ta' n] =H and }I"' Tx ]- =1 . H.
Fr i- r f invnl ving sever al var iahl es, t he ct andit it m Ft t r f t t a have a r el at ive minimum is
mut e cnr np l icat et l . Fir st , F. t ]uat i- an ' [ 3' - ]]
{ if Fif Hf
P=iP=- - - =iP=t { il l }
ax] il al l i. l ax"ii1 '
must he sat ised. Seeand. t he quadr at ic ict r r u { Equat ien 9. 2 }
l ' i' il il
Q =Z zt er t s. - s. - t est is, - s- _ . - t er i t an
It . I '
r l y l r J
r nust he p c1 sir ive. i' i::r al l chnices nix, and xj, in t he vicinit y et p eint P. and Q =H et nl y
when . 1 . - L =at (Pif ar r =1 . 2 . n. This cendit ien cur r ies f r em a Tay l er Ser ies exp an-
sien u1 f ixl , x; , . . . , xh} abeut p eint F using nnl y t er l t t s up r u Ba ; { F}. This gives
I I
. " t i .
f t xl . . r r 3_ , . . . , x_ |_ _ J =f ir s + Z it f iiixl - . 1 r :J. ' [ . |r "' l l
i' i| |' - l - J I I
+ t : it s. s, t r ait s, s; . t r - ii
r - 1 , I' - I. ' . 7
3
l F_ f { x|, x:, - . - , r e] has a r el at ive minimum at p t t int P, t hen T- ' [ P:l =1 3Ft }l ' r ' = 1 ,
2 , . . . . is andf [ . v|. xy . . . . . xnif [ . F' ] :=- H f ar ail ix]. 1 :3, . . ' l ; ' |r :iin t he vicinit y er f p et int P.
Eut f t xy , xI, - - . . xi] f I[ . F] = Thus, l i_ t r _ f [ x], x1 , _ _ _ , xn} t n have st r el at ive minimum
at p t t int P, Q must he p r . - sit ive Fnr al l cht t ices nl qxy and ac . in t he vicinit y nf p r t inr P.
5 ince t he aheve anal sis is uit e cnnt l icat ed when is a Funct ien t it sever al
Tr * 1 P
var iabl es, an it er at ive se. he|ne is l r equent l y used as a r net hed eisel ut ieut . Cine sucl t
met hed is t he met hed at st eep est descent . l n t his nt et hct d ene needs t a guess ier a
Dp t imir e t ict n I TF3
p eint wher e an ext r ent unt exist s. Using a gr id t ct eval uat e t he Funct ien at dif ier et t t
val ues ct - iit he cc:- nt r eivar iahl es can he hel p f ul it t est abl ishing a gee- d st ar t ing p eint
f ur t he it er at ien p r ecess.
9. 3 ivt et her l uf St eep est Descent
Cct nsider a f unct ien. er f t hr ee var iabl es (r t . _ y . r t }. Fr e- m caicul us. we l t naw t hat t he
gr adient ut ' _ wr it t en as I- "_ f . is given hy
it , is v_ a ~
? f =ir + %y + ii. ' - '
wher ei. j. and it ar e unit vect ur s in t he . r :. _ ]r . and a dir ect iuns. r esp ect ivel y .
At [ x , y ", a ]_ . vve al su l t nuw t hat ' * Ff [ x , _ y , . eH] p aint s in t he dir eet iun uf t he
I1 ' 1 I3. Il ' l LiITil 1 _ ' l . |' |' I THTIE - LITTCITIEIHEE [ Iii- TJl r ' ||- 1 |"i|. ' i' 1 I"E' 2 ' . ' i|' . l l - EH1 : H3 ' l I|ii' i1 . ' 3I' l . t ' _ ' |E-
A t t nit vect nr . Es, which p t r int s in t his t l ir ect inn, is
E
=E
i[ WI
wher e
1 | ' ' - '
- nu I - In
wit s) + i%1 FisT
Tu f ind a r el at ive minimum. t he met hed er f st eep est descent is Fr equent l y used. This
met hnd st ar t s at st ame init ial p ct int and mct ves in smal l st ep s in t he dir ect ict n er f
st eep est descent , which is { eii]=. Let [ :|r n+ ], _ ]- ' n+ l , al l l he t he new p n- sit inn t an t he r r t h
it er at inn and { xv Jr , en] t he nl d p t t sit inn; t hen
ii
l { ' Ti:r "- :l ' l l r i TI' r ' }l
at = ax r l t
r r I - 3' 3- |- | I- ? - J, - { x":l h}|n EH:]| . ' |'
ii
iir t igai
= . 5
_ - il ' r Ir "' l ' r }l |T il gjr - ; (~ { J_ 1 Jf Jl - E I
t i
ai{ xH1 J' ITTTH}
r . t n_ | =5 - - E _ dis
|l EF- l f _ { ' TT. l l "- F? |' 1 l TJT}l
wher e . 5 r is snnt e smal l l engt h.
1 i"=t - I Numer ical and Anaiy t icaiMet hnds wit h MATLAH
Examp . - e 9. 1
G iven:f * - =4 + 4. 5 x, 4. 1 ; ; + xf i+ 2 x1 3 2 xl x1 + r t , 2 x, * ix; _
Det er mine: The minimum uf f hy t he met hnd at st eep est descent st ar t ing at p eint
{ xv x_ - . ]| =(5 . 1 H]. Use a d . t =H. 1 and IHH it er at isns.
Inst ead er f st ar t in g at same ar hit r ar y p eint as sp ecied ahct ve, cine might wish t a
f ir st use a gr id p r egr am t et est ahl ish a gur r d st ar t ing p eint . it samp l e gr id p r egr am
iinil n- ws:
igr id2 . m
iThis p r egr am det er mines t he f unet isnal val ues sf a sp ecif ied
t f unct ien ef 2 var iabl es
t f ar det er mining a gsed st ar t ing p eint t ar ens met hed at st eep est
t dseant
cl ear ; et c;
x1 min=1 H- D; x1 max=1 H. U;
x2 min=1 5 . r x2 max=l H. 5 r
dx1 =2 . D; dx2 =a. U;
t ar i=1 :1 1
x1 [ i]=x1 min+ [ i1 ]* dx1 ;
f er j=1 :1 1
x2 t ji=x2 min+ ij- 1 ]* dx2 ;
! ii. ji=f xt ix1 iii, x2 t jl i;
end
end
f p r int f t ' - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ n' it
t p r int t t t unet ienal val uss at t x1 . naiHn ];
[ J HT_ I I_ - HIH_ II# _ _ ' - _ - H- _ _ _ _ ' H' - I- I_ III I_ - _ - _ _ _ - I- F- - 1 |I r :||I :l 5
t p r int t i xa I x1 t e. t t t a. 1 t t s. t r t E. 1 t a. 1 t ss. 1 t \ n' , . .
x1 t 1 i, x1 I2 ], x1 t 3}, x1 1 ai, x1 [ 5 J, x1 t Eii;
p r incf [ ' - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 n' i;
t ar j=1 1 1 1
t p r int f t ' t a. 1 t ' . a2 ijil t
f f i=1 =E
f p r inc [ ' ii5 - 1 ' , f [ i, j]i;
end
f p r int It ' Hn' }r
end
f p r int f f ' \ n\ n\ n' };
f p r incf ' - - - - - - - - - =- - - - - - - - - =- - - - - - - - - - =- - - - - - - - - - =- - - - - - - - - =- - - - - 1 n' i;
p r incf ' f unct ional val ues nf f t x1 , n2 ] in' i;
:l I I_ _ II' II' II I_ II' II' II II_ II' I' IIII' IIII' I' II I' I_ I II' II III I- l l |_ t . ]' l ;
f p r int f f ' xi| x1 E. 1 f ss. 1 t e. 1 f E, 1 f e. 1 f \ n' , . . .
x1 t 7 i, x1 [ E], x1 t 9i, x1 { l i, x1 [ 1 1 ]];
f p r incf t ' - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 n' i;
t ar j=1 =1 1
t p r int t t ' ia. 1 t ' , xaijiJ;
f er i=1 :1 1
ep siner t ' at e- 1 r t , t t s, j1 i;
end
f p r iut t ' kn' };
and
Up t imizat icin I TF5
Neat use a st eep est descent p r egr am. it samp l e p r egr am l hl l nws:
ist eep _ desceht - m
iThis p r egr am det er mines s r el at ive minimum hy t he
I met hed sf st eep est decent -
t The f unct ien iB:
s r t x1 , xai=e+ i. st at - t * aa+ a1 * a+ a* xa* a- a* a1 * xa+ a1 * 4- a+ at * a* aa
iRel at ive minimum p eint s sr e knnwh. They eccur at
iix1 , x2 ]=[ 1 - 9a1 , 3- B5 e] and t - 1 . ass, 1 . aaa|- The minimum f unct icnsl
I val ues ar e 5 . 5 5 5 5 E 5 . 5 1 34 r esp ect ivel y
cl ear ; el er
Fir st guess
1 1 :5 ;
I2 =l H;
ds=5 . 1 ;
f x=f at ix1 , x2 t ;
f p r int f t ' x1 xi f x\ h' };
f er n=1 ; 1 5 5
d x1 =dEx1 f t x1 , x2 ];
d 1 2 =dE1 2 f ix1 , x2 ];
gr adt _ mag=sqr t { dt x1 * a+ df xa ai;
x1 h=x1 df x1 igr adf _ mag* ds;
x2 n:x2 d x2 igr adf _ mag* ds;
E1 n=ExEt x1 n, x2 ni;
Ip r int f [ ' t T. t r r . at t 1 e. at t n , x1 n, aan, IxnJ;
if t t xn 1 ix}
f p r int t t t a minimum has heen r eached t n\ n' i;
br eak
el se
J- Ll =Jt l I' i, '
I- t 2 =J- IITI;
f x=f xn
end
end
f min=t xt t x1 , xat r
t p r in1 :f t ' The eel - at ive minimum secur es at a1 =t r "r , - it :- t a=1 t ' r . at * - . n , :- t t , :- r al - , -
f p r iut t ' The minimum val ue f er f =il H. if 1 n' , f min];
if xf - m
iThis f unct ien is used in t he st eep _ deeent - m p r egr am
f unct ien x: xf [ x1 . x2 J
r a=a+ a. s* a1 - 4r aa+ at a+ a~ xa* a- a~ at * xa+ a1 * a- a* a1 a* aa;
t df Il f . m
t This t unet ien is used in t he st sep _ deacent . m p r egr am
f unct ien df x1 =df x1 t |x1 . x2 t
df x1 =4. 5 + 2 * x1 2 * x1 + a* x1 3a* x1 * xE;
1 dt xat . m
iThis f unct ien is used in t he st eep _ desceht . m p r egr am
f unct ien df x2 :df x2 f |1 1 , x2 i
df x2 =- 4+ a* x2 - 2 * 1 1 - 2 * x1 2 ;
1 2 5 I i"- iur ner icaianciAnal y t ical Met hct ct s wit h i"vl r 4Ti_ . - 45
9. 4 Op t imizat ion wit h Const r aint s
l n many op t imizat ion p r obl ems t he var iabl es in t he Funct ion t o he maximized or
minimized ar e not al l indep endent , hut ar e r el at ed l ay one or mor e condit ions or
con st r aint s-
l iup p ose we ar e given t he ohjcct i unct ion_ f _ { ' a' , , x3, - r _ s, , - - - , xl , in which t he var iv
ahl es x], - v3, , - - , xn ar e suhiect t o Nct t nst r aint s, say ,
H1 ' , I[ x, , - vy , x_ , , - - - , xgl =H
l _ :l [ . r , . - t r y , - t ' _ , , . . . . . - r jl =H
t I1 ' _ - , , - { :r , , xii. r t . x, , , ]I =H
Theor et ical l y . N x' s can be sol ved it t t er ms oi t he r emaining . 1 - : s. Then t hese N
var iabl es can be el iminat ed f r om t he object ive f unct ion f by subst it ut ion and t he
ext r eme p r obl em can be sol ved as if t her e wer e no const r aint s. ' l his met hod is
r ef er r ed t o as t he imp l icit met hod-
I Lagr angeis l vl ul t ip l ier s
5 t |p p osef { x, , x_ - , , . v, . - . . . - v, , l is t o he t nar t imir et l subject t o const r aint s
t 1 l i' , { x, . r r 3, a"_ , . aw} =ii
iI1 ; (. v, . . 1 t h. _ . . 1 t _ , . r , , ] =H
IJ' ; . , |{ ' x, , x1 , x_ - . . _ , - - - , xl l =H
Dene t he Lagr ange Funct ion Fas
Fir ]. - r 3. . v_ . _ , . . . . . r eg] =f [ . 1 r ]. - t r y , a. ' _ . , , . . . , . :It , , :I + it , |iI3' , [ . 1 t ]. I3- , xi. . . . , sr l
- i- Tl - . L. ' l l l 7 l L- . I[ . 1 =. , . . v_ . . . r :_ , , , . . . . . 1 t . ' n:l l ' . il l . . |. - , _ - i' ~ ' l 7 "_ _ . ; Il . r , . xy . x, . . . . , xn]
wher e it , ar e unl t nown mul t ip l ier s t o be det er mined. Set
ar _ . s- r _ ar _
- _ _ n, - _ - _ o, , _ _ o
ii- v, dr y 43. 1 "
er , =o- t r - , =o- - t t r _ _ , =o,
EJF .
{ _ , I"- . T. ; ; , |_ r , r - ; =H gives 1 1 1 ' ! =Hi
Up t imizat i- on I 1 FT
This set - oi is + . "' v' } equat ions gives al l p ossibl e ext r ema t if f : Fr ont is hey ond t he
scop e oit his t ext hool s [ l l -
Examp l e 9. 2
r it sil o is t oconsist of a r ight cir cul ar cy l inder wit l t ahemisp her ical r oof t see Figur e 9. 1 ]! -
l f t hc sil o is t o have a sp ecied vol ume l d nd t he dimensions t hat mal t e it s sur f ace
ar ea a minimum. Assume t hat t he sil o has a l ioor of t he same mat er ial -
i' iiat e:l "g, y , _ ? _ _ = =41 l ' t ii' 1
Tal se l r "=5 4H- H mi
iiol ut ion:
ii =gait + r t it ii.
5 =l r t iii+ r t iii+ 2 1 5 ' : =. ' ir t ii' . [ . + 3t t ii' 1
r t =set - =r + sar t * ' + . ' i~ . [ r t it "l + r t it iivl
Var iabl es ar e it . L. and it .
i; l F -
5 ? =. Ti|' - |is|l l . + l 3' l ' |i. |l il + il Ll _ :iTl iJl i. ' + =U
iii- ' . 2
=Ji:t t ii: + it r t R' =H ::t It - ii* =1 or it , =
iii it
- _ _ ii- _ -
ii
Figur e 9. 1 Sl t et ch of a sil o consist ing of a r ight cir cul ar cy l inder t op p ed by a
hemisp her es
1 TB I Numer ical and Anal y t ical ivt et hot is wit h MATLAE
Subst it ut ing t he val ue oiit in t he above equat ion gives
2 - t
l r t i+ t ir t iiE{ _ Jir t ii* + Eit iiil j =it
The ahove equat ion r educes t o R - L =[ ]- or R =L - Subst it ut ing t his r esul t int o
t he l ir e- quat ion gives
2 3
if =r t r ii+ :|t ii. ' l =' r t i- t i
3 3
For l ~ "=3- ' - IHH mi-
H3
r r = isl ix =l l . ? H5 ' im
' I
Subst it ut ing t he val ues For Rand L int o t he equat ion For S gives S =2 1 32 . 5 mi.
9. 5 ! viA. TLAB"s Op t imizat ion Funct ion
l ' vl d I' Lr il 3' s op t imizat ion f unct ion is imincon. A descr ip t ion of t he Funct ion can
he obt ained by t y p ing het sp f miar es in t he command window. Ft descr ip t ion of t he
f unct ion Fol l ows;
h=f mincon[ FUH, R5 , A, B| st ar t s at EU and f inds a minimum E t o t he f unct ion
FUN. subject t o t he l inear inequal it ies sixs= E. EUR accep t s inp ut E
and r et ur ns a seal ar f unct ion val ue F eval uat ed at H. r s may be a
scal ar , vect or , or mat r ix.
H=f mincon[ FUH, hD, h, E, heq, Beql minimises FUN subject t o t he l inear
equal it ies Aeq* 1 I Esq as wel l as Ar ic: E. [ Set h=[ ] and Er f l if no
inequal it ies exist . i
a=f uinooniEUH. ao. a. B, aeq. seq. LB, UBl def ines a set of l ower and up p er
bounds on t he design var iabl es, H, so t hat t he sol ut ion is in t he r ange
LE e=I c= UH. Use emp t y mat r ices f or LB and HE if no bounds exist . Set
LB|il =- Inf if El i] is unbounded bel ow; set UEt i]=l nf if ht il is
unbounded above.
a=t minooniFUH, ao, a. B, aeq. Eeq. LB, UB. HcHLcoht subject s t he minimisat ion t o
t he const r aint s def ined in HDHLEUH- The f unct ion HUHLEUH accep t s I and
r et ur ns t he vect or s E and Esq, r ep r esent ing t he nonl inear inequal it ies
and equal it ies, r esp ect ivel y . Emincon minimises FUN such t hat Et hic = 5
and caqt xr = U. [ set LB=[ 1 andior UE=i] if no bounds exist . )
Up t imizat ion I TF9
h= mincou{ FUH, ID, h, B, Aeq, Eeq, LB, UB, HUHLEUH, dPTl dHE] minimises wit h t he
def aul t op t imizat ion p ar amet er s r ep l aced by val ues in t he st r uct ur e
UPTIDHE, an ar gument cr eat ed wit h t he G PTIHEET t unct ion. see UFTIMEET
f or det ail s-
H=f mincon[ FUH, 1 o, n, E, aeq, Esq, LE, UE, HDHLEDH, UPTIDHE, P1 , P2 , x, ip asses t he
p r obl em- dep endent p ar amet er s P1 , P2 , - U dir ect l y t o t he f unct ions FUN
and HHLEdH-
[ a, FvsL]=f mincont FUh, Ia, . - | r et ur ns t he val ue of t he object ive t unct ion FUH
at t he sol ut ion H-
Examp ie 9- 3'
iop t imsil o- m
t This p r ogr am minimises t he mat er ial sur f ace ar ea of a sil o
t The sil o consist s of a r ight cy l inder t op p ed by a hemisp her e.
t The vol ume is set at t oss and sass m 3
ivar iabl es ar e l engt h, L = st ar and r adius, R =xil l
cl ear ; cl c;
t Take a guess at t he sol ut ion
Ls = is- oi:
us = E]:
xo = t 1 o. t t 2 |]- l l ];
iSet op t imisat ion op t ions:
t Tur n of t t he l ar ge- scal e al gor it hms [ t he def aul t ]
op t ions =op t imeet t Lar gescal e' , ' oIt i;
t We have no inequal it y const r aint s, so p ass [ 1 f or t hose ar gument s
vr =[ 1 sao sass];
f o=f op en[ * out p ut . dat ' , ' w' J;
Ip r int f [ f o, ' op t imisat ion Pr obl em in1 n' 1 ;
Ip r int f [ f o, ' This p r ogr am minimises t he mat er ial sur f ace ar ea of .
a sil o t n l ;
f p r int f if o, ' The sil o consist s of a r ight cy l inder t op p ed by - -
a hemisp her e. En' };
f p r int f [ f o, ' The vol ume is set at T5 05 and BdHH f t 3 l nl n' |;
f or i=1 =a
v=vTt i};
[ x, f val ]:Emincon[ iobjf unsil o, xo, |], [ j, [ ], [ ], LB, UH, econf unsi1 o, -
op t icns, Ul ;
f p r int f [ f o, ' ? =l E. 1 f R=T. 3f L=! ? . 3E minimum sur f ar ea=%5 . 3E En , .
v. x[ l l , xial , f val i;
end
f cl osel f ol r
t objf unsil o. m
f unct ion s=objf unsil o[ x, Ul
e=|a. s* p ir at t i* st at + s. s* p ir a|1 i* at ;
iconf unsil o. m
f unct ion [ c, ceq] =conf uneil o[ x, H]
t Nonl inear equal it y const r aint s:
ceg =p i* xi1 i* a* xt at + a. sr s. s* p t * ai1 i* 3- v;
iHo nonl inear inequal it y const r aint s:
E = l l r
1 5 H I Numer ical and Anal y t ical Met hods wit h MATLAB
Examp l e 9. 4
t op t im_ shaf t s. m
iTwo machine shop s, machine shop A and Machine shop E, ar e t o
imanuf act ur e t wo t y p es of shaf t s, shaf t S1 and shaf t E2 - Each machine
t shop has t wo Tur ning Hachinee. Tur ning Machine T1 and Tur ning Machine
s Ta. The f ol l owing t abl e l ist s t he p r oduct ion t ime f or each shaf t t y p e
t on each machine and at each l ocat ion.
it ' d? - I - t h' |h=' |l * - st - :f |h' |l * ul * ul * - I' |h* |t * ul "ul "- Hihit t l
aIt
[ ' ||l j[ |l ] ||I||:I
|| | |r I II I II I II 1 Ir I II | II: I II I Ir I IIIIl - I II I II I || I |I |
I I t I I I
HAEHIHE
LEE:
ixt 1 I=t he
t xt aI=t he
t xi3I=t ho
t xiaI=t he
ixl 5 }=t he
I xidir t he
t xiTI=t he
t xisI=t he
TIHE IN MINUTES
I- l l - Ink
1 1
number
number
number
number
number
number
numher
number
J L J J I|l
MACHINE EHUP H HAEHIHE EHUF B
TURNING EHAFTE SHLFTS
T1 I Q 5 E
1 _ |
of
of
of
of
of
of
of
of
Il l |- In- I
1 1 1
E1 5 2 5 1
T2 2 5 3
- |1 - r
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
L 1 J H L l - I- LL
p r oducedf hr
p r oducedf hr
p r oducedl hr
p r oducedl hr
p r oducedf hr
p r oducedl hr
p r oducedf hr
p r oducedl hr
t s=t he t ot al r evenueihr f or p r oducing t he
|! "|l " i"t r ". r "|. . l ".
= EH
= El l
= EH
= Ed
f o=f op sni shaf t out p ut . dat ' . ' s'
it
f p r int f l f o, ' op t im_ shsf t s- m t n' ]
. I'
f p r int f [ f o, ' $ haf t Pr oduct ion Pr obl em \ n' ];
f p r int f [ f o, ' Thie p r ogr am maximises t he r evenueihr f or t he - -
p r oduct ion 1 n' i;
f p r int f if o, ' of t wo t y p es of shaf t s. t y p e 5 1 and t y p e sa. Ther e .
ar e t wo \ n l ;
f p r int f [ f o, ' macbine shop s p r oducing t hese shaf t s, -
shop A a shop E. l n ];
f p r int f t f o, ' sach shop has t wo t y p es of t ur ning machines, .
Tl and T2 , t n' i;
| |a ||I|| a |I | | |I | II | I| III II I I |I
I
qr ]I||, _ 1 |
I It : I
' I'
hef t S1 sel l s f or $ 35 and shaf t 5 2 sel l s f or $ 5 5 -
et er mine t he numher of 5 1 and sa shaf t s t hat shoul d be p r oduced
sch machine shop and on each machine t hat wil l maximise t he
r evenue p er hour .
machine
machine
machine
machine
machine
machine
machine
machine
shaf t s.
E E=35 * [ x[ l ]+ x[ 3]+ x[ 5 ]+ x[ Tl ]+ E5 * t x[ 1 i+ x[ sI+ x[ EI+ x[ B]}-
1 The p r obl em is t o maximise E subject t o t he f ol l owing const r aint s
t t * xt 1 1 + s* xt ai
s 1 * xi3i+ E* xi4l
5 * Ii5 l + B* Il El
3* I[ T]+ 5 * x[ l
cl ear ; cl c;
shop
shop
shop
shop
shop
shop
shop
shop
f p r int f [ f o, cap ahl e of p r oducing t hese shaf t s. \ n' ];
f p r int f [ f o, ' Ehop A: \ n' l ;
f p r int f if o, ' Machine Tl t akes
5 1 shaf t s Hn' i
f p r int f [ f o, ' and 9 minut es t o
f p r int f [ f o, Machine T2 t akes
5 1 shaf t s t n :
f p r int f [ f o, ' and E minut es t o
f p r int f [ f o, ' \ n' l ;
|
I
|-
I
f p r int f [ f o, ' $ hop E: \ n' l ;
f p r int f [ f o, ' Machine T1 t akes
5 1 shaf t s in :
f p r int f f
f p r int f
f p r int f
- I
I
f p r int f f o, ' \ n' l ;
f p r int f
f p r int f f
f p r int f
f p r int f
f o, ' 1 n' Ir
f p r int f
L
I
t o, and B minut es t o
f f o, ' Machine T1 t akes
f o, ' and 5 minut es t o
t he shaf t s 1 n' i;
f p r int f [ f o, ' Let ; ant ];
f p r int f [ f o, x[ 1 l =t he
machine T1 at
f p r int f [ f o, ' xt 2 I=t he
machine Tl at
f p r int f [ f o, ' x[ 3I=t he
machine T2 at
f p r int f [ f o, ' x[ di=t he
machine Ta at
f p r int f if o, ' xisI=t hc
machine T1 at
f p r int f [ f o, ' x[ Ei=t he
machine Tl at
f p r int f [ f o, ' xt TI=t he
machine T2 at
f p r int f [ f o, ' x[ BI=t he
machine T2 at
f p r int f [ f o, ' \ n' i:
number
shop A
numher
shop a
number
shop A
number
shop a
number
shop E
number
shop B
number
shop B
number
shop B
f p r int f if o, ' Let s=t he t ot al
f p r int f [ f o, ' E=1 5 * [ x[ 1 ]+ x[ 3]
H H H H H H
H H H H H H
no = [ D
LB = [ D
us=t it
iWe
h=[ d
H H
H H
Cl - ID Cl - Dl l i
l J"t |i:i' ID' E|J"||i:i'
' El . i"I:||:l ' omo o woo G _ E_ o o D - t - Tl . F
s=[ st | Us DI
5 5 ] ;
Hl r
Dir
of El
i' l r
of 5 2
H' l r
of 5 1
H' l r
of 5 2
in' l r
of 5 1
H' it
of 5 2
in' l :
of 5 1
i' l t
of 5 2
in' l r
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
shaf t s
p r oducedf hr
p r oducedf hr
p r oducedf hr
p r oducedl hr
p r oducedl hr
p r oducedf hr
p r oducedl hr
p r oducedf hr
Dp t imizat ion I 1 5 1
4 minut es t o p r oduce t y p e . .
p r oduce t y p e E1 shaf t s, \ n' i
2 minut es t o p r oduce t y p e - -
p r oduce t y p e sa shaf t s. Hn' i;
5 minut es t o p r oduce t y p e . -
p r oducc t y p e E2 shaf t s. l o !
3 minut es t o p r oduce t y p e E1 shaf t Knit ;
p r oduce t y p e S2 shaf t s- Rn );
; f o, ' shaf t El sel l s f or 5 35 s shaf t sa sel l s f or $ 5 5 . t n );
f f o, He wish t o det er mine t he number of El E S2 t anks t hat \ n' I;
f o, l shou1 d be p r oduced at each shop and by each machine Knit ;
[ f o, ' t hat wil l maximise t he r evenuel hr f or p r oducing . . -
be
hr
by - -
hy - .
by . .
by - .
by . .
by - -
r evenueihr f or p r oducing t hese t anxs t n );
+ x[ 5 i+ x[ ? l J+ ? 5 * t xiIi+ xiai+ xiEl + xiBI} l n' i;
iTake a guess at t he sol ut ion
have l inear inequal it y const r aint s
E We have no l inear equal it y const r aint s, so p ass [ ] f or t hose
t ar gument s. We have no equal it y or inequal it y nonl inear const r aint s.
[ x, f val ] =f mincon[ iobjshsf t s, xo, a, E, [ }, [ ], LE, UEl ;
l l I l sl t r r ner ical at icl Anal y t ical Met hods wit h sr ar t as
f p r int f [ f o, \ n' |;
f p r int f [ f o, The number of 5 1 shaf t s p r oduced
on machine Tl =t 5 . of l n' , x|l ii;
f p r incf [ f o, ' Tbe number of E2 shaf t s p r oduced
on machine T1 =t 5 . of \ n' , x[ 2 l l ;
f p r int f [ f o, The number of 5 1 shaf t s p r oduced
on machine T2 =t 5 . Hf Kn' , xI3]l ;
f p r int f if o, ' Thc number of 5 2 shaf t s p r oduced
on machine T2 =i5 . bf l n' , x|a]l ;
f p r int f [ f o, ' The number of $ 1 shaf t s p r oduced
on machine T1 =t 5 - 5 f in' , x[ 5 ]i;
f p r int f r f o, ' The number of sa shaf t s p r oduced
on machine T1 =t 5 . sf l n' . xIEil ;
f p r int f [ f o, The number of $ 1 shaf t s p r oduced
on machine T2 =i5 - hf Hn' , x|l ]l ;
f p r int f [ f o, The number of 5 2 shaf t s p r oduced
on machine Ta=t 5 . sf l n' , x[ Eii;
f p r incf [ f o, ' \ n' l ;
shop
shop
shop
shop
shop
shop
shop
shop
f p r int f [ f o, The r evenue f or p r oducing t hese shaf t s =
f cl ose[ f o];
A - .
il l . .
A - -
H . .
B . -
B . .
E- . .
B . .
st d- bf Kn - f val
iobjshaf t s. m
iThis object f unct ion is r equir ed f or p r ogr am op t imt anhsi- m
f unct ion E=ohjshaf t s[ x|
E=- i35 * [ M[ 1 l + Ml 3|+ M[ 5 J+ Ml ? l l + E5 * iM[ 2 i+ M[ 4i+ MiE|+ Mi5 |iI
Exer cises
Exer cise 9. 1
Use Lagr ange Mul t ip l ier s t o nd t he vol ume of t he l ar gest boxt hat can be p l acecl
inside t he el l ip soid
r 1 r
I 5
1 |:
a" h c"
so t hat t he edges wil l be p ar al l el t o t he coor dinat e axis.
Pr oject s
Pr oject 9. 1
l l sil o consist s of a r ight cir cul ar cy l inder t op p ed by a r ight cir cul ar cone as
shown in Figur e l i' S". l . The r adius of t he cy l inder and t he base of t he cone ar e ii. -
The l engt h of t he cy l inder is L and t he height of t he cone is H- The cy l inder , t he
cone, and t he sil o l l nnr ar e al l made of t he aar ne mat er ial - Wr it e a p r ogr am in
l ' vl l ' t Tl . ii5 using h4il iTl . l t 5 sf r aiacar r iit nct ion t o det er mine t he val ues ol l i. H.
and L t hat wil l r esul t it t t he minimum sur f ace sil o ar ea For ar t it t t er nal sil o vol ume
oFF HHH m- -
Figur e P9. 1 ii- It - et ch of a sil o consist ing of a r ight cir cul ar cy l inder t op p ed by a
r ight cir cul ar cone-
For a r ight cir cul ar cone;
t t ii"i' - l
l * =i
3
s' =r r r ~ , jr ii+ r r i
Pr oject 9. 2
l it r et ail st or e sel l s comp ut er s t o t he p ubl ic. Ther e ar e eight dil l - er ent comp ut er t s p es
t hat t he st or e may car r y . Tabl e [ J' . 2 l ist s t he t y p e of comp ut er . t he sel l ing p r ice
Eip t ir nt zat t on I 1 33
Tabl e P9. 2 Sel l ing Pr ice and St or e Cost
of Comp ut er Ty p es
J I
I
Eor t t p ot er Ty p e _ Sel l ing Pr ice iiiCost t il
EH 5 2 5 5 3?
C2 t il - I5 FHH
1 :3 HHH 5 2 4
E4 1 H2 5 99H
1 :5 1 3HH 1 2 5 5
II5 1 5 HH 1 435
II? 35 H 34H
IIB 1 HHH 1 H3H
1 94 I Numer ical and Anal y t ical Met hods wit h l vl . s' t Tl - . 45
and t he cost t o t he st or e. The st or e p l ans t o sp end 5 2 H. HHH p er mont h p t t r chasing
t he comp ut er s.
The st or e p l ans t o sp end no mor e t han 35 9- t r of it s cost s on comp ut er t y p es Cl
and { . 1 2 . no mor e t han 3H , - b on comp ut er t y p es L1 3 and [ L4, no mor e t han l Hil ~ ' i:. on
comp ut er t y p es [ :3 and T- I5 , and no mor e t han 3H9- b on comp ut er t y p es [ IT and C3-
The st or e est imat es t hat it can sel l 35 %mor e of t y p e { Iit han L1 2 , 2 . H9"o mor e of
t y p e E3 t han C4, 2 H9- it mor e of t y p e ES t han C5 , and 5 H9- h mor e of t y p e ET t han
C5 . Use t hef r aiacas Funct ion in l vil ' t TI. . 4. l it o det er mine t he numher of each t y p e
oTcon1 p t |t e:' t hat wil l p r ovide t he st or e wit h t he l t t ost p r ot . Pr int out t he nt t mber
ol each t y p e ol icomp ut er t he st or e sl t oul d p ur chase p er t uont h, t he t ot al p r ot p er
mont h, and t he t ot al cost p er mont h t o t he st or e.
Pr oject 9. 3
The Jones El ect r onics Ll or p . has a cont r act t o manuf act ur e t our diif er ent comp ut er
cir cuit hoar ds- The manuf ac r ur ing p r ocess r equir es each of t he boar ds t o p ass t hr ough
t he Fol l owing Tour dep ar t ment s het r e ship p ing: Et ching dc Laminat ion [ et cbes cir -
cuit s int o boar d], Dr il l ing [ dr il l s hol es t o secur e comp onent s), l l ssembl y [ inst al l s t r an-
sist or s, micr o p r ocesses. et c. }. at t d Test ing. The t ime r equir et t t ent in t ninut es For each
unit p r oduced and it s cor r esp onding p r ot val ue ar e summar ized in Tabl e l 9. 3a.
l iach dep ar t ment is l imit ed t o 3 day s p er weel t t o wor l t on t his cont r act . il he mini-
mum weel - t l y p r oduct ion r equir ement t o f ul l l t he cont r act is shown in Tabl e P9- 3b.
TIl Ii"r ir e a l ' v' l . "~ ' l . TL. ~ ' l ' t l 3 p r ogr am t hat wil l
l a} Det er mine t he number oieach t y p e nicir cuit boar d For t he coming weel - t t hat
wil l p r ovide t he maximum p r ot . . ~ ' i. ssume t hat t her e ar e t il t our s p er day , 5
day s p er weel t avail abl e l ior t ct or y op er at ions.
l "v' t t r e: Hot al l dep ar t ment s wor l t on t he same day .
[ hj Liiet er mine t he t ot al p r ot f or t he weel t .
{ c} Det er mine t he t ot al number of minut es it t al t es t o p r oduce al l t he hoar ds-
[ djl T- iet er mine t he t ot al numher of minur es sp ent in each of t he Tour dep ar t ment s-
[ el Pr int out t o a l e t he r equest ed inior nt at ion.
Tabl e P9. 3a l vianuf act ur ing Time in l vt inut es in Each Dep ar t ment
Cir cuit Et ching Hi!
l ioar cl l aminat ion Dr il l ing assembl y Test ing l . . - nit Pr of it l Sl
Et oar d . 4. 1 5 1 H 9 1 5 1 2
Boar d H 1 2 H 1 H 1 2 1 H
Et oar d C 1 5 1 2 1 2 1 ? 1 5
Boar d U 1 3 9 4 1 3 1 H
Up t imizat ion I t ss
Tabl e P9. 3b
Cir cuit Eoar t l Minimum Pr ot l uct l on
Boar d l l . II]
Boar d Ii Il l
Boar d E 1 5
Hoar d D 1 H
Pr oject 9. 4
The EYE oil comp any op er at es t hr ee oil wel l s [ ' i3"' l il l , U92 2 , U92 3} and sup p l ies
cr ude oil t o f our r ener ies [ r ener y l l . r ener y l i. r ef iner y C. r ener y D}. The cost
of ship p ing t he cr ude oil f r om each oil wel l t o each of t he r ener ies, t he cap acit y of
each of t he t hr ee oil wel l s, and t he demand [ equal it y const r aint } f or gasol ine at each
r ener y ar e t abul at ed in Tabl e F9. - l ia. The cr t t de nil at each r ener y is dist il l ed int o
sixbasic p r oduct s: gasol ine, l ubr icat ing oil , l - t et osine, jet f uel . heat ing oil , and p l as-
t ics. The cost of dist il l at ion p er iHH l it er s at each r et t er y f r om each of t he oil wel l s is
given in Tabl e l "9. 4b. The p er cent age of each dist il l ed p r oduct p er IHH l it er s is t abu-
l at ed in Tabl e I* 9. 4c. The r evenue f r om each p r oduct is t abul at ed in Tabl e P9. 4d.
Using t he f ir r l ucsr r f unct ion in i' vl . ~ ' l ' l ' l _ h. l 3, det er mine t he l it er s of oil t o be p r o-
duced at each oil wel l and ship p ed t o each of t he f our r ener ies t hat wil l sat isf y t he
gasol ine demand and t hat wil l p r oduce t he maximum p r ot . Pr int out t he f ol l ow-
Il l g |I' t ' ; i' |Tl S. i
[ a_ } The l it er s p r oduced at each oil wel l .
- [ b} The l it er s of gasol ine r eceived at each r ener y .
[ cJ The t ot al cost of ship p ing and dist il l at ion of al l p r oduct s-
[ d} The t ot al r evenue f r om t he sal e of al l of t he p r oduct s-
[ ejl The t ot al p r ot f r om al l of t he p r oduct s-
Tabl e P9. - l l a Cost of Ship p ing p er 1 HH I- it er s
l iel iner y l t eiiner y Ref iner y l iet l ner y El il Wel l
El il Wel l . 4 l i C D Cap s cit y
UW1 9 2 1 H 1 1 FHHH l it er s
UW 2 F 1 H H 1 H 5 1 HH l it er s
UW 3 1 H 1 1 I3 2 5 - 5 HH l it er s
Demand [ l it er s of . l , I][ IIl 1 , E[ II] 2 , 1 I[ iI] 1 , 95 1 ]
gasol ine]
1 35 I Humer icaiand Anaiy t icaiMer imds wit h MATLAE
Tahl e P ! - ' i. 4h Ens! nf Dist il l at ion p er 1 I[ l [ l l it er s { $ 1
El i! Wei! Ref iner y A Ref iner y E Ref iner y E Ref iner y D
UW1 1 5 1 5 1 2 1 4
OWE 1 ? IE I4 1 U
DW3 1 1 1 5 IE 1 ?
Tabl e P9. 4l : Dist il iat iun Pr mil uct e p er l il er of Cr ude Dil
Fr - n|::. f :_ r ci' Per r , ' ent a_ ]:- ; e p er Lif er f r r J- r n Dist iif at iun ( Hui
Lubr icat ing iet Heat ing
{ IiiWeii[ Ia sciiine El i! Rer cis ene Fu ei Uii Piast ics
UW1 43 1 U 9 1 5 1 3 1 |]
UW1 EH 1 2 5 ' 1 4 l 1 5
UW3 45 B E! IE 1 1 1 4
Tabl e FEI' . 4|:l Fr mzl uct Revenue p er Lit er ($ 1
Luhr icar ing Heaf ing
G ar - ; r Jiin e { Iii R' er r . 1 :- 1 ene Ir ; - 1 ' Fuui Dii F' . |' a. ' - 5 a ic. =;
[ I. - ' - 1 - [ J H. 1 1 1 1 1 . 2 1 ] [ LSD [ LE5 [ L1 5
Ref er ence
l . ' "il ' if y |ic. C- ii . . . . r 1 a":. er ncer f Ei:gi' iieer ir ig . - |af r r r iI' _ r r r mr r ir . |' . - it h E' l . ' i. - . , i"~ r Icf . ' }r ; 1 w- Hil l , I"~ icw ' 1 :- r l - |:
1 ' iJ' T"i- .
Chap t er 1 0
Par t ial Dif f er ent ial
Equat ions
1 0. 1 The Cl assif icat ion t if Par t ial Dif f er ent ial Equat iens
- l _ - i' l :L' ]' . l ' l . i- l l . ' l ' l l ' ; ' l . Tl L- l l il l l i- l l l . ' l I' l [ ' l l [ l l ' i' l l ]' l g l il l il l ' l ' l i- ' l . l ' l :|. " l ' :|. "|' il E' i' i- l i' l "l ? f . ]' i|g_ l l ' l l _ ' l ii' l i' l l ' l E_ :' |- ' l ' _ ' ! |- il iil l il I' il ' Tl il l il l - l ' : l Tl l l T' |r ' l il ' l ' |r ' - f . ". "i
p air t ial t l if l ier ent ial t * . t 1 l l ; =|t it t l l . ' - L { Pl _ il is_ ]. l l _ ]' F. s ef t he gener al f nr l n as given hy l _ ' i- IL1 1 . |t 1 [ l t l l |
{ _ l l . l . l if al l int e t ime t il t hr ee eat eger ies. These cat e; - _ :=_ t ' :r ies ar e l ist ed l iel ew:
1 - - 1 - 1 - - '
iiif + i' i' . l - ' _ d; + Ii. ' ii' ii= . \ ' t }' , It . iiiii- iiIii1 l i1 l . l ' . l i
r iat r . l ; - r . i_ y - r . i_ ]r ' _ _ i t ' il ' . t ' t . i_ , ' |- ' J
wher e . - ii, ii, ant if iar e cniist ant s.
if iiisi. r l { . ' ~ 1 1 l l . t he equat ier iis said t e he eiiip r it - .
if E: iif l { T =l l . t he equat it in is; st aid t n he p r r r r r iit r if ic.
If iii4 AC I=ii, t he ee|t |at it ":n is said t n he f i_ }y it ' r * f it il ' i' t ' .
' l he st eady - st at e heat cenducr ien p r el :- l er n in t we dimensiens is an e:- t amp l e ef an
el l ip t ic PIJE- Lap l aceis l iLil if al l s int er t his cat eger y . il he p ar ahel ic Ii' l _ ' 1 ' ]; " it - ; aii- in
cal l ed t he dif f t t sit in - |' _ t ]1 1 EI[ it III' ]. The ut 1 s; t ear _ l y heat ct t ncl t ict it in p r nhl em is ar t er - t ar r t p l e
t il "a | . I; 1 f :. l l |l t l l t ' PT}F. , The hy ]1 er l ml it ' P' l _ ]' i7 . is; al . ' - in cal l et it he wt we et |t |ar it in- ii- t it ir t t l
waves and 1 ' ihr at inn p iel t l eit t s, sueh as t he ~ ' il 1 r at ine, st r ing. f al l int e t his cat eger y .
l - l t w- ' a i"[ ' - "E is t r eat ed nut ner ieal l y dep ends int e which eat ee_ t ' 1 l ' y it l al l s. l - l ee- =e~ . ' er ,
t her e ar e eases in al l t hr ee eat egeir ies wher e a el ut ed- f er ir isel ut ien ean he ebt ained
l ay st met hnd cal l ed r cp t - r r ar ier r e_ , f it - ' r r r ' ia. t ":' f cr . il iais sel ut ien r net hed is discussed in t he
r t e:- t t siect it in-
1 3?
1 33 I Nt t nt er ical anct ' . t l naiy t icai' t viet hnds wit h MATLAE
1 1 1 . 2 Snl ut it in by Sep ar at inn nf Var iabl es
1 0. 2 . 1 The Vibr at ing St r ing
The l ir st p r ebl ent t n he censider ed is t he v ihr at ing st r ing. sueh as a viul in er a viel a
st r ing [ see Figur e l l ]. 1 ). Evie wil l assunt e t hat
l - The st r ing is el ast ic-
The st r ing mt it it in is ver t ical -
The gr avit at innal f it t r - ces ar e negl igibl e - :; t "int }1 ar et l t n t he t ensinn in t he st r ing,
E- The disp l acement . l r "l [ . e, if }, t ir e- r n t he hnr iannt al is smal l and t he angl e t hat t he
st r ing mal - t es wit h t he hur izct nt al is smal l - Then El is t he ver t ical vel ecit y t :- ii
- 5 1 ' 1 " . _ El i . .
l . ' l i1 L l ' i- l . ' l . ' |I' . l . g End _ P l . 1 ' il . ' l ' 1 l _ ' 3. l ' _ ' l :' l i. ' l . |iITi1 ' l i|l ' _ ' l . [ ' l - Lil l i- I' l . ' l i' I* l ' _ " st r ing Hl iFl - l i. l l l ' i- |l . ' l l . l l |' | . 3t I' .
Ht
Tet ebt ain t he gever ning equat ien. sel ect an ar bit r ar y el einent ef t he st r ing as
shewn in Figur e 1 Ll . . ' I. Tit l t ing t he sur n ef t he f er ces in t he y dir eet ien and ap p l y ing
l - l evvt enis secend l avv t u t his el ement give
l l F . . . .
. t r i, =t r sinf l _ ]\ + _ _ _ L - t isir if ii ut t ai
El i
t Rt r ir t g
-
J-
Figur e 1 l l . 1 A vibr at ing st r ing.
if
Tr Tl . t r + t 1 t _ t . ' l -
/ _ l - n[ I+ TIi
El [ . s' i
Il a]
I
Figur e 1 1 1 . 1 An ar bit r ar y st r ing, sect ien.
Par t iait jif f er ent t aiEquat iens I 1 39
Since t her e is net her iat t nt al r nt zt vent ent in t he st r ing.
{ Tct t s' t ' l ' i_ H M =[ T ens ' t "l ]|_ _ |_ =II El l l ji
Dividing hut h sides ct f Equat ien l il l l l l hy 1 ' 1 , { hut using t he a|:t |2 :t r e. - p r iat e exp t essien
f r t t m Equat it t n l l l l - _ ii] gives
. t ' l - t i' l l ' . l ' il "F_ [ Tsit 1 ' l iir ] [ Tsint i1 l ]_ E} T3 U
l l . l t ' it it
1 l . - l ' l . - l l
T Et c r esist _ _ i"eas1 s_ iiini it iii ' - " i'
ii= mi t 1 t t . s_ i
wher e |IJ is t he mass p er unit l engt h. Dividing hr :- t h sides l ay at and t al t ing t he l imit
as t _ "' t . vi~ ' l Il - t in ht at h sides t af F. - qt t at ic- n l l l l hsi} gives
; 1 "==-
g- ~ "- is
t l - . , ||"It ; :
_ izl t t ar t f ii D 5 . }
da J
I-
t "i. l "
Hut t an t il t is t he sl ep e t i- l it he st r ing. which is Thus, E- quat it sn |[ l l l - t ' i:|- hecnmes
. 1 :
1 as r _ air [ U] T}
r icit : BIT I
wher e
l l
iTi [ 1 l ]B' ]|
r = _
P
Cnnt p ar ing Eqt t at it t n { l l . l . ? ' ]- wit h Eqt t at inn [ l U. l ]. we see t hat F. t |t t at it an l l l l kiiis a
wave equat iet t . Since 1 3 is ver y smal l , ces =1 and, t hus, Ti, is essent ial l y t he t en-
sien in t he st r ing. Te cemp l et e t he Fur t nul at i- en. t we init ial cendit iens ar e needed
{ PIJE is secend er der in r } and t we he- undar y cendit iens { l iJl :- I is secend er der in xi.
We wil l assume t hat t he st r ing is deect ed at at and t hen r el eased f r em r est . il hen,
t he init ial cendit iens hecnme
t il
il :Jt . l l l =l l { 1 l ' l - i]'
t il t
l "' l . 1 r , l l l l ' =_ If i[ :- r _ i { l l ' l ' . l l l l ]=
t sl l l l I Numer ical and Anal y t ical t viet heds wit h MATLAB
The ht at t ndar y cet ndit it t t t s ar e
t t IIi. r }=t i gm
l ' [ . l ' . , r }=l ' l [ l l }. l Z l
We seel t a l :l . l l ' l Cl . ' l t l ' . l l ' l l f t hat sat isl ies t he PDE and init ial and hnt t nt l ar v cnndit inns.
Let t t s er - t ant ine t he p e- ssihil it y t hat l "is a p r educt ef a p u r e f u nct iun ef a"and a p t t r e
f unct ien af t . t hat is.
l =F[ e}- Fl t }
Subst it ut ing t his eap r essien int e t he FTJF. gives
I- I 1
sac . . as
it ar e Miat e
Dividing hr t t h sides hy { FFgives
I
+ _ ' l i5 =l "l , i t t t t t si
r ' t 3 af t F t it "
The l ef t - hand side is a p ur e Funct it :- n ct f r and t he r ight - hand side is a p ur e f unct ien
ef a"- 5 - int e at ant iI ar e indep endent var iabl es. Eqt t at inn l |ii. l 3ican nnl y he t r t t e if
hnt h sides equal t he sat ne censt ant . say . { - 1 3}. The mint t s sign l s sel ect ed set t hat if
dees net hl nw up as t - t ==- ==. Then Equat ien t l l l l nl l r educes t n t we er dinar y dil i-
f er ent ial equat iens. which ar e
ii; ; + i1 . iF=t It t t t It . l - ijt
t it s.
and
it ' l l ? 1 1 | .
F+ t * i. il |. ' ' l . - . r =il l
The gener al sul ut ict n t u Equat ien [ :l l l l - l "- il l is
F=at cnsiLar + aJsiniit ar |[ 1 t ]_ It }' _ . ' ]|
The b- aut l dar y cendit ien given l ay Et l l uat ict n [ l l [ l . l l l r educes t - u
F{ t "iit ' . T[ r i=t i4. t F{ l l }=l i2 ~ el =t l
Par t ial Dif f er ent ial Equat iens I 1 91
er
F=ar e sin it - . t ' t l l 1 ' l . 1 , ? ]|
The heundar y cnndit int t given hy Equat ien [ l [ ' t . l l iis
Fl . t I]G ' { t }=l J - 1 Fil l =ii
er
er : siniit l =[ l l I[ 1 l . l . l E)
Ther e ar e an inl ir t it e numher nf snl ut inns t n Equat ien l l l l l ul iil , t hat is, . il . . l i=n . |' t , ,
wher e n=l l , l . 1 , . . . . ea. Then,
; t =H [ 1 l ]. l ' Jjl
t
The sel ut ien t e Equat ien |[ l [ i. l 5 iis
G =il t ]nnsl ci' t . t }+ l t 1 sin l [ c. l l . . t l { ]l l . . 7 t l J' ]|
and
iii=cl t t it |sinl cl t . . t i+ r i' Lt i- I, cnsl cl st l l [ l [ l . . ' - l l )
I .
Ap p l y ing t he init ial cendit ien given hy E. - qt t at inn l l l l l il l gives
i' - i' [ . e} t l ]}=[ l + iii1 { l ])=Dt l t , =D
al t al t *
Then.
G it } =f t ] cnsI[ t ' l t . t ]
The his can he ahser hed int ct t he an eenst ant s giving
it "[ ant i] =Ea sinim; ct t s [ 1 - [ 1 2 2 ]
PM ii L I.
1 92 I Numer ical ant l et naiy t icaiMet hncl s wit h MATLAE
Ap p l y ing t he init ial cendit ien given by E. - qt t at inn { il J. l [ l } gives
T HHI
r t ' . v. a1 =r t e; =gener a? t t t t asi
. . . _ r t T- II a: .
The ceef ct ent s t r "can he det er mined by l t newt ng t hat t he sin if unet iens ar e
er t he get nal . t hat is. L
i . t
I sin if ? - [ i%Tsin%r iv =D. if t r t as it and equal sgiim =t r t [ l l ]- 1 t ' - 1 ' ]
l l
l viul t ip l y Equat ien |[ l il - Eii' t ]I hy sin and int egr at e f r t t t n l l t n L, giving
I r :r r l ' l . ir T i nt l isr nr t t r L
L f l xl sin Tide = . en In sin Tsin Tit l e =an E l l [ i. E ijl
Since r e is an indet t f r er n l t ct es. we can r ep l ace r r r wit h r t and wr it e
I i nIl I. v
: _ " iii
an Lvl iuf t sis- n L t t t t asi
Having a val ue f er an, Equat ien (1 0. 2 . 2 ) gives t he sel ut ien Fer if ix. r ]. See
Fr et jeet 1 4. 1 2 .
It t . . ? . . E' Unst eady Heat Tr ansf er i(Bar )
Cct nsider a t hicl t har . as shewn in Figur e 1 ' [ l . . i. t hat is init ial l y at a uniiiar t n t em-
p er at ur e. TL. t hat is suddenl y immer sed in a l ar ge hat h at t emp er at ur e T . t i- l if e wish
t u det er mine t he t emp er at ur e t ime hist er y c- :Ft he har . l f il l ar . t i, and t he ameunt uf
heat t r ansf er r ed t u t he hat h { see Ap p endixEl Fur der ivat iun u- if t he heat ct mduct iun
equat it t nl - Due t u sy mmet r y , - nne nnl y needs t n censider Tia , it ]! l hr l l ] iist L- The
l iTJF. is
1 iil ' . t ' _ ii 1 f ' mzq
t i dr t iai i ii
The init ial cendit ien is
T t . - . - . t t }=Ti. t ir iast
Par t ial if f er ent ial Equat iens I 1 ' 33
t ie
L ' L
II I. - I- - I
ii. "r e - j t - r t . r , _ . _
- iii- Jl t i
\ /l l /
Figur e 1 0. 3 A t hicl t bar suddenl y immer sed in a l iquid.
The huuudar y ct mdit iet ns ar e
l l }. r i=l l [ l l J. Z :l l '
Eit a
at s _ _ _ _ _
u. . e+ t r t s. e - r - i=a uasei
t il ar s
wher e
t =t ime.
at =t her mal dil l usivit y ct f t he bat mat er ial .
h =t he cenvect ive heat t r ansf er cct el l l eient .
R : l Il ' I- [ I ' l Il ' l l ' _ "I' |' |1 :=|. il ' _ ' l i. l l I' |l i. l . 1 l l l :' l Il . "t ' l ' l iJ|- ' l i. l l ' l :' l il ' Il iI l . ' . l H[ ' |Tl 3. ' l ' l II' l El l -
Eqt t at inn l _ l l ' i. . i . l iis a st at ement t hat t her e is nu heat t r ansf er in any dir ecr ien
at . \ :=l l [ t his is due t n p r nhl em sy mmet r y i. Equat ien l 1 ' l . l . . i. il _ l ' iis a st at ement t hat t he
r at e t hat heat l eaves t he har at at =L hy ce- nduct ien is equal t e t he r at e t hat heat is
car r ied away by cunvect iun in t he bat h. Tu mal t e t he heundar y cendit ien at Js =L
l . ' 1 [ il l ' 1 ' 1 l i]' gL"1 ' 1 Cl i]|. I5 , , l . L' l . '
t i~ l :r . r i=Tl Is:. r iT=_ ,
Then t he PDE. and t he init ial and huundar y cundit iuns hecnme
iae we
Hg! - Hg t msn
mam=g- 1 uani
1 94 I hiumer ieal ancl Anal y t ical Met ht acf s wit h MATLAB
{ iii. .
{ t "i. r i=t i l 1 t i- i i5 i
Sir
as r
_ t t . ii+ iet t . ii=t i t t t issi
t il ir t i:
l :l - t ir np ar ing Equat it in f l l l dl il wit h Et . ]1 . It at it in il ' l ]. l i, we see t hat Et ; ]l . Iat i- nn l il l il jl iis
a dil f usinn equat ien. We wil l assume t hat
t il =Fl r il r i l 1 l i. 3' 5 l '
wher e Fis a ur e f unct ien r if ir and IE? is a t t r e f t t ncr it in r if r . Euhst ir ur in F. t t at inn
P P E ii
{ l l l . i"t 5 iint n Eqt t at it t n { l ' l ]. Eil igives
g. ==t aic' t . - ii=t 3l r iF"t ai t iassi
wher e
' . |
ef f ; sf F
[ ii=id F"=i
iiiat ii a a 1
Dividing ht l t h sides l _ ' ]t l l :E. I[ . 1 l JE|. l Il f . ' l I' l l il l l f t iiihy F1 ' :- igives
1 5 " F .
_ _ l 1 t i- ? :- Fl
at Ci l s
The l ef t - hand side cf Equat ien l l l l . . iii' iis a p ur e f unct ien er f t and t he r ight - hand
side is a p ur e f unct ien t l ' t l i. - ' I. . The enl y way a p ur e f unct ien el f r can equal a p ur e
f unct ien uf ie is f ur bet h sides r e equal t he same censt ant . say . { ii. i. Then Equat ien
l f 1 t 1 Il . ' . i' i- "l l can he eit p r essed as t we er dinar y dii- r ier ent ial equat iens. which ar e
t s + a. ' t t s=t t t it issi
F + at F=t i t t t t . as' i
The iit iundar y cendit iens l ieceme
Fil l l l ieil t i=Il l
cit
and
[ if
The f unct ien t hat wil l sat isf y Equat ien t l l It . 3Sl iis t if t he f er m
Par t ial Dif f er ent ial Equat iens I 1 95
F l t ii=l i
, . s
Ft t . iet ii+ gFt t - ir ; ' t ii=r i
, s
Ft t i+ gFt t i=t i
s=. ii- i' "'
Suhst it ut ing t his f er m int t t Equat ict n [ l l l sil igives
Then
[ l :i* ir l i' i+ l t :. s1 r iiI=[ l
|3=:l :l t . r ' , wher e i=~ , l i_ l
l ' ~ it t nwing t hat aii=ct t sl . ir i+ isit t { it i, Fhecet nt es
and
Ap p l y ing Equat it in { l il dil it n Ecy t t at ir in il l l ail igives E=f l - Thus.
and
Fl _ Jt l =Acesl it xi+ t isin t it s]
F { ir i=i' t . ssinl ? t e]+ I' t Bmsl Pt s]
F|[ ir i=. t ' El t :r ist [ il . . ir i
. Fil :. 1 ' :l =il t . . * isin[ l t . vi
[ l [ i- ' 1 i[ l ' i
(iii- - "- il l ' i
t l [ i. si2 i
t l t l sidi
l _ l l Ii. - =1 - ii
{ l l }. - 1 ' 5 )
1 91 3 I l iiunier ical ant l isl nal y t ical l vl et l incf s wit h MATLAE
hp p l y it ig Et t t t ar inns l l l l af l siiand l l l _ i. =1 l iiiin Et p t ar iet t t il l . - sil igives
_ f t . .
ii. r "' l ! - ' l l |' 1 |l l ' - . f . _ i+ ; . ' il t . 1 t t sI[ l ' t . t T. i=t i
DI
l ii]I' l , 1 | t at ii i t i t in sr i
' . i l i. t ". i
. - . iii- L . . -
l l . p l t it t if t at t l hiand E vs. 5 . wher e 5 =i ~ . . l ' . . is shewn t t t Ft gt t r e Il l . - f l .
l t can he seen t hat t her e is an inf init e t t t t mher Lil l ir t it it s t hat sat isf y E. - qt t ar it in
l _ l [ l . sit ' ii. say . bl 3. 5 4. . . . . if t q. =it l il l . il t l il . l ' ~ . + L, . . . . it al . giving an inl init e t t umher
t if sel ut iens. each sat isf y ing t he l "l JE and t he ht iundar y cendit iens. The sel ut ien t t i
l iquat iun ' [ l ' l . l - i- l ' l ~ ican r eadil y he ct ht ained hy sep ar at ing t he var iabl es. giving
Ti: a' . l . . iair
G . .
l nt egr at ing and t al - t ing t he ant il t ig gives
r ; =east :- ii. - t ji} t t t isai
t at i- 5 . t ' r . l i. ". i. ' Ei
t an 5
. dkt l w. . . ' -
- . . t h
ii - t .
I g . - _ g ii- 1 ' ]. g S- i|. |
it Er r I- l r t
Figur e 1 l II. 4 The p l t i- t t t f t aniiand vs. t i.
Par t ial Dif f er ent ial Equat iens I 1 9?
Thus t he gener al snl ut inn is
- I' D
' I. ' il ' l i. 1 t ; ' t . - t i: EH cnsl l l g it ieit p l _ ' _ ei' t . jt i I[ 1 [ i. =iEi
. - . t - l
il he init ial cendit ien new needs t u he ap p l ied. Ap p l y ing Equat ien [ Il l - . 32 ] t n
Equat ien I[ l ' l l - s' iSigives
ii-
TgTg_ =Z . - iincest l u . ei t 1 n_ 4n' i
I1 l
It can he shnwn t hat t he f unet iens cnst l t n xiar e er t hegct nal . t hat is.
D. if m in
L
I snail , - r icesl it - . , si= r = L sint jt . . t }et ~ . - st it . L}
ii E~ + - in- El - Ll - - . if ns=n
This wil l be demnnst r at ed l at er . l ' * - l nw mul t ip l y bet h sides er f Equat ien t l l il . - l il iby
ees[ i' t . g . vist iir and int egr at e f r em t it n L. giving
t . t
[ ' i"], T, _ iI cest it m aii. - . . - . - { e =Z r ! cesl l p r icest l meir t v t [ 1 t ]_ 5 t ]' ]=
i:t =l .
The t inl y t er m in t he st t mmat it in t in t he r ight - hand side t if Equat ien [ l l ' i- j' il l ' it hat is
nnr r nt t l t ip l ied hy it er n is t he r nt h t er m. Thus.
L ' t il t Lit it . Li
t s. - r . 1 ii- wf t ~ . . si- s- =s. . t gf ii"' ] t it t sii
HI
It (Til it "_ isint [ i' t . mLi
f l _
" i"t mL+ sin{ l Lml . icns{ il . ml i iiiijzl
Since in is an indeit f r em l ]. 1 . 2 . . . . . . we can r ep l ace in wit h t i. Subst it ut ing Equat ien
' [ ' l ' l ]. 5 . Tiint n Equat ien l il l il . - ' - l b} gives
_ IIr }:EU; |_ g_ sinl l l sul icnsl il - , at ] E|r i' . l l t jI' } Hjj}
. t il
T ii. n. [ . + st nt il t _ |. t . icnsl [ i' t _ Tl . i
1 93 I Numer ical ant l Anal y t ical Met hnds wit h MATLAB
hl ewt e demt inst r at e t henr t hngnnal it y ef t he cnsl l t p t if unct inns. Let )1 =cnst l t p t i
and f m =eesl l t mxi. Each f unct ien sat ises t he DUE. t hat is.
f . "+ 1 - if . =it t t t i- s=i' i
and
t i? + 1 1 f . =' - ' 1 t iaiii
Each f unct ien sat isf ies t he heundar y cendit iens. t hat is.
f r { ' l l i=U and l l ]i=l l
and
f l t [ ' Li+ EJf :_ I[ Li=l l I and { . t . i+ gf w l . l . i=l l l
hl l nw mul t ip l y Equat ien =[ l l l . 5 4ihy f in ant iF. - t |t t at it - in t l t i. S5 il ' iy _ f ; ant Il st t ht t act t he
secend equat ien f t t t m t he l ir st . giving
l . . t i. + i~ if Z . f . l l f 1 . f . i + i~ i. t i. r Z . l =' i t it - at - i
er . "- r . r . . "=(e. - el f . it . as- ; - . a
Hut
t l
g- :t . . t . ' i=t . t . "+ r . : r t t t t issi
and
. - :l , _
El if :l ' =f l : f l l l [ l . ' 5 Sl l
Then
gt r . r . t - t r ; i=. t . . r . "- t . r . " + :ai. - t a
Par t ial Dif f er ent ial Equat iens I 1 99
Subst it ut ing Equat ien [ l Ll . l ' ; il 1 iint n Et |uat it in { l l ]. iTigives
f "gt r . ii. * - st ; i=(it - r e). t . . r . . asst
l vl ul t ip l y ing bet h sides t if Equat ien l [ l [ l . Et 1 iby t t l it and int egr at ing f r em l ] t n L gives
f sf . . f
I gt r . . . i". : - st : 1 ' et =l i~ I' . . l ; l it r . - is it s- er
El l
. l _
{ af t - i. j]_ icus[ . l t aiens{ l t mxit f x=f "l [ Li_ f ; it t i- y jr t t if uj t t i
f , . l t t i. - T, t Hi+ f . l ij; t t t i t l t ' i, ssi
But jg t t ii=t iand gj t t ii=t iand
f ml iif j l Lif , . t Lif , , j II- ' ii=f , . . l Li , l ' Li+ f , . { Li%. t ' f , l Li=El t t t i. t 3- ii
Thus.
r
[ . i' r . jr i". . :)I ces[ l t Heicnsl l t m. r l t l r =t i t [ 1 l "i- t S it i
l l
t
If t n t ar t . t henl l t l ei) at l l and I cnst l nxicesl l t mxiil r =U [ 1 l ]_ r . ' _ it 3i
[ I
t
If r r t =it . t hen { hi- 1 . 31 ] =l l and I ces: l l t p r ial e needs t n be eval uat ed.
El
Fr - r im int egr al t ahl es, we can det er mine t hat
i I l . ' (l l . - ml . i" I[ ii. ml . i
L cns il l - . . . - t t l t - t s* ={ 2 + 5 - I Egii 1 |[ l l ]- t ' iTi
1 t t t . L' . 3 Unst eady Heat Tr ansf er it (Cy l inder )
l l . sit t t il ar p r nhl em t n t he nne descr ibed in t he p r evicius sect inn is cine in which a
cy l inder . init ial l y at t emp er at ur e T]. is suddenl y immer sed in a f l uid at t emp er at ur e
El l i] I Numer ical ant l Anal y t ical Met hnt l s wit h MATLAB
Tn, wit h TU Ir T_ _ - We wil l assume t hat end ef f ect s ar e negl igibl e and t hat l a and ii:
ar e cnnst anr . wher e l iis t he cnnvect ive heat t r ansf er cnef hcient and l r is t he t her mal
cenduct ivit y nf t he cy l inder mat er ial . We wish t n det er mine t he t emp er at ur e dis-
t r ibut inn and t he amnunt nf heat t r ansf er r ed t n t he bat h in t ime t . The gnver ning
PDE is
1 er
_ _ =' - . 1 - 1 ; ! "
E gr [ 1 t i- et t }
l n cy l indr ical cnnr dinat es [ see l t p p endiit C. Sect inn C. - =iiwit h T: Tl r . t i.
t - IT =Ll : + iii t 1 t i. t :- . ' - ' - ii
f ir r - f ir
Thus. Equat inn [ 1 l J. l S9ibecnmes
l 5 1 "_ i:l 1 ' i"'
it E- l r t il r ir l zl r imf iii
The init ial and ht it t nt l ar y cnndir it ins ar e
Tl t il l l =Ti. I[ l l l ' . Tl i
1 "{ t It . r iis nit e l l [ l - TEl '
I 1
- E =[ l l . r i+ [ T[ . R. r iT_ _ i=l ] - [ 1 l ]- T5 l '
Hi it
Tn nht ain a hnmt igenenus ht iundar y ct indit inn at r =H, l et f l { r , t . i=T[ ; r , t iT_ _ ;
t hen Eqt t at inns l l l l ' . Ti]i. { l ' l l . Tl l . l l ' l l ' . T. ? i. and l [ l [ t . Tf iihecnme
l cl t i_ dl r l t i
. st ail it s it s- r s
it - t i=T. - T. . . t 1 t ]. T5 i
t l l t l il l t t l is f init e |:||}_ y g)
Er e s
ER. t i+ 1 il R. t i=t i { 1 l ]. TTi
cl r . l :=
Par t ial il f er ent ial Equat iens I 2 t I1
l ' IiIi"e wish t t isee if t ' il |[ r . r _ i=f l ir igf t f ican sat isf y ht it h t he PDE and t he init ial
and hnt t ndat y cnndit it ins. Subst it ut ing t his f t ir m nf t iint n Equat ien [ l l l i. T- ii. it
becnmes
l 1 ,
gr . - r =[ r "+ ; r is t it esi
' Wl ' l |iII' Il T
. _ g - . . _ _ e if . _
iat if an f as
Dividing bnt h sides nf Equat ien l [ l l J. ? ' Eiby f g it becnmes
l g' i_ l "1 , _
g f l r + ; r ] t man
il he l ef t - hand side nf Equat ien t l l [ l . ? 9iis a p ur e f unct inn nf t and t he r ight - hand
side is a p ur e f unct ien nf r _ . y et r and r ar e indep endent var iabl es. The nnl y way t hat
t he l ef t - hand side nf Equat ien [ 1 l l ' i' 9ican equal t he r ight - hand side is f er bnt h t t i
be equal t t it he same censt ant , say . [ l I. . 1 i. Then Equat ict n { ' l l il . ' . . i' i' . iir educes t n t wn
nr dinar y dif f er ent ial equat it ins. which ar e
y r + at e g =t i { 1 t I. El ]i
. . . l 1
f + f + i' l . . f =' [ l l { l l . l . S~ l iI
r
Equat inn I[ l f l . l l t l l ican he immediat el y snl ved giving
s=Be' l i |[ ][ J- R1 i
Mul t ip l y ing l squat ie- n [ 1 [ l . E1 iby t el . it becnmes
vif r + r f + It Hf =t i t t t t asi
by l et t it t g l t r =it . Equat int t [ ][ l . t i? iican be r educed t n t he st andar d f nr m nf bessel is
equat inn nf nr der v. which is
IT y + . it _ y i+ l iar : l - ""ii' _ ]- ' =l l l il l l - Eif il
2 1 1 2 I hl t r nier ical and Anal y t ical t vl et hnds wit h l ' viAT. t AB
l t is l ef t as a st udent er - t er cise t n shnw t hat Equat int t I[ l l _ i. l i_ ? t ir educes t n Equat ien
{ l l ]. l i- ' - iiwit hf r ep l acingy and t i"- = El . The Bessel f unct int t s jg I[ i' t . r iand ii] t l t r iar e
t wn sel ut iens t n Equat ien [ l l ]. E3i. Thus.
f ir }: . | _ y T|:|l :. it l |, . ] :l - l ". |1 "_ . _ : i- ' , . t i. i t t assi
wher e if is a Bessel f unct inn nf t he f ir st l t ind and l l "; is a Bessel f unct inr t nf t he sec-
nnd l t ind. These f t inct inns ar e nscil l at nt y wit h a va r iahl e f r eqt t ency and amp l it ude.
They have at iinl init e number nf t er ns { see Figur e l l l f ii. Hnwever . t he ii, f unct inn
is singul ar at r =El [ see Figur e l [ l . l ' :i).
The bnundar y cnndit inn t il t [ t ]. r i=f t l Jig [ t iis Finit e imp l ies t hat f t iis f init e.
Since Hy is singul ar at r =l l ]. t hus. t - E =l l and
if l r l =- 1 ' . l . . l l ir i |[ l l ]. Et ' ii
The bnundar y cnndit inn descr ibed by Equat ien l . il ]I. TTir educes t n
f l l ? igl t i+ gf l t - i"l gl t l =9
[ IF
l i. .
f hl l l i+ gj[ l il i=l l ' t l l l i. - Eiiii
Subst it ut ing Equat ien { 1 l ]. t - in} int n Equat ien (l l II. l iTigives
at t
il s ial i~ r 1 ' i+ ir . l a ii- t il =it t it t ssi
as a , =_ . .
Tn ut il iit e t he hnt t ndar y cnndit inn eit p t essed hy Eqt t at inn [ l l l - t l Si. we need t n t t t r n t n
a t ecur sint t f nt mul a it t vnl ving t he Bessel f nnct inns (see Equat int t C. l [ l in Ap p end l it
Ci. The t ect t r sinn f nt mul a is
at
sgl l . l s* l l =- ' r . l . . l . r is. l . a. l it i [ ]t ' j|_ 5 ' ; i}
I
Let t ing it =iit r and using t he chain r ul e t n nht ain t he der ivat ive wit h r esp ect t n r
and set t ing t r =l l . Equat inn l 1 ' l l - B9ir educes t n
at .
Ii t it . - i=- ; t _ . t l t aai t t t t st t ii
I
Par t ial Dif f er ent ial f qt t at inns I Lt t l l i
in vs. l t r
- [ l l . Ft - -
- :-
t - t _ . _ _
' \ .
1 _ . _
_ _ $
_ 1 $ -
- [ i. Ft t I I I l l I
I. S l l ] l f i ' a"l . l ' L1 5 SLII Li- S it - LII
. i' t r
Figur e 1 l ]. 5 The p l t t l uf jvs. it r .
Ti vs. hr
l
t ' ]. 5
U _
. 5 - t i- s ~
1
- i- s
_ ' II' -
- I-
' l l ' 5 l l } 1 5 El ] A ' 1 I- l - [ l l I- l - 5 4]
I
is
I
I I I r I
. i' u'
Figur e 1 I]. t s The p l nt nl F"vs. it r .
2 1 1 4 I Numer ics- l andAnal y t ical f vl et ht f l cl s wit h l l . t l ' ATl _ AB
, l ' 1 vs. l \ r
[ Lb -
{ L5 _ [ . . . . i
[ ]_ f . 5 _ [ . . . . .
U _ _ _ . . .
_ [ ]_ ' | _
_ g|_ 2 _ _ . . . . .
_ g|_ g- I _ [ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Li- s1 t t t t t t t
t i 5 l l ] 1 5 2 - [ I LES 3! } 35 - ' - it ]
. i' t r
Figur e 1 |1 ? The p l nl nit , vs. it r .
St t hst it t t t ing Equat ien [ l I1 . 9t iiint n Eqt t at inn l . l t l . I- iiii. we nht ain
l i
l _ i. t ILt - i' i+ g f |[ il . Ri=t I
t
- f r t l il l it
I Ll R] l l . l il =El |:1 gt _ t _ _ t ]_ y
The f unct it in _ , l ] has an inf init e numher nf zer ns as can he seen f r nm Figur e l [ l - T. As
a r esul t t her e ar e an inf init e nt imher t it r nnt s t n F. t |uat inn I[ l l l ' . 9l ias can he seen in
Figur e l l l t i.
Al t hnt t gh nnl y ses=et t ' JT"cur ves wer e p l nt t ed in Figur e l l l hii. it shnul d he t t t ider -
I
st nnd t hat t her e ar e at iinf init e t t uniber nf _ " cur ves. The it it er sect int inicur ves
. l
5 - and %give t he eigen val ues nf il t . say ii. |_ . Since each nf t l t ese f ut t ct inns sat isf ies
J .
t
t he dif f er ent ial equat inn. t he gener al snl ut int iis
l ' l - I
e{ r . t i=zA. r ""i' i i. t i- . r I t it t sai
it - l
ii.
7 - Iii
I

' 1 -
. I t i st eaat
|1
F
_ -
Par t ial if f er ent ial Equat inns I 1 1 1 5
. f g. ". i|' 1 - Er . . l l t ' Jt l l ' . l { . l r ". l ii' ] vs. Jr . R
1 2 I
_ . . . - . . . . _ . . . . . :. . . . . . . . . . . . _ . . . . . . _
E .
i . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . BBABBKIB K]l t l l it l f il 1 . . . . i
1 D _ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . :. ]. . . . . . . . . . . . . . . . . - . . . . . . . . - g . . . . . . . . . . . . . . . . . . . . . . . . . . . - I. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . _
I
I l l '
; _ - . . . . . . . ; . . . . . - - _
I t t I t
El S l l } 1 5 . t l ' . J 2 5
l t l i
Figur e 1 t l . B The p l nl nf jnijl and It Rl t ih vs, I- . , . It _
The init ial cnndit inn st il l needs t n he sat isf ied. t hat is.
The cnnst at it s A can be det er mined because t he ji, f ut t ct inns ar e nr t hngnnal . t hat is.
. 5 R . ,
it ; as + _
it
a It
It Ti
wher e
et i~ . t ii=r ; _ . - r _ =2 a_ ny , , t a. r i t l - 95 ' }
r jl l l l t mr ijl l l iii. . "r i_ |r . 1 f . r =m [ _ . I' H{ . l t m t r ]: t 1 n. si4' i
5 - 4' - |- ||' l '
l l .
' 1 "
J. l l
- l '
l . if r :- * t =n
if mir i
2 1 1 1 5 I Numer ical and Anal y t ical l vl et hct t l s wit h l vi ATl _ AE
Al sn.
it
' [ r _ . l g f l ew r isif r =ii]. Iil t m . l - ii ' [ . l l ]. S". i' l '
Fnr p r nnf nf Equat iens I[ l ' l Il . ' i]- = - iiand l [ l [ I- . 9' _ iisee Ap p endices LLB and C. 3.
l vl ul t ip l y ing Equat ien t 1 t i. 9. i:' iiby Fl a ' l il 1 , . , . 1 l n"t and int egr at ing f r em I] t n B.
gives
.
r - r _ It R =A - - It . . e A [ t wat - _ i
l l f l - Fil m - Til l r e l l nu l - St il l . l h
ThI. l s.
A = at r g- r miams H y l t amaij
ii [ t it t ]il l l l Rl l
{ l wgj 3 - |- T U in
F l l t h t t t ' TRt [ r iTiTiiT' ' ir iii' ' h t na 1 - I . e emp er a ur e r a t n r . . - t s given y
it - T. is- t .
t it [ r . r i_ isans E . r . t at t ii. . t t . _ . aiE_ _ . . - ,
Ti Itaf + l i iii[ Al i- a- Al l i
i - A t it isisi
T' l t l ' l [ r . r ' i-
1 0. 3 Unst eady Heat Tr ansf er in 2 - D
l :t ]t I I5 l f . l , t : T a har having a r ect angul ar cr t iss- sect it in. init ial l y at t emp er at ur e T1 3. t hat
is suddenl y immer sed in a huge hat h at a t emp er at ur e TM { see Figur e l I' I. 9i. The
gnver t t it ig PDE is
t ar _ a1 r + air Hug}
- Et t il t t il t s ! f l y l I
Tn nht ain hnmngenent is hnt t ndar y cnndir inns l et l i{ . 1 t . _ y . r i=Tl it . _ y . t iT_ _ ; t hen
t he FFJF. and t he init ial cnndit int iand bnt t ndar y cnndit int is in var iabl e t iar e
1 aii_ ait i+ air i mm
aaa aa= - f l y i i' i
1 3[ . it . _ y . { Ii=T|]T_ _ { l { I- l l Il ' l ' i
Par t ial if f er ent ial Equat inns I II]?
. f l ' g
I T
in l r | T. . .
1 1 1 ' + A:
I a I
- '
Figur e 1 0. 9 An unst eady It - D heal t r ansf er p r nhl em.
t il t il .
? { _ Ii. y . r i=l l { due t n sy mmet r y }
it
t it }
if _ ir . l l ' . t i=l l { due t t isy mmet r y }
f l y i
al l l
al t r . . y . ai+ t it t . y . ii=t i
El 1 i~ { Hal t H . } U
' . . i' . _ . if _ ' . _ r . t ' =
H F . . "t :t t _ kt it r t
Assume t hat
t il - r . y . t I==Fl r . H' ii' l - r il f l y i
Subst it t t t ing Equat inn { l t l . l l . it ' iiit t t n Equat it iiiI[ l [ l . l Ll l ]igives
l et iist aiet ai=Fl r . }t ? "I. r _ iHt y i+ Fl r iG t siHt ii
El i
Dividing bnt h sides by FE H gives
i- Fil t l _ l . T"l a' l + f l "l _ It l
t it Fit } - t . t . vjt Ht y i
- [ _ H' I. It i2 i
[ 1 EI. IIII- 5 i
' l l l ]. l l Il * - ii
l l l l . l |- Til
il l l l t l bl
l l I]. l l "iTi
t l l l l l iii
El l it l I Nt t mer ical ant l Anal y t ical l vl et hnt l s wit h t ' vI' ATi_ AB
The l ef t - hand side is nt t l y a f unct inn nf t at t d t he t ight - hand side is nnl y a f unct inn
nf ir and y . Since . i:. Iy . and t ar e indep endent var iabl es. t he nt t l y way t hat t he l ef t -
hand side can equal t he r ight - hand side is f er bnt h t n be equal t n t he same censt ant .
say . ii. 1 . ' l hat is.
I F t r i_ r ; "t ai+ . a"t y i_ 1 .
e Fl r ist at Ht . - ii
This gives t he f nl l nwit ig equat inn f nr Fl t i:
i= + eIt iF=t i t it i. it isi
The snl ut inn r t f F. quat inn [ 1 l ' l . IIl 9iis
a =. 5 . - st - t t [ IEt . II[ Ii
The r ight - hand side nf Equat ien [ l l ]- l l ]Bican be wr it t en as
~ ' F"' Esi . _ _ H"Lr i .
igixl + 1 - igijr } - [ 1 t i. IIIi
Again. t he nnl y way f nr t he l ef t - hand side t n equal t he r ight - hand side is f er bnt h t n
equal t he sar ne cnnst ant . say . B1 ; t hen
t ct ai. _ e"t ai_
ct aiii' an- i' 3
This gives
u"+ t I- . 1 - |s it s=t i r ; it i. 1 t ai
and
H"+ l i"H:l i t t aiiai
The snl ut int if nr G is
t . "=at . cnsI[ . . |l l i. i- [ t i. ici+ at . sin{ ' . |l Ir e - at at { l ung
and
G =. . l ii. B3 { - 1 1 1 sint [ . . l it - . 2 Bi. 1 t i+ Ag cnst t l 1 . 1 |l ' i ixi} [ 1 [ ]_ 1 1 5 . ],
Par t ial Dif f er ent ial f quat inns I 2 1 1 - 9
Ap p l y ing t he bnundar y ccindit it in Equat it in [ l ' l l . i' [ l . il i. { P- [ [ ]}=[ I. gives . - ' l J=I].
Ap p l y ing t he bnundar y cnndit inn Et ' . ]1 . 1 EI. l ' l f it l t l Il - l [ isii. it S[ l i_ l + gl l f r il l i=l . ' I_ i. gives
. . l ' l t . iB: . - ' l |sinI[ . . l il . i' [ i' iiLi+ i; /t |cns|[ . . l l t . 3B l . ILi=[ i
nr
mil d f i l i' if l "T iir id. { IEI t it - t i
PL. - . _ _ |3. - . L -
Let ' y ' L=. l l ei|i' |f L: t hen Equat ien { il l l l l bican be wr it t en as
t anI[ ' y ' . t [ i=Eit t L l l l l l . l l Tl
it y t .
As seen it t Figur e l l ]. - i. t her e ar e at iinf init e t t unt ber nf Tl l is t hat sat isf y Equat inn
. it l - 1 ' .
5 3- :l "' i - E- l |il iiT. r r ' "J_ J|! ""' Il t hen Tr y =Tand
ct ai=Eai. aaat y . ai t it uisi
i=]
Ret ur ning t n Equat ien I[ l ' l l . l l Bi. and nt it ing t he simil ar it y bet ween t he [ T f unct inn
and t he H f u nct inn. we can det er mine t hat
Ht y i=2 5 ' _ . st e=l l 3. i' i t t t i- t t s' i
. |- - "l
By t he def mit inn nf y . we see t hat
hf =y f + ]3 _ t ' It ]. l 2 IIIi
Cnmbining Equat iens [ l I]_ 1 1 [ ii, { ' 1 t ]. l l - Bil . and I[ l ' [ l . l l l - l l } and r ep l acing . - l . and Biby a
singl e ct iel f t cient r t . . . we nht a in
f l { it . y . t i=Z zef l eit p { ct 1 ' f r icnsl y Jixicnsl |l J _ y i H5 1 1 1 ],
t . i
The init ial cnndit inn p r evides t he means f nr det er mining t he cnef iicient s aii. t hat is.
i"it . r ~ . r - I1 i=1 ". - i' ; . t t at aai
2 1 9 I Numer ical ant l Anal y t ical t vt et hncl s wit h . I vI' ATt _ At i
UT
TU T_ =2 2 aw cnsl y f ar icnsl f ij _ y i Hul l s)
t t
l "~ l nw mul t ip l y bnt h sides nf Equat ien l 1 l T. l 2 . i. ' t iby E=1 ! il "i. . a' l Et l l l t mjl t it t f j and
int egr at e ihr it f r nt n El t n L and _ y f r nm t it n t a- .
As was shnwn by Equat iens l l [ I. t i' _ iit hr nugh l l D. ISTi. t he f unct inns
cnsl jy ixiand cns[ Bi_ y iar e nr t hngnnal . Thus.
L B. if isn
. w, i- 1 e. ie== "t t it
- [ ens it cns at g+ s|n T" l g}- Ii5 l T_ T l l in : H (1 6 - IE4}
and
W a. ay aa
if y =in l l l il . l B' 5 l
Ii]' l ' i3E' 5 l |iim _ l ' l - IF- 91 ' = iL sin l im t uicns [ f il m t uil
* a+ as
Al sn.
L ii sinl iy Lisin[ |Tm t t t i
ep enIl eaeaaaeaeagp _ g s 5 uaua
U U Al . l II' |'
The nr t l t ngnt ial it y nf t he E1 1 5 l "t ". Il and El ii- l l Jt l f t t nct iniis el iminat es t he summa-
t inn signs. giving
in _ Tm}[ sin I[ "_ |t _ T l l . ) H sin l il t m aii]
r . B. _
I: 1
l ' I' i' i|I
L + Sin LTCIIS EFT H Ht + 5 l 1 ' 1 { |3m It . - l il - Eg I- t i}
It Jt y g _ 2 EB, _
Final l y .
. l l . .
, _ _ _ _ _ { T::T_ i Hiiest p I[ t ' J' . l ' c; mr icnsiT". r icns{ |l l my i
i. ' iil it . _ . 1 . r iZ : E L+ _ 5 . it 1 |:"||f _ f . :l t . . t It Sl :' :|"r r - t i:- T H t . u+ 5 il 1 f |3mt t =' icnsi_ [ Sm:ui
I t r . . . A EB.
{ l l l . l ESi
Par t ial Et if f er ent iaif quat inns I 2 1 1
1 0. 4 Per t ur hat inn Thenr y and Snund Waves
il l f hen t her e is a p r nhl em invel ving a smal l dist ur bance f r nm snme equil ibr ium cnn-
dit inn. p er t ur bat it - in t henr y may be ap p l ied t n det er mine t he r el evant gnver ning cl if -
f er ent ial t ir p ar t ial dif f er ent ial equat inns- Devel t ip ing t he gnver ning equat inns t hat
descr ibe st iund wave behavinr is such a p r nhl em- At st :- und wave { t ine t hat is det ect s
abl e by t he human ea t iis an t iscil l at nr y p r essur e dist ur bance nf smal l amp l it ude- l n
air . t he dist ur bance can be cnnsider ed as t al - t ing p l ace in an ideal . isent r np ic. ant i
cnt np r essibl e f l uid. Al t hnugl t snut t d waves ar e t int in gener al nt t e dit nensinnal . t hey
can be made sn by p l acing a sp eal t er inside a t ube. The gnver ning equat inns descr ib-
ing t his p hennmennn ar e as f nl l nws:
t l il p t l l l ip - r t i_ t
aid ax ii f l l T' . l . T. l i
f l it cl it . t ip
F ETTAB- T - ax { l ' B. l Bl il , l
p =np i IMAM}
"t ' l . I' l ' l IiII' l ' _ '
p =f l uid densit y -
t t =f l uid vel ncit y .
=f l uid p r essur e.
=r at in nf sp ecif ic heat s.
=a cnnst ant - l ist - "it s
Fr i- r a smal l dist ur bance. we may t al t e
P=F' a+ l T P=P|r + Pt "=5 l if t - 1 5 1 }
wher e
p g and p g: t he f l uid densit y and p r essur e. r esp ect ivel y . it it he undist ur bed
f l uid.
p and p - t he dist ur bed f l uid densit y and p r essur e. r esp ect ivel y .
cc]. incl . incl
ITI1 JTII Til l
r "=t he sp eed nf snt t nd in t he t indist ur bed f l t t id.
p g. . t =. . . and t n ar e cnt t sider ed as cnt ist a|t t s-
2 1 2 I Numer ical and Anal y t ical Adet hcl s wit h l vl ATl - AB
Subst it ut ing Equat int t [ 1 l l . l _ iTiit t t n Equat inns l l il . l l 9iand I[ l l l I' . 1 3l . l igives
dil l dt r _ dt . t _ f l |J_ g _ _
E+ p n5 T+ p a:+ HE_ t it - t - 1 35 }
as _ iia _ a 5 1 . 3
l :l |JE+ l :ii+ H ax- BI
In p er t ur bat iun t heet r y . t he p r educt nf any t wn p er t ur bed var iabl es is cnnsider ed
as higher - nr der t er ms and negl ect ed. Ther ef nr e. Equat inns [ l f l - l f l iand l l f l - l l }! - il iil
r et l t t ce t n
d l :l t T _
E' |"P. . . 5 : f l l _ l B. l 3il ' l
P aT_ HT t l l . l . l 5 t Si
aa aa
Let E= ; subst it ut ing t his t er r n int n Equat ien |[ 1 [ l . l i5 iand dividing by P. . .
gives
Ai i _ it ' l l
ax. - Pu at t ia. t ssi
Simil ar l y . Equat inn { l l - I- l 5 t ' Et ibecnmes
iii: iiil ' l l - if t t it as
' i"aiaa ' i"aa t it aa i" l
Equat inn { l l - 1 . 1 - l l l ican be wr it t en as
iias T .
hf at + p u ]_ I] t in- I5 9}
By Equat inn il l }- I39}. t he t er m inside t he bt acl t et s can nt t l y be a f ut t ct int t nf t . t hat is.
at i_
gI+ p u f it )
Par t ial if f er ent ial Equat iens I 2 1 3
DI
as_ _ _ g
5 i' HT_ w
f it ] can be abst ir bed int n- [ iiby l et t ing Ii] =t i] gt [ t ]I- Then
t t $ _ at _ E
f l it El :- it
and
Ai_ ~ i' it s
El iEl ial t
Let if - =f it ]. t hen
air
as_ aa _ _ g
t il t t il t f iii p g
l l - l nw def ine t i= Ret ur ning t n Equat ien l l Il . ]EiIi
a=ed
Then
t i=Ti=t ct p i"i=ict p f =RE
it s t i t i
Tal - t e
=r e
Pa
Ap p l y ing p er t nt bat inn cnncep t s t n Equat ien |[ l l ]. l 3l igives
_ it
t . t . . + _ Ei=t Il I' - ". . + l ' i=t r - Pi[ l f p il
. t r .
{ l l ]. l si[ l ' i
{ il l - It ' l l }
l l l . l . l ==' i2 i
[ l l ]- 1 3- l i
t [ ' l ' l ]. l - l id}
{ l l ]. l =i- ' - ii
t l I]. 1 =' . i' 5 l
1 1 4 I Numer ical and Anal y t ical t vt et hnds wit h l ' l r l ATl - AB
But
[ l + eii=1 + a. . ~ + @ at + - - - ir i- . ic I
hl egl ect ing p nwer s nf { p l p ginf t wn and higher gives
_ . s
r . . + s=' 1 ai+ ~ 1 e. . t
ea
t
_ |l l 1 _
r =f . e. . gr =t a P t in- t ssi
El
Tal - t ing t he seennd der ivat ive wit h r esp ect t n it nf bnt h sides nf Equat ien Il l l l dt ii
gives
as: - it s
aiiIiaxl
Ret ur ning t n Equat inn l l l l hl sl l i.
it s a .
gr Pu { l l ]. I- sil i
l il nw t al t e t he seennd der ivat ive wit h r esp ect t n it nf bnt h sides nf F. quat inn
{ l l l l . ]AiIl ' . igiving
HI H 1 BEE
aat at at aat a aat l - l l - f il l
' . . t i
By Equat inns [ l [ l . l siTl and { l I]. l 3Ti_ .
iii:l it t i_ i1 Eip _ r . ; EIp
gr git gr gm gr P ar e [ l l T' - l s' i' _ i]. }
Thus.
1 HT T HT [ ID 1 5 - II}
r gidr iB- vi
Par t ial Dif f er ent ial Equat iens I 2 1 5
and
I a- . s ail s
ar t . _ ax: { il l - If - l i
F. quat inns il l }- 1 ' il l iand [ l t l - l f il iar e wave eqt t ar inns.
D Al en' t l Jer t s Sct l ut it l n
Let ; =it - cg t and I1 =it + r t - We nnw wish t n cnnsider ii=; 5 t g. 1 "|iand t r ans-
f nr m Equat ien [ l l ]- l f il l iin t er ms nf t ; and I' | using t he chain r ul e- Then
il s_ ~ i n_ ~ =i' s_ E- "it _
a- Fl aa' i Et t ' i"and at "it wiii- l
at _ aaas+ asan_ as+ a_ s
t ie Et c. t l xEt nt l - v El - :5 t it ]
t ii. F_ H E- 1 . 5 + - El l a _ it :i. E+ - FL El _ t ; + it i + iL- EL
if - t it ie t it ; Et a E- l t ; _ - Eh; E- in Et a nit e, - iiiEt a
DF
a- . a air ais a _ p
ax! _ gig! + Eg|; gT- l + g. |- I l . l l ]. l ' 5 5 . l
Simil ar l y .
. |. I . t . aii]; ad;
at :' F|- t [ - 5 . ;
Subst it ut ing Equat iens t [ 1 II. ' l . l _ i . "t iand { 1 I]. l ' ; i=' - iiint n Equat ien [ l l ]- 1 5 1 ] gives
t r y as + a". s Z ai. s+ E al l - s + a y
it g- Et a it r t i iigiEl g- iIr | it al
DI
ass
isin
=Ll [ l l - l . l S :i_ i
2 1 5 I Numer ical ant l Anal y t ical Met hnds wit h . "vi ATt At 5
Fl - e=cy . t
a:. t l - it
. 2 1 . 1
l al l hl
Figur e 1 1 1 . 1 1 } Eit amp l e nf a smal l st ep p r essur e dist ur bance. Iait =II. { bit :=- III.
Equat ien l 1 ' III. l S- - iican be r ewr it t en as
ay as]_ D
is in
which imp l ies t hat
as
_ =. c
an t ni
and
JE=I. Fl [ l ' |i. - t 1 ' l ' l "[ + f gl [ t ; i=_ . i I~ [ :1 |i+ _ nl i- . ' ; _ i=_ ' iil ix+ c it i+ j; I[ - it cUt ? i
l f at t = =IT and]. is a st ep as shnwt iin Figur e l ' l . l . l ITa. At t :=- l l . t he dist ur bance
has mnved t n it =cu t [ see Figur e l l l . l l Tbi. Ther ef nr e. r . . is t he sp eed nf snund. The
dist ur bance. is a l br war d- mnving wave at t d f ] is a bacl t war d- t nnving wave. Fr nt t i
Equat ien l l l l l - = - i- - iiand t he ideal gas l aw t he f nl l nwing er - t p r essinn f nr t he sp eed nf
snund can be ebt ained:
t i=it ? t 1 t i- t ss' i
IJ
and
ar nse.
Ther ef nr e.
sa=iiAT. uansi
Par t ial Dif f er ent ial Eqt t at inns I I1 ?
1 t ]. 5 Review nf Finit e Dif f er ence Fnr mul as
I- l iven y =y t l v) and f nr a unif nr m subdivisinn nn t he it ait is
y _ - ii"* ' Til l br war d dif f er ence l br mul a l iar _ }* il I. l
- - | M
J. - f l "T f l "" bacl r - war d dif f er ence f nr mul a f er _ ]- ' Tf I|l
' A. - it
+ . E It .
y f i. - Ti T T1 i cent r al t l if f er et t ce f t t t niul a f nt r j|1 Tf . ' |t . || i
_ y Ty " T T' ii"' iT i|""ihacl t war d dif f er ence l bt nt ul a f br y il it . l l nf nr der l :r L' t iIt ' ii
I Br it t
p f _ T"i| + i+ T' ii"+ l T Tdl if it ir war d dif f er ence f t ir mul a f t ir _ y T[ :- :1 it if t ir der l :d"t I' t 1 i
' " Tt . "' t . it
1 0. 6 Eit amp l e nf Ap p l y ing Finit e Dif f er ence
Ivl et hnds t n Par t ial Dif f er ent ial Equat inns
Cnnsider a t hin p l at e at init ial t emp er at ur e. T]. t hat is suddenl y immer sed in a huge
bat h at t emp er at ur e Tl . l see Figur e l t l - sl i-
The gnver ning l "Ll l ; f nr t he t emp er at ur e f iel d. l l - t - . r i. and init ial and bnundar y
ct indit inns ar e
t ar air mug}
t t Ht T Et a- 3 '
Tia- - t t i=T. t t t it ssi
il l . r i= ' l 1 IJ. I' i Ji
t il t .
cl T l
l L. t l + it r t t ai- t - . i=t i t iat st ii
f l it t . -
2 1 3 I Numer ical ant iAnal y t icait vt et hnds wit h MATLAB
wher e
ct =t her mal dif f usivit y nf t he p l at e and EL is t he p l at e t hicl t t t ess.
l i=cenvect ive heat t r ansf er cneil icient .
if =t her mal cnnduct ivit y nf t he p l at e mat er ial .
Tn snl ve t his hear t r ansf er p r nhl em numer ical l y . subdivide t he it and t dnmains int n
l andy isubdivisit ins. r esp ect ivel y . giving
I]. - 1 ' 2 . at . . . . . . . . ic]_ . and r . . t i. t . . . - - . l g.
Ther e ar e t wn f init e dif f er ence numer ical met hnds f nr snl ving t his p r nhl em. t he
e:- t p l icit met hnd and t he imp l icit met hnd. The eit p l icit met hnd has a st abil it y p r nb-
l em if t he f nl l nwing cnndit inn is nnt sat isf ied:
ct nt
=i. [ I- 5
t g- t
The imp l icit met hnd dnes net have a st abil it y p r nhl em-
1 0. 6 . 1 The Eit p l icit Met hnd
l l l l l r it e t he gnver ning p ar t ial dif f er ent ial equat inn at f ir . t l iusing t he f nr war d f init e
at a- it
dif f e r ence f n r mul a f nr t [ _ e_ . r iand t he cent r al dif f er ence f nt mul a f nr t - v . 1 _ ]
. . at - - 1 as i
EIFIHH
El i" . . . . . -
Ff . I' t - J. . Ig] a t t . :q. t g. il { . it Ii. I l |. :l ] [ 1 [ ]_ 1 g1 )
and
f . l t . i. . l I. il =ii[ Tl it m. t J. i+ T[ ir . _ . . t Ji2 T~ [ - =r . . t _ . i] [ 1 t t _ 1 t 5 3_ }
I F
Tn simp l if y t he nnt at inn. use
Tl icJ. . r _ i=T:- i
t hen
HT t _ . _ .
Ef f - F. - . t J. i= IT T { l U. l t S3i
air 1 - -
f ir t g 1 =M1 [ i' ; ; . + 1 1 5 , - t r y ] t iaissi
Par t ial Dif f er eniiaiE- quaiis I 2 1 9
The gnver ning, PDE becnmes
$ [ I1 - F 1 v]= [ I- ' 1 - it + 1 2 1 . - 1 1 - ' ", - - * 1 ual ssi
Fit il ving f l it ' i"; ' i+ ] gives
1 3+ ] = + + ' [ . f 1 2 1 7 ? ] il ii. l I5 I[ ii
Equat it m [ 1 ii. Ii3iiiis val it l ii:1 t . i=2 , ii. I.
Init ial et mt iit it in r educes t el
Ti"=]"1 Ft r r i=1 , 1 , 3, i' + 1
Baundar y eunt iit inn %il [ i. i, t i=iiis al se: val id at t + sit .
it
Using t he ar war - . :l t l iet e|1 ees l i:n' :1 1 ul a uf t ir cl et if gives
_ T ' 7 - E- l l . _ + - 4? - I_ ||' Tl . 1 f - l - il
l - I l
_ _ _ . . _ _ . _ . . _ _ _ . . _ _ _ _ =g
l iix
St il ving f t ir T? i+ ] gives
. 1 .
T' |' ] =giasja - :r "; ' * ] { 1 t t 1 =5 ? "i
E- eiunel ar jv eer nt iit inn %i[ I, , ; ' }+ %[ T{ _ i' , , ; ] - Tm] ={ J is al sn val it iat t + t .
. 1
_ T
Using t he backwar d dif l er enee Far nt uia l iar %{ l . t iaiar der . ~ . it 1 gives
it
* T# + 1 ~ > * + @ 1 iY "l ' a [ 1 ' ""' _ 1 - 1 =@
EM IE. . |' + ' l =- II
- - ' I .
f sal vt ng f ar Ti"; gives
H E - - + Li- v5 . . r
The snl ut inn is t ibt aineel l av mar el l ing in t ime. A sl t et el l of t he eir - . ier uieal euiat iait s
is sl t ewn in Figur e ii]. l l .
Final l y , t he ameunt { Inf heat t r ansf er p et unit sur f ace ar ea. t hat ueeur s in t ime
Ir is given l s]:
i ; l f -
Q =Eii- IEg%{ L. t }a' . r = I[ 3T, Tt |[ t i4T|{ t ] + Tr _ ]{ t }]t it { I{ ]. l I5 I1 i
Il l III
2 1 - [ II I Numer ieaiand Anaiy t ieaiMeiht l ht is wit h MATLAB
is
it
- * 1 - T1 Is I- s - Fr - | iiiInt
Figur e 1 [ l . 1 1 The er der nieal euiat inns and mar ching in t ime.
1 0. 6 . 2 The imp l icit Met hnd
_ T
Wr it e t he gnver ning PU]: using t he f nr war d nit e diiier enee f nt mul a f nr Land
_ _ . _ . _ aii" _ . . . _ . iii. .
t he eent t al dt l iet enee inr mul a Fnr Z , hut t al t e t he t ime p usit inn at ; + I gt vmg
ax].
t ""i
"1
1 T_ i+ l _ H:- I+ I1 i- l l - ]_ l ? - g . - _ l
st iii r
Snl ving f nr l l :- M gives
t * "=T ' + t um (Ti. "+ r :. * ' i
' ' . - st ' + L. ' iCl ' . r l t Ul gm
Equat ien { 1 ' I]. ]? ' t i) is val id int i=E. 5 . . . . . i. Ther e ar e t hr ee unl znnvvns in Equat ien
{ ' i' i]. l T' Tl :I: ]' _ _ _ i+ ' , and The t er m ii? is assumed t n he it nnsvn- f in Far t he set
t s int n a t r i- diagnnal sy st em. The ht iundar v t :n1 1 t _ l it inns need t n he ehecl - t ed t n see
iit hev al sn ht int n a t t i- t l iagnnal sy st em- The init ial nnnt l it inn is
s? =1 1 . val id Fnr i=i. 1 i, ? - , - - - . i+ 1 nar in
Bnundar v cnndit inn aETi. r } ={ ]| is al sn val id at r + aii.
Using t he Fnr svar d diiTer enees f nt mul a at nt der Et a. gives
T_ _ |' + ] _ _ ? ' g_ , I' ]
2 =U
E. it
El l
1 ' 3" = t 1 s- 1 sa
The l :>nundar }' cnndit inn f g' l [ , L, r } + [ 1 "|[ L_ ; ]| - 1 1 ; ] =[ J is al sn val id at t + il t t .
I
El i
Using t he hacit wa r d dil Ter en1 :e inr ml l l a Fnr ET{ i' . , . t ]I ninr det ii- at gives
I
- I- _ _ I]_ :||- _ |+ l _
iii1 '
. - Lisa . i'
Par t iaiDiif er eniiaif quaiinns I 2 2 1
- ' ] .
St r iving int gives
. 4 it _ _ . l ' r . =' l \ . . t _
Til " i- + sas- T" l + s+ sas- T" ii - iii?
l iqt iat it ins ~ [ i{ i. ii' ii}, [ 1 ! I. ii 2 i. and { ]ii. ii' ? - iFail int n a t r i- t l iagnnal sy st em. al inwing
Fnr a snl ut inn nial l t emp eiat ur es at . t ' + l by t he met hnd deser ihed in 5 - eet inn - E- . i' .
ii. ennip l et e snl ut inn ean he nl at ained by mar ehing in t ime.
Pr njeet s
Pr njeet 1 [ L1
Snl ve t he vibr at ing st r ing p r nhl em diseussed in Seet inn il l l int t he init ial cnndi-
t inn she - . vn in Figur e Pl l l ia.
Tal t e P =i:i. 7 ' . - iii] l t gimi. 1 ' ; = JD hi. d =diamet er nf st r ing =iJ. l E+ em. L =1 r n. h =
I5 em. l il nt i vs. . eat t he f el l ewing t ir nes: r =[ 1 - . i]I[ i[ i1 s, r =i. [ is. r =iiis. and r =1 I]"[ l I s.
. "' v' t ir e: p { . iigv"mi: p iegf mii. . ~ " i_ . wher e Iiis t he er nss- seet innaiar ea ni: t he st r ing.
J"
nah Ii
Figur e F1 [ l . l a An init ial st r ing t l isp l aeemenl .
Fr nieet 1 0. 2
Rear r ange E. t . ]uat inr 1 [ l [ i- - ] t n r ead
I' [ ii. r ]- 1 i' . . . sini Jenst iiE]:- _ T":' T
L " " L
r sar in - 2 2 " iemasi
T; 1 Tm Fl et ssi- Misini- }+ - H
1 - vhet e 5 "=1 L,
Wr it e a enl np ut er p r egr am using iii5 " val ues and sel ve l iar Tii. - l Til ' Iiii- ar t he
f nl l t :- wing p ar amet er s: iii=i:iiJ' [ l . I] wimi- C. it : 5 35 . 5 1 - vi' 1 n iC. L [ LS m. a =l i. . ' if i=i
e- D5 miis. ii. =3l ]' [ i' :"' i_ ' . it =SUCK. xiii=i. i. [ i' . [ |' . E. I1 - ii. ' [ l . IEr , [ L3, Li], and r =D. Iii].
iii}, . - . . iiiiiiseennt is. Pr int nut r esul t s in t ahie Fnr m as shnwn in Tahie Pl iiul . - ' i|. l sn,
cr eat e a p int n; FTEA Tit ? vs. r Fnr . ' - r . - I =l . ii, ii. - ii, ii. - ii, iii, il l , ii. ii.
2 1 2 I ivumer ieaiandr inal y t ieaiMet hnds wit h MATLAE
Tal al e P1 [ t . 2 Temp er at ur e l t at in t TIl ATl t ' IIivs. Time t n
Time
t s eennt isi it il .
r t e as it s as t l t i in
[ l 1 - [ i i- l ] 1 . i] 1 - =[ i l - l ] 1 - [ i
El ]
4|]
4iil ]
Pr njeet 1 t ]. 3
Cnnsider t he eir eul ar evl iiider p r nhl em deser ihed in Seet inn l l . i. i. Wr it e a enmp ut er
p r ngr am t hat wil l
l a} Pint f l vs. iii int E] E . 1 ii "E l l iiit i.
(hiDet er mine al l t he r nnt s nijl in t he ILR r ange l ir nm U t n ii. i[ i' Li.
{ e} Det er mine and p r int nut al l t he i|. F. iival ues t hat sat isf y Equat inn l [ l Li. J' l } in
t he . i|Ji' r ange Fr nm [ II t n l iiii.
{ t i} [ It eat e a t al aie ni"Tit "vs- t ime I Fnr r il il . =[ il l ], ' l i. ii' . . El . - i, ' [ l . t i+ , { l . ii. LEI] and t =[ i], l l ],
iii], . . . . El l i, f il il i] s. The t ahl e shnul d he simil ar t n t he t ahl e sht :- svn in Pl il ji.
(eiPint Tit vs. if Fnr ii5 t f Eiiiiis and HR =[ iii]. Ii- L2 . ii. - i. (iii. t i- i' i. Hi] al l nn t he
same gr ap h.
Use t he inl l nwing val ues:
s=sss. n1 i, s=as. si_ . . v=n. 1 sm. a=[ i. t i? . ' iht l i]' '
m' E r nC s
Hint : Fir st det er mine t he t er nes nf jl l av t he ar e Funet inn; t hen l t nnvving t hat t he
r nnt s nl Equat i- :1 r 1 [ il }- ' ; ]' i]I l ie het ween t he aer ns nf f l , det er mine . il . n. ii' int is : I- f al l ] l a}- '
t hef eer n l - ' t . It l C1 . ' it ]|r 1 - Having val ues Fnr . il . , iii* ]; n1 1 ean t he det er mine TR he Equat inn
iiiii"- iii.
Pr njeet 1 1 1 . 4
Wr it e a enmp ut er p r ngr am t n snl ve iiunier ieal l y . l av t he esp l ieit met hnd. t he p r nh-
l em deser ihed in Seet inn 1 1 1 . 6 . Lise t he p ar amet er s deser ihed in l ir nieet il l . ? . , t hat
is, h =5 iil ' _ i. iiwim1 Ii_ I, it =Li- St 3. l wim- C. L =I]- . ' _ ir n. a =l 1 . Eiieie5 r niis. R =
, :_ ]Il :l ' l :iDE, Tm =EDDIE. Tait e ei; t =l i. [ i' [ l ' f ir r 1 and t it : [ 1 - 1 seennd. Car r }- ' t he eal euiat inns
Par t iaiiif er ent iaiEquat iens I 2 2 3
Tr at in vs. Time
- l "' ' - - - ' - - 1 - _ - - - ' - I- =' =' ::_ _ _ _ _
. ;
. . _ . . . . . . gf gjg
[ l g . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - . Til l : ' 1 4
Ur gg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . JUL _ J5
Tr a n
E3ne
- _
. |_ |
L' |_ ' , Ff || . l IL' . "i_ =U- i' l i
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . _ . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . - .
is- nil d l ine- numer ical 5 - l . Il I. l i. l l Ll - Ii . , , .
s- cl nsed inr m snil ut inn _ Til "1 - ' 3
| | | | | | | I
t J sa l ee 1 5 t ] sen 2 5 - Li an- Li 35 E! - sen
l ime [ sj|
Figur e P1 t ]. 4 The p l nt niTIIATID vs. t ime. Humer ical snl ut inn is by t he esp l icit
met hnd.
t n dl iiiisecends- Tn cemp ar e t he r esul t s nht ained l ay t his nur ner ical met hnd vvit h
t he r esul t s nhr ained hi}- ' t he cl nseci- F- nr r n snl ut inn I[ F r t :- jeet i' l i- i- 7 1 ' ] wr it e jr nur answer
T[ %. r ]- r m
r ss r r n - -
T _ Tm [ P1 ii- ==' ia}
in t he Fn- r m
Fnr xii=il l , I1 3. U1 5 . Iii. - ii, il l . ' i]. ii, and Fnr r =I]. El i]. 1 ' - iii], - il iiiisecnnds.
Pr int nut a t ahl e as shnwn in Tahl e F' l il ' - ii. . i""t l sn cr eat e a p int ni: TRHTIU vs. it Fnr
se. - "1 ". =1 . il , ' [ ' ]. il , Fl - - ii, ii. - i, l ijl , ii. l l ' . TF1 - , "nl . 1 al sn t iit l Fr njel l t iiil , st l p er imp t ise t he snl u-
t inn nht ained in Fr nject l iihl nn t he p int er eat ed in Fr niect l l - ' J. * ' i. The r esul t ing p int
shnul d he simil ar in t he p int shnwn in Figur e Fit i. - ii.
Pr niect 1 0. 5
Rep eat Fr nject ii]. - 4. hut t his t ime use t he imp l icit met hnd. IFy nu aisn did
Fr nject l iiji, sup er imp nse t he snl ut inn nht ained in F' r nject il il l nn t he p l nt er ev
at et l in Fr njeet il i. 5 . The r esul t ing p int shnul d he simil ar t n t he p l nt shnwn in
Figur e F' l l J. . i.
2 2 4 I ivumer icaianddnal y t icaiiviet iincis wit h MATLAE
Tl at in vs. Ti. m. e
1 - U5
1 _ H _ _ _ _ _ _ - W . _ _ . . :. . . . . . . . . . . . . _
' - ' ml _ _ |_ _ . + .
- _ ' I- . _ . |
I.
Dl gsg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T- "IL =FLU
- - - sir . =as
g|_ g| _ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . _ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I' M"= ' 4
L - ' - * 5 " sit as
Tr at in
t il t
[ l l - F":' i H. - L =n. s
|:|_ ' :l ' _ . . . . . _
. t . cl nst l ~ t l i' nr n1 snl ut inn i - ii- "iv =l - - ii
l l l l l l l
[ l l Fiii il iil i I 5 - [ i El if l l 1 5 E] Iil l l l l l l I- l i:il ]' * 1 - [ ii]
Time is]
Figur e F1 Il ]. 5 The p l nt nf TIIATI- D vs. t ime. Numer ical snl ut inn is hv t he imp l icit
met hnd.
Pr niect 1 l }.
Using sep ar at inn nivar iabl es. shnw t hat t he st eadv- st at e t emp er at ur e dist r il aut inn in
t he sl ah shnwn in Figur e FIl [ i. t ' 5 =is given hv
_ F ' iii. r e] sinl 1 . [ i1 . sicnsiii. vi
r . =r . 2 1 ' " - r ' ii " " "- [ Pl ait
T ' 1 } + l "' l it - i- l i| il l i. il - . H l l Fit i. s+ si1 1 ii\ . H a. ien. si_ ii. n aii T
vvher e IL is det er mined ir nniEquat inn { F1 { i. t 3h_ i.
iiias i
iiil t iiir l l - t e", l T3' =ig=l il
hint e t hat
sit il iisn . v]| _ g. l esp { . ' iit r f . vi
5 inh{ l HH- esPisqr t . 1 - . iiat l _ EHP[ _ 1 l wH l :Pi' l l . ' l i. il t Ii|
Par t iaiiif er enr iaiEquat iens I 2 2 5
HE, . . .
\ . ~ . \ .
it . Tm
mm _ _ _ _
5 "
l
xy xssx
iihasns
aissss
i.
K
if . TI.
Figur e P1 0. 0 Sl ab genmet r y .
The use nFEc|uat inu [ F1 0. f - cl wil l avnid numer ical p r nbl ems Fnr l ar ge . r and l ar ge ii. . .
Fr int nut a t abl e int t he r st i0eigenval ues { Rn} ap p l icabl e t n t his p r nbl et n.
[ aiPr int nut a t abl e nf T ix. y jl at ever y seennd it p nsit inn and ever y seennd y
p nsit inn-
Cr eat e a p int r iFT[ . 1 r , il ] ancl Ti:- r , t el l vs- Jr , bnt h nn t he same gr ap h. Lise t he
Fnl l nwing val ues:
. t =an m. HI: as m. t r ; =sense. T. =sat e. s =sa was- se. s =saa vvis- . =ee
Pr nject 1 0. ?
Pt sal e. as a r esul t nia l ir e in a near by r nnm. is suddenl y subject ed t n sur t nunding air
t emp er at ur e nl ' 5 00 C. The ignit inn t emp er at ur e nl p ap et inside t he saf e is IE- 0 C.
ii - nt h t he inner and nut er shel l s nl t he saf e ar e cnnst r uct ed nt 1 %car bnn st eel . An
ap p r np r iat e insul at ing mat er ial is p l aced bet ween t he st eel shel l s. The int er inr vnl
ume nFt l ' ie saFe is l mi [ l r n it l m at l mi- The insul at ing mat er ial is nnnil amr nahl e-
A i- init e dit l l er enc- e nur ner i- cal anal y sis may he used t n t l et er mine t he t emp er at ur e
dist r ibt t t inn nl "t he sal e mat er ial and t he int er inr t emp er at ur e nit he sal e. The inl -
l nwing assump t inns shal l be t nade:
I. The air inside t he saf e is wel l mi:- r ed and uniinr m.
E. The p ap er t emp er at ur e is t he same as t he air t emp er at ur e inside t he saf e.
3. The int er inr cnnt ent s nt t he sai- e enr t sist nf i0 . r i:= p ap er and F000 air by
' l . - "l Ll l . l _ ' l . |T|l ' I.
t i- Fiat l iat inn Fr nm t he t ir e and t he var iat inn nFt he t her mal p r np er t ies nFal l
mat er ial s ar e negl ect ed. . - it descr ip t ien nf t he numer ical met hnd Fnl l nws.
2 1 0 I Numer ical anciAnal y t ical Met hnt is wit h MA TLAE
l iil ut si- de L1 Ll [ 1 l nsl dc
i_ , _ ,
t - L t l
l "- in- t l e number : 1 l l l l ! I3
Figur e F1 0. Fa Wal l genmet r y .
Numer ical Miet hnci
Linnsider t he l - L"! unst eady heat il nw t hr nugh t he wail shnwn in Figur e l l 0. i' a.
E7 - ul at l ivide t he at dnmains as Fnl l nws: l a]! subdivide t he st eel p l at e r eginns int n l [ l l l , i
subdivisinns and { bl suhdivide t he insul at inn r eginn int n { l l - l l } suhdivisinns.
in each r eginn t he gnver ning FTJF. Fnr t he t emp er at ur e Fiel d is
l 5 T_ - 3' T { P1 0- i a]-
t r iii il . v'
iiince t 1 and . - l iar diFFer in t he t vvn dii' Fer ent mat er ial - t y p e r eginns, t he gnver ning
Finit e - |' . l il :Fer ence ec|uat inn Fnr each r eginn is
l ' l l . :1 l l Ii l l
Ti' =1 r . + I r . { r . . |+ r . - |1 1 ". } |[ P' 1 0. ? ' bi
]
f nr i=E. 3. (l l 1 } and i=(I2 + ii. { l l + . ' l ]- . . . . . { I5 l l . wher e It "{ . 1 r |. r i=Tinand
"* l ' l :1 n n
r t =1 ' . + (Tat + Tm - IT. J r _ sr r 1 - sn
Fnr i=l l l + I}. { l l + Ii. [ I2 ii.
Tn cnt up l et e t he p r nbl em l nr mul at inn. nne needs t n add t he init ial and bnund-
ar y cnndit inns:
init ial Cnnr iit inn
r r . v, n; | =1 ;
Tl l l ixf t - . l F]il =Tl =1 ", . Fnr i=1 . 2 . . . . . iIi r [ 1 1 n_ y . ; |y
Par t ial Dif f er ent iaif quat inr t s I 2 2 ?
iit eel insul at inn
It III-
l l L l l l l + 1
Figur e F1 0. ? b Leit st eel - insul at inn int er iace.
Ent r nciar y Cnnciit inns
{ l a} il t t t he l el qt st eel - insul at inn inr er l ace [ see Figur e F' l l ' l - Th' ]
The r at e t hat heat l l nws nut n- iit he st eel p l at e p er unit sur iace ar ea =t he r at e t hat
heat iinws int n t he insul ar inn p er unit sur iace ar ea. Esp r essed mat hemat ical l y .
. ; ; r r 1 ' . i; |- i' =- . }' n1 * . n- r - it
DI
ar at
. - F l l ". i=. i' r , - il l ,
aii aiiF
|' -
l he bnundar y cnndit inn is val id at t a and t . . _ |- ' l he simp l est Finit e diiier ence f nr na
nFt he ahnve equat inn is
_ l g T- Il l l - 1 - Tl l l t l l =_ l g Til l ]; - l l _ T- l l i- H
1 t ' Il i. _ ' l |. | F , "l l n, 5 l t
Snl ving r at r t . "gives
ip - ; p _ |i+ . l il ' _ E T- |p _ . l
_ _ | es] av? '
Til _ 7 1 _
MI + M: r et est }
{ uh} iit t t he r ight insul at innst eel int er Face f see Figur e F' l l l . F"c}
insul at inn 5 1 - i_ - 1
1 - is
I- It
l Il l 2 l 2 + 1
Figur e FIO. ? c Right insul at innst eel int er f ace.
2 2 2 3 I Humer icaiandr inal y t ical Met hnds wit h MATLAE
The r at e t hat heat l inws nut nFinsul at inn p er unit sur Face ar ea =t he r at e t hat heat
iinws int n t he st eel p l at e p er unit sur iace ar ea.
Eimiiar l y t n t he equat inns devel np ecl at nncl e l l , t he ecl uat inn at nn- de l l is
_ g r a r r e. If r e . - r s
1 - T t
iv, il xl
- . - - vi .
Snl vt ng int Tia gives
t i+ l l : " l IT! r t ]
H Tn- t "' T1 :- r
r |+ l _ _ x; ml P E"
Tn i"J- Ti
s. + t .
av! as- I
{ cl . - l it t he l eFt air st eel int er Face [ see Figur e F' l il ' . i"t l l
The r at e t hat heat is car r ied t n t he wal l by cnuvect inn p er t mit sur f ace ar ea =t he r at e
t hat heat ent er s t he st eel p l at e by cnuduct inu p er unit sur l ace ar ea; t hat is.
J
- l { l |l Tl ' - . ]THI:- 1 ' |=Fi]. l :' l i- I- ' |=' i:|' l i. _ Fl l :- - ' 1 l ii- l ' Z ' |=' l il '
The bnundar y cnndit inn is val id at In il l isi|r |' ||] . The simp l est Ft nit e diiTer enee Fnr r n
nFt he ahnve equat inn is
- + 1 |- - gt - l _ ; ||||1 + l
air . . . . r t ' 1 =r - . x '
- 1
l inl ving Fnr Tigives
Tl r ||l
r { "' | T- 41 + iTr
n+ ] _ ail
T1 l g El - ' l l T. Fg|l '
l g _ . |. - ml
I nal
{ ' 1 - ut sit l e St eel
. |l - II
my
TM] 1
1
Figur e F1 0. ? t l Et ut sit l e air st ee| int er f ace.
Par t iaiif f er enr iaiEquat iens I 2 2 0
St eel l nside
it s
* - 1
r s- 1 T, _ |; .
l I- i-
Figur e I"1 0. ? e Eit eel vinsit l e air int er f ace.
{ t il At t he r ight st eel - air int er iace { see Figur e F' l t i. i' ei
The r at e t hat heat l eaves t he st eel p l at e by cnuduct inu p er unit sur iace =t he r at e t hat
heat ent er s t he sal e by cnuvect inn.
_ . . ET . _ .
t y { . v1 _ , _ . t }- r ' =l ~ 1 ET[ s[ _ . . r ]i- i=h2 [ T{ . s]_ , , . r }TH_ 1 (r l ]
The bnundar y cnndit inn is val id at t n and . r _ _ , . The sit np l est dil ier eit ce Fnr m nl it he
abnve equat inn is
r "_ . * r _ *
_ |g|l l Mg l l l _ l l gl g
iiinl vin Fnr Til ] ives
E - 5
it
it Tin; ' l ' Fl IT:- 2 ]
at
n+ ] _ . ii
Tn
t -
; m'
1 ' ; + x} { Fi0. ? hi'
l nside t he Saf e
l l eat r r ansier int n t he sal e is sinw. it has been assumed t hat al l mat er ial inside t he
sal e is at t he sat ir e uniinr m t emp er at ur e. The sal e int er inr cnnsist s nil p ap er and air .
TTt e nit e dier ence Fnr mul a l iar t he t emp er at ur e inside t he saf e is
I s, is. a. i(r "[ ; j- r f )
=1 ' r ' + F ' r eins"
p dl f r f u + p PVp f . \ _ _ P - 1 i
wher e
p =densit y subscr ip t s
l . r =vnl ume a ~ air
l l : =sp eciiic heat p - p ap er
TT' t is numer ical met hnd has a st abil it y cr it er ia; t hat is, in each r eginn
t r . a. r 1
r =i, =:
dnr * It
2 30 I hl umer icaiand Anal y t ical Met hnds wit h M. - 1 iTt . - 45
Met hnt inf Sniut inn
Since Ii. i=1 . Ii. [ 5 is l t nnwn Til can be nbt ained int al l iby mar ching as
indicat ed in t he Fnl l nwing p r needur e.
Pr n ce- siur e
1 . Snl ve Fnr if l nr i= { l l 1 } by Et ]uat inn|[ P1 0. ? ' bi; Fnr { l l + 1 ]. [ l 1 +
2 ]. . . . . { IE 1 } by Equat inn { Pl 0. ? c}; and Fnr { IE + 1 i_ . il Il + . 1 }. . . . . [ iiiii
by Equat ien I[ l * l 0. T"b}.
. nive Fnr hy Equat inn I[ F' l 0. i"e]' and Fnr by Equat it t n I[ F l 0- FFJ-
Snl ve Fnr by Equat inn - [ F' l 0. ? g} (need if r st }.
iinl ve Fnr if by Equat ien i_ Pi0. F' i}.
. Snl ve Fnr Ff . by F. t p 1 ar innl F1 0. ? h} { need i' |, l , _ _ _ | and if r st ]-
. Use a cnunt er and an il l st at ement t n det er mine when t n p r int nut t emp er a-
t ur e val ues.
T. Use a l nnp t n r eset 1 7 2 ' =if Fnr al l i.
El . Rep eat t he p r ncess unt il r =t he sp ecied t ime Fnr t he st udy .
=- v=s~ a- se
l T' l evel np a cnmp ut er p r egr am in l ' t il il t T"l _ . i5 t Fi- ' 3 t n snl ve t he wal l t emp er at ur e dis-
t r ihut inn and t he air ip ap er t emp er at ur e inside t he saf e- Lise t he Fnl l n- wing cnnst ant s
Fii' l l ' [ l ' 1 E; PFt _ ' i|l ' 5 l |E1 ' ! |' 1 I
t - I =E- 1 - 0 wir m- "t a, t - _ . =r :- 1 ss wins- * =t :1 . al =1 - sss e5 mil s. - t it ; =s- s . . _ r .
p i=a- sasnsgim* . p p =asn- ar . gm- * . =n. s' . . "n. _ ~ + s wir sg- ' =- t a.
cg =|. ssas+ s wing- "ct .
s, =anan wr it s - sci. s. =1 n. n vr r ins - sci. r m. =snn. n sc. sl =s. sm".
Til =l int : Fnr i=l . I. . . _ . l l |
L =0. 00' im. ii, =0. 02 m. l l =t ' . ' 1 . IE =00. l 5 =01 . . - ::|l :t | =0. 001 m.
I
I-
it - i0t ' 2 =0. 0002 5 m. air =0. 0l 5 secn:1 ds.
l s; =0- t i0mi. FF=0. r im i. t ime nist t t t l y =iit iiisecnnds.
Fr int nut p r np er t y val ues. t he p r nbl em cnnst ant s. and a t emp er at ur e t abl e as shnwn
in Tabl e l 1 0. i' .
Nat e: Pr int nut t emp er at ur es ever y 1 00 secnnds.
Par t ial Dif f er ent ial Equat inns I 2 31
Tabl e P1 0. ? Temp er at ur e El ist r ibut inn Tabl e
E. v- t er inr in t er inr
Sur f ace s- Fnsit inn t ml Sur f ace
Time TH + xJ
{ secr sncisj . 1 t I Jr 3 l l ii
I- l . . ' :' 1 - |' . ' l !
r iir
Temp
1 l :l
0- 0
1 00. 0
2 00- 0
3000. 0
2 5 . 00 2 5 . 00 2 5 . 00 2 5 . 00 2 5 . 00 2 5 . 00
Fr nject 1 0. 0
The t emp er at ur e r at in. Til . l a". _ y . r ]=. nFt he 2 - El bar descr ibed in Sect inn I0 ii
Unst eat iy Heat Tr a usl er in 2 - 1 ' 1 . " is given by
Then
r s . . ~ _ . . t =2 2
l l -
. 1 " F: Fl Kg + ain ("f a iil cnsl in L] ]::: w + sinim t ar l cnsim t al l ]
T. 5 , ,
l Tl ' evel np a cnmp ut er p r ngr am in l ' vl il . T' l . . l i. l ii| t n eval uat e Til at =' 0- 0. 0. 5 . l - 0 and
l =0. 0. 0. 5 . I- 0 l nr 0 E t 5 400secnnds. Cr eat e t he Fnl l nwing p l nt s:
t a
Tl i* (s' . y . . r ]=
_ l iIII. y . t i
Tu _ T-
H " I- Ii e:p [ Et il |. ; :m t l cnsl t f nxl ct ssl l imy i
[ sinl y ii] si1 1 l [ Tmt a}]
r , ii. . .
2 2 2 2
Fl nt nn t he same gr ap h. Tl - i vs. it Fnr E: 0- ' 0. 0. 5 . 1 - l l and 1 =
H- "
Fl nt un t he same gr ap h. TR vs. t int _
l il nt nn t he same gr ap h. Tit vs. r f nr
I. "- - I- t t ' 1 i"t
=r . r . r 1 . as. r . a and 1 =n ' 1
l l - "
=an. as. r . a and l =
H- "
2 32 I Numer ical ar t cl Anal y t ical l vt et hnt is wit h MATLAE
E - i
c. . .
- - . r - =
Fl nt nn t he sat ue gr ap h. Til vs. r int - - =0 0 0 5 1 0 an =0. 0.
Fl nt nn t he same gr ap h. Til vs. t int =0. 0. 0. 5 . 1 . 0 and =0. 5 .
E - :E - =2 l "- - it - t i"- - 5 ' - t
Fl nt nn t he same gr ap h. Til vs. r f nr =0- 0. 0- 5 . 1 . 0 and _ =1 - 0-
l _ l - 5 1 1 TITC IFT- l ' l l . l J' l H' l I1 g PHl ' H. l Tl l I' l il I' l . ' 5 [
1 ' 00 "' l l i~ "
L=w=0. 5 m. h=E00 I . s=sss- ct =l l . 2 5 =ie
t n C m- C s
Chap t er 1 1
It er at ion Met hod
1 1 - 1 it er at inn in Pip e Fl nw Anal y sis
iinme engineer ing p r nbl ems ar e best snl ved by an it er at inn p r needur e. Fnr e:- :ar n-
p l e. t he det er minat inn t il t he t l nvv r at e. Q. and t he head l nss in a p ip e sy st em is
cnmmr t nl y snl vet l by an it er at inn p r ncet l t t r e. l iinnsit l er t he p ip ing sy st em shnv . - ' n in
Figur e l l - l - The ener gy et p t at int t Fnr t he sy st em is |l ]
. - - I- F 1 ' - l l L- IFI ' |
[ + l ? + . aj + l l t . _ _ _ i' _ =_ 2 l sJ_ =[ + T+ E] { 1 |1 }.
- ""- 3|- J - | - ' . "- Fl - - :
' l r ' v' l ' l |L' [ ' L
I. l . |' : i' il I' l ' . I. "i- it il ||' |' :' .
l - =aver age il t t id vel ecit y .
r =sp et l l ie weight ni"t he il uid.
a =el evt ' _ t inn.
g=gr avit at ienal cnnst ant -
Z h. =sum nihead l nsses-
{ l t P' ]g_ _ =heat it l e1 . ' el n]"t et l by t he p nt np in t he sy st em.
Fnr t his sy st em
p l =p l = 1 . . =0. l . - L. == 0- is. t a. iar e sp ecif ied-
2 33
2 34 I l vumer ical andr inaiy t ical Met hnds wit h MATLAB
mi
-
I
"' i|@ m. . . .
D a it - icr r t
I
il l s
"Il l i~ "at cr
Figur e 1 1 . 1 A p ip ing sy st em.
The sum nil head l nsses cnt t sist s nl a head l nss. ii. in t he p ip e due t n viscnus nr t ur -
bul ent eil ect s and minnr head l nsses due t n val ves. el bnws. and p ip e ent r ance and
esit l nsses. The head l nss in t he p ip e is given by
vit -
wher e
ii=p ip e l engt l t il t t t nwt t i.
El =p ip e diamet er El t nnwni.
f =Fr iet inn Fact nr -
Fnt a smnnt l t p ip e. f cat t he det er mined by t he equat inn [ 2 ]
_ f l ={ i. 02 l ng|_ |Fl eJ=. l . iir - iii ? [ |]_ g}
wher e Rel . is t he Fl - ey nnl ds number . which is given by
vn - =iQ
Fl e
u - t t t l u
[ ' 1 1 - - ii
and 1 . t is t he l t inemat ic visensit y . The et t p r essinn Fnr it t hat was used in l :l c|uat inn
{ l l - ii] is
v= . _
ED i1 1 ii
The t nit t nr head l nsses ar e et - r p r essed by t he e- quat inn
I
sf =it L r t t st
. . |' F
The l f val ues int t he t niunr head l nsses ar e l t ' ; m _ M =0. 3. iT_ _ _ || =1 . 0. t iL' r . . , _ m =1 . 3.
it er at inn l vl et hnt il I 2 35
Subst it ut ing t hese r el at innship s int n Equat inn [ I L1 } and r ear r anging gives
vir .
t sp g =. - . 2 - . . . + E[ 5 f + a- sj r t t at
The p ump manuf act ur er p r nvides a p er f nr mance cur ve nf I[ . l - t in vs. Q f nr t he p ur r t p .
Eiup p - nse t he l [ - h, l ' PL_ vs. Q is ap p r nt t imat ed by t he f nl l nwing quadr at ic equat inn:
t l gig. =t ar t - sr t r t Q' r t t - s_ t
l it - ut
r ag. =r ag. r t t sa
l . ' . l l I'
vir . . -
t st t - sr t nQ1 =s. s. + zgl y + 4. - ' =- J il l - "l l
- l
Tn eit p r ess t he abnve equat inn in t er ms nf Q. subst it ut e f nr i- "= 1 - Then Er - 1 n at inn
it 1 - t r t } becnmes D
1 '
1 5 0 - * 1 .
1 2 05 00Q =1 - t is. + ngU4(Uf + - =i- 5 ) r 1 |_ ]]}
Since isa f unct inn nf Re. which is a f unct inn nf Q. Equat inn { 1 1 . 1 l ]| is best
snl ved by it er at inn. The it er at ive p r needur e f nr det er mining Q is as f nl l nws:
1 - Assume a val ue f nr say . _ f | =0- 03.
2 . iinl ve Equat inn { l l - l l } f nr
3. Einl ve E- quat inn l l 1 . 4]! f nr Fie-
- ' i- nl ve Equat inn { l l - f l } f hr say . f 3-
5 . If - =1 1 E. say . E =1 . 0 is 1 0- 5 . t bet t Q ist he cnr r ect val ue. nt her wise set
= and r ep eat p r ncess unt il cnndit inn nf it em 3 is sat isf ied.
1 1 . 2 The G auss- Seit l el Met hnt l
The G auss- eidel it er at inn met hnd may be used t n snl ve Lap l aceis Et ] t t at inn- { Tnnsider
t he st eady - st at e heat cnndt t ct inn p r nbl em nf t he sl ab shnwn in Figur e F' l 0. t 3. Fnr t he
der ivat int t nf t he heat cnnduct inn equat inn. see B- 1 at t d B2 it t hp p et t dis E.
The gnver ning p ar t ial dif f er ent ial equat inn f nr t he t emp er at ur e dist r ibut inn is
air " air "
. , 0 l i. l 2
01 : + f ir f J
2 30 I Numer ical an- t l Anal y t ical Mer l :- n. - zis wit h MATLAE
The bnt t ndar y cnndit int t s ar e
Tin. 3. }. =T_ nt - t st
Til - r i=T. . . t t t . t - it
I
Ei{ Jr . f l ]=0{ by sy mmet r y ] [ l l - l "; i]I
ii- r
0T ii_ , . - .
El - I . II=' l + il l l I. Is ' . l ' - l . _ l =0 { 1 1 _ |g' ].
The nit e dif f er ence f nr m nf t he p ar t ial dif f er ent ial equat inn is
%{ Tl . t ' + . et :r . y ]- 2 TI[ s:. y ]+ ' T[ - v. 0. x. _ y }}
|[ l l . l ' i' i
+ I . iT{ . t . _ y + . 0y }2 TI[ . r . y i+ l T{ . v. _ y h_ y }}=0
it ! - jib
bl nw suhdivide t he at t l nmain int n N st t bdivisinns and t hey t l nmain int n l v' l suh-
divisinns. giving p nsit inns l a:H. _ y m). wher e r t =I- 2 , - . . . i' v' + 1 and at =l . 2 . . . . . M+ l
L - I
andi3. v=and et _ y =i.
N l l - * l '
Let il ' _ [ . t _ f . _ 1 I T]I=TM. t hen t he f init e diif et ence f nr m nf t he p ar t ial dif f er ent ial
equat inr t is
l - 2 s
Ti. I. I' - ' - I = (Tn. m+ l + TTt . 1 r r - l l + l 3 T_ It ' |' l - Hv - I- B ]r _ r t l . r IvT
The abnve equat inn is val id at al l int er inr p nint s- Thus. it is val id f nr it =2 . 3. . . . . N
and in =2 . 5 . . . . . . l l s' l - Ther e ar e { l ' v' l ][ i' l r . ' l l _ isuch equat inns-
The nit e dif f er ence f nr m f nr t he bnundar y cnndit inns ar e
r ; _ _ H=r ; . _ f nr r r t =i. 2 . s- . . - - . . vr + 1 t 1 1 . t a; t
T' . r . + . _ m =Tm. f nr at =l . 2 . 3. . . . . l ' v l + I i1 1 . 2 0i
Using t he f nr war d dif f er ence f nt mul a f nr a%{ . t . 0] nf nr der l :. ~ 0t . _ y T3 . t he bnundar y
cnndit inn TITKIFQ} =t ] becnmes
Tn. l =TH? "- t s _ iH"T]l
it er at inn Met hr sd I 2 3?
Using t he backwar d dif f er ence sr r nul a f er l l { . 1 r . , t r a) er f er der l - 5 1 1 2 , t he
5 1 '
_ _ . . E1 1 " . it . . _
bnut t dat y enndt t t er n ? l :. 1 ' _ . r r r )+ I{ ]' - [ . ' l ; ' , t - 1 r ]' 1 ' "}=[ | beeent es
J
. 1 _ _ 2 iii. * }. _ v1 "
f s, . t r + | E5 5 { LU- . sr ' iiir st r - | + in} .
3+ it J J1 (1 1 - 2 . 2 )
Eqt t at inns (1 1 . 1 5 ) t ht e- t t gl t [ 1 1 . 2 2 ) r ep r esent t he nit e dil il er enee equat inns descr ib-
ing t he t emp er at ur e dist r ibut it r n in t he sl ab.
Met hod en St aiut inn
1 - Assume a set t siiqt - ' al ues Ft s1 ' Tl _ w, say , 2 ' 1 Fnr r t =2 , iii- , - - . , H an- Ll t ie =2 , 5 , - - - ,
M' + I.
2 . Sueeessivel v subst it ut e int n Equat iens (1 1 . 1 3) t hr nugh (1 1 . 2 2 ). ebt aining a
new set er f val ues Fer 1 ' ' . say . T3 , using t he up dat ed val ues in t he equat inns
r :- r . v r . ' , . I1 - r
when avail abl e.
3. Rep eat t his p r eeess unt il |]"f m - 1 1 %| - :1 E Fur al l mm .
Fast er ennver genee may be nbt ained by evet r eiaxing t he set er f equat iens. ' 1 bis is
dune l a]. - ' adding and subt t aet inETn1 _ m i:r r _ 1 - t n Equat ien l { l l . 1 E) and int r oducing a r el ast r
at inn p ar amet er , t r }, giving
T1 =T' + iT + 1 - Ti+ |33T + 1 31 1 ": L1 + l 32 }T
r r . n' r I- ' . I. I 1 1 . 1 - ' I+ | r r . m| I|' + l . l l =| - ' - I- 1 . 1 1 1 m r r . m
[ 1 1 . 2 5 1
wher e 1 * 1 : t n - - 1 ' . 2 . Asimil ar p r needur e is ear r ied e- ut f nr Equat ien- ns{ 1 1 . 2 1 ) and (1 1 . 2 2 ).
giving
. 3
T. . i=1 ' ". ' . . + 9[ sT; ' , sI' ". ' . _ =1 ' ". _ . ] t 1 1 . s- t i
5 t n
and
- . r at : _ . _ , asay t ss+ as- r s
f |- t - . i- . i' |- :l ' + 1 ="|' l r . I. |l , . |' |- :|' + l _ l - 5 k+ l hJJ :4"r r |f . 1 . r _ ir |+ L. . sr - 1 + II: _ mi: I "r s|, . + r + 1 }
(1 1 - 2 5 )
The met hnd er f sel ut ien deser ibed ear l ier is st il l val id. eir eep t Equat iens (1 1 . 2 3).
(1 1 . 2 - =1 ). and [ 1 1 . 2 5 ) ar e subst it ut ed f nr Equat iens (1 1 . 1 5 ). (1 1 . 2 1 ). and (1 1 . 2 2 ),
1 ' l ' _ 5 Pl ' . l I|. ' i' ||- "l iIil . :|. ". 5 [ 1 ' l ' 1 ' 1 l . |. ' 1 . . |' |1 l I5 - 1 . 1 1 I1 ' 1 ' L1 . L"l ' t il ] gil t EUHVCTECIICC, U1 1 1 . 1 . ' . l . H. ' ||- "1 : 1 1 1 :1 I. l I' . l l ' . 1 l ' _ ' 1 ' HIl . H. J{ ;
t hat is, l ' 1 =- =1 III - =1 1 -
2 33 I Numer ieaf sndsinaiy t ieel Met hods wit h MATLAB
2 1 Q : il T. l :l |' l 5 - nil ?
Lonp l do l 1 1 1 1 - 2 "- 1
@ -
i .
II
Q I' I' |_ 3' . |' - l l l l l - In B ' l l . l ' J_ I =' . l l . l l
_ G ) Q2 - 1 - - 1 1 1 1
Loop 2
. . 1 1 '
5 3 _ o=e. a miss Q1 9
' l il D F
1 : 1 - "
Figur e 1 1 . 2 Loop r ul e int p ip e nel wor l r .
1 1 . 3 The Har dy Cr oss Met hod
The Har dy Cr oss met hod. which is an it er at ive met hod. p r ovides t he means For
det er mining t he How r at es and head iosses t hr oughout a p ip e r iet wor l - t . if t he p ip e
l L1 . iH. |' |' 1 L' |. "l ' _ I' 1 ' i1 il . 1 iI|' l gl i1 ' 1 1 ' i, 31 ' . l . Ll . H. 1 l |. |g1 ' II' . l . l ' _ "5 1 ' i- ' |i. ' 1 ' iHIE 1 ' l i. 1 ' 1 [ 1 "||- 1 . I' I' . l . - I- . 1 . - il . ' . l . IiI ' l ii1 ' l i. ' 1 ' i- l iII' iFl |. ' l 1 l . l l |' I I1 1 1 : l . ' 1 . ' 1 . L' |' 1 . ' 1 ' |' _ "l . ' l i' l U[ . 1
is t al t en f r om Reiier enees [ 1 . ' ; i].
The Fol l owing t wn denit ions ar e used in deser ibing t he met hod:
1 . A 1 ' 1 :- up is a ser ies of p ip es For ming a el osed p at h [ see Figur e 1 1 . 2 ). A sign eon-
vent ion is used in deser ibing t he l oop t |_ t 1 es. ' ihe How r at e. Q. and t he head
l oss. shy . ar e eor t sit l er ed p osit ive ii' _ t he How is in t he eount et el oehwise dit eet ion
H. Tl i1 l I. II' i- 1 ' . " T1 ' l l ' :" 1 . l i1 l l ' . 1 l F|- It 5 1 "l 1 . l 1 - El 1 ' 1 l ' E TEHITI- |' :"l ' _ 1 . t hat ' l "' I|"t " l i. 1 l ' l . ' 1 l ' |' . ' |ii 3 - I:- [ ]1 Tl I' [ 1 - |' . ' I|' l
may have a p osit ive Q in one l t t t t p anr l a negat ive Q in t he ot her l nnp -
2 . A t r est l e is a p oint wher e t wo or l nor e l ines ar e joined. A sign eonvent ion is al so
used l br node r ul es (see Figur e 1 1 . 3). A l ie- w is eonsider ed as p osit ive ii' t he
ow dir eet ion is t owar d t he node.
1 t shouid he r eaiiaet it hat Q may he p osit ive when t he l nnp r ul e is ap - p iied and nega-
t ive wher t t he not l e r ul e is ap p l ied-
[ 3 1 ' ~ . ' ode r ul e
Cl -
Q J := [ 1
{ ass ' 1
Q5 1 " If
' l 2 t t ai"* "1 '
so o T: o E Q5 5 1 2 U
H
Figur e 1 1 . 3 Node r ul e f or p ip e net wor l t .
it er at ion Met hod I 2 39
The Har dy Cr oss met hod is based on t wo concep t s:
1 . The l aw oiimass conser vat ion
2 . The f act t hat t he t ot al head at a node is singl e val ued
Ll oncep t { 1 } l eads t o t he node r ul e. which is ap p l ied at each node in t he net wor l t .
The node r ul e is
Z f l ss =1 1 [ 1 I. 2 t 5 )
I5
wher e t it indicat es t he node under consider at ion and [ 1 indicat es t he connect ing
node. The sign convent ion gives t he dir ect ion oi' iHow. Concep t [ 2 ) l eads t o t he l oop
r ul e. which may be st at ed as f ol l ows: For l oop 1 ' .
Eh =1 1 (Il l ? )
wher e iii is t he head l oss in t hejt h l ine in t he it h l oop . For t he l oop r ul e. Q, - J. is t he
iiow r at e in t he jt h l ine in t he r ' t h l oop . l n Equat ion (1 1 . 2 2 ) t he subscr ip t which
is usual l y wr it t en wit h is t o indicat e a head l oss due t o viscous or t ur bul ent ef iect s.
1 1 35 1 . ' . H' f l :' I' I U1 ' |' i1 . l . ' l :l l ' l "l i- ' 1 l l l l ] 1 ' l ' ; "l - 1 |. l C1 _ ' |. ' l . ' l . E' "1 - |1 . ' . l ' . l . b- l i' _ ' 1 ' r sf suhscr ip t s- . Tl l |I' 1 l l . |' I' |l . ' l l |' l ' l E' H. C|. 1 - 1 1 1 5 - SE5 HIE l . il . . l ' i- l . l I1 :y "
negl ect ed in oet wor l t anal y sis. El evat ion changes al ong a l o- op cancel and t her ef or e
need not he incl uded. Final l y . it shoul d be not ed t hat t hese r ul es ar e anal ogous t o
1 " - ' l ir cl 1 oIT' s r ul es For el ect r ical cir cuit s invol ving r esist ances. In t he anal ogy . Q cor -
r esp onds t o el ect r ical cur r ent and p r essur e dr op cor r esp onds t o vol t age dr op . A
descr ip t ion of t he met hod f ol l ows:
1 . Subdivide t he net wor l - t int o a number oi- _ l oop s. mal t ing sur e t hat al l l ines ar e
l I' H:l . |. l [ l . L' l i. ' 1 . 1 . 1 1 1 El l l . IIH. 1 ' i|. ' l l JI' l EI . l l [ 1 ' l J' P.
2 - l . - Jer et mine t he Ier or h est imat e For t he Fl r t w r ar es. Q:' | . For each l ine accor cl -
ing t o t he Fol l owing p r ocedur e. Let r equal t he t ot al number oil nodes in t he
net wor k and r t he t ot al number of l ines. l nvar iabl y . r wil l be gr eat er t han s.
Wr it ing t he l aw of mass conser vat ion at each node gives s equat ions in r
unl cnowns. Ther ef or e one needs t o assume [ r r + 1 ) Q3? val ues. which ar e
CU1 ' . I5 1 . 5 |. "l i. |' l . l I ' |r ' 1 |"1 . |. ' l ' l . 1 :1 1 1 : IHH5 5 Cl l l l ' |' 1 . 1 ' i' l i. ' 1 "' |- ' H' |. ' il l ]. I' l 1 ' |. |l . l iI. . Th l ' l l I' |' |' l . 3. il ' 1 l |' |gQ4_ l . :l - l 31 1 ' . |l ' l ' J l . ' . I' l iI' - |i. ' 1 . IIt l ' . l "'
l T1 il . ' H:"|:1 . 3. PFl :|- "1 1 ' 1 g [ l l ' l . E' 1 "|' l " (IT. 1 Tl Hl ' i. 1 ' i' i. l l . ' . l 1 ' l i' i- EI"' l ". l . ' l . [ 1 |' 1 Ht EEl . l . ' . l l ' l . |' Il ]|l . l l I. ' 1 . 5 l . ' 1 l . . ' |. l { . l |
give a set ot l inear equat ions in r unl t nowns t hat can r eadil y he sol ved For t he
r emaining Qsl l uit hit owiis. _
3. This init ial guess wil l not sat isiy Equat ion (1 1 . 2 2 ); as a r esul t one needs t o
ap p l y a cor t ect ion t o each Q3); val ue. This is done by ap p l y ing a Tay l or Ser ies
exp ansion { using onl y t wo t er ms in t he eap ansion) t o t he HQ) equat ion.
st o+ so)=st o)+ [ . %Lao 1 1 1 . 2 5 )
2 - 1 - [ II I ivumer icaiancl Anal y t ical Met hool s wit h M. - 1 1 1 1 . - 45 '
Tal cinghf l l + 1 2 ): hm and iii- [ Q] =him, Et ||, |at ion { ' 1 1 - 2 1 1 1 ) hecnmes
- sih
l gp l 1 ):; l t l j|_ |_ A t
1 QM Q (1 1 . 2 9)
Jiit p p l y ing Equat ion (1 1 . 2 9) t o Equat ion 1 1 . 2 2 ) gives
l l l l l iii?
Z . h_ l - i=2 _ , [ i1 ' . - T). + [ ]H=5 i' . i. T=l ]' 1 1 1 . 5 ". - III)
_ l 1 '
For each l oop , t he 5 Q J. can he Fact or et iout . t hus giving a - cor r ect ion Fact or equat ion
f or each l nnp ; t hat is.
see
ggg =_ i. i. _ ' ' _ .
al h
il . 5 1
EJILIQL n 1
wher e - Tiis eval uat ed at Q
JQ _ J;
The l ]ar cy l ' I1 i- "eishach equat ion r el at es h t o t he Fr ict ion Fact or J1 1 ": which is
v- . t st oi
' i' = gf =HL}- =f =* "1 ' i2 if 1 1 1 . 5 2 )
The 5 wamee]ain iiar mul a [ 5 ] gives an exp l icit For mul a l or f . which is
. 1 . 5 1 5
Jl = . 2 l l l . 2 1 ' 3. l
r 1 5 . ? - 1 1
l n i+ ii
5 1 . ? D Re "
' ||- l . I' 1 ' l E1 l ' I ; "
He =Rey nol ds numher =i
r t Du
o =t he l t inamat ic viscosit y I[ mh"s)
D =t he p ip e diamet er [ t n]
e =p ip e r ough ness
Equat ion (1 1 . 35 ) is val id f or u:r ""s er "L1 1 [ 1 iand s at 1 r - s l ie s t a .
l n ap p l y ing t he l oop r ul e. some oi: t he l ines wil l ezcp et ienee a head gain :El 1 "l - Ll not
a hear . ) l nss- This occur s when t he 1 :1 - nsv cl ir ecr ion is op p osit e t o t he p osit ive l oop
it er at ion Met hod I 2 41
dir ect ion. To account For t his. t al - t e
I seif t r ess
. =
- sel f sew
[ 1 1 . 31 )
and
i=:1 : 2 . 1 1 1 R * i
{ jg f ' i2 + Q g] 1 1 1 . 35 1
wher e t he I[ + ]I sign is used 1 FQ 3* il l and t he EH) sign is used iFQ - siil l .
The f or mul a For iis
# 1 5 2
I
. 4
issss L 5 ?
st is- t s l R=l ""l
so *
1 l l . l l i- 1 '
][ g|. E|g|_ _ g|Q In e + 1 l - ' . 7 ' =i E .
_ 3. 2 ' D |R_ e|"l
Lit t es t hat ar e in common in t wo l oop s need t o be t r eat ed as t bl l ows. l f l ine j in l oop
iis in common wit h l ine or in l oop t i". t hen t l jm =Q' H and f or t he r st it er at ion
og : ojy + so- so)
For esamp l e. r et er r ing t o Figur e 1 1 - 2 . For t he r st it er at ion.
ef f =Qf i + se. ae. I1 1 - an
The For mul at ion For t he Har dy Cr oss met hod is now comp l et e- Pr oject l l _ f _ ' iinvol ves t he
Har dy Cr oss met hod t o det er mine t he Fl ow r ar e cl ist r ihut inn in a t hr ee- l oop net wnr l c-
Pr oject s
Pr oject 1 1 . 1
Uet er nt ine t he l l ow r at e. Q. and t he Fr ict ion Fact or . f l For t he p r obl em
descr ibed i|t Sect ion 1 1 . 1 using t he Fol l owing val ues: L =iit it l t l t n. D = 1 ' 1 1 cm.
y =save l * ' ~ l 1 ' m' l . U =1 . ees s1 o1 ' r s r s. t . s; . - . t :|)=":it 1 t n. g =s. s1 sir e.
Pr int out val ues f or Q. t he sum of t he head l osses. Eh , and t he head. t hp )m.
devel op ed by t he p ump in t he sy st em.
a- t o I Numer ical aooiAnal y t ical Met hods wit h Mat ias
Pr oject 1 1 . 2
Det er nt it t e t he t emp er at ur e dist r ibut ion in t he sl ab shown in Figur e l 1 ' [ 1 . by t he
CaussSeidel met hod descr ibed in Sect ion 1 1 . 2 . Use t he l bl l owit t g val ues: L =2 . 1 1 n1 .
t o =5 . 2 m. T; =35 5 C. Tm =' _ i[ 1 . [ 1 C. it =5 5 1 1 1 Iii- i' . ~ "mi- C. ii =5 5 1 . 5 S - Wm- C.
l "v' =2 1 . 1 1 1 . M =5 1 1 . E =' [ l . t 1 i1 1 . i1 . s an init ial guess t al t e t he cent er l ine t emp er at ur e t o
be t he sol ut ion of heat Fl ow t hr ough a wal l ; t hat is,
T), =r _ + o""_ _ - r _ is . 1 r _ y i". . For s =s. t s
and For p osit ions ot her t han t he cent er l ine. assume a t emp er at ur e oFa iiow t hr ough
a wal l wit h a convect ive boundar y condit ion . t hat is.
T 1 jir jl - st ]
1 1 , 1 )-
sr . . l - . l ' + 1 E _ l g H - "- 1
and
$ 1 1 . : =Tivl j + (Tl ' r l . . l r :l ' + 1 _ T- l u]. 1 T TiTZ ITF
For . o =2 . f i. - - - . N. no =2 . 5 - . - - - . J1 - st .
Cl nce conver gence has been achievednr l et l ne T1 =Til . T2 "=Tit ). and TS"=
2 ' f _ _ j+ l f or . - r =1 . 2 . S. . . . . . N+ 1 . Const r uct a t abl e For t emp er at ur es T1 . T2 . and TS
f or r t =1 . t i. il . - . . . 1 ' ). - ' + 1 . Al so cr eat e p l ot s of T1 . T2 . and TS al l on t he same
PEEL -
Pr oject 1 1 . 5
Use t he Har dy Cr oss met hod t o det er mine t he t l ow r at e dist r ibut ion (Q' s) in t he
net wor l t shown in Figur e 1 2 1 1 . 3. Pr int out a t abie indicat ing t he l oop number . t he
l ine number . and t he How r at e in t hat l ine. The net wor l t p ar amet er s ar e descr ibed
in Tabl e P1 1 . S. Hint : To ap p l y t he dil l cor r ect ions t o l ines t hat ar e common in t wo
l oop s. use an 1 1 . 1 mat t izc For ever y l ine ident if y ing t he l oop number of t he common
l ine. Set t he ID el ement t o zer o iFt he l ine is not a comr r t on l ine. Examp l e: Sup p ose
l ine l l . l ) is in common wit h l ine (2 . 41 1 . t hen 1 Tl 1 |[ 1 . 1 ) =2 . and sup p ose l ine (1 . 5 ) is
not a common l ine. t hen 1 [ 1 [ 1 . S1 =1 1 .
Tal ce 1 =1 . 31 . 1 5 at 1 t 1 _ l ' m* - i' s. e =5 . 5 2 1 5 cm. and g=1 . 1 . 5 1 ml si.
n|; |s. |- p _ 5 ' | not - no t
J I
oml ms mumhs
it er at ion Met hooiI 2 45
- @
|l ] . l ' _ I
To I I - l ' l l ' l - I- |1 - |' . I|.
TL- P - @ Lc- us
. Q) Q .
_ l l "l ' |1 ' l I I I I I' |' l Il il - l - |||' :II|
1 ' l ||- ||||- l l
- 7
E
o
II.
ii)
{ I- l l T|1 |1 l ' I- .
Figur e F1 1 3 A p ip e net wor k.
Tabl e F1 1 3 Hel wor l r Par amet er s
. <; >@ "
|' . l l :|- l - || |
1 32 2 5 45
t nt t iat G uess
Loop Number t ine Number Lengt h t ml Diamet er r em) L) t r nt t sl
2 45 35 35
3 32 5 5 33 - 1 1 45
4 45 35 45
1 S5 35 45 5 f l
2 45 2 5 35
3 32 5 5 35
4 32 5 5 45
1 45 35 35
2 45 35 2 5
3 45 35 35 - 5 . 5 3
4 45 35 35
2 44 I Aiut t t er icaianci. Anaiy r icaiMet hoci' s wit h MATLAB
Pr oject 1 1 . 4
This p r oject invol ves det er mining t he vol ume How r at e a p ump wil l del iver t o a
cl osed t anl t . as a Funct ion oil t ime [ ' 1 ]. T1 t e p ump char act er ist ic cur ve { H vs. Q)
was t al t en Fr om a p ump manuf act ur er ' s cat al og. TTt e conf igur at ion For t his p r oject
is shown in Figur e 1 1 1 . 4. Assume t hat t he t anl t r eceiving wat er is cl osed. Thus. as
wat er Ft l l s up in t he t ar t l c. t he air in t he t anl c is comp r essed- l sot her mal comp r ession
is t o he assumed- The p r obl em is t o det er mine t he t ime it t al - t es t o r aise t he wat er
l evel in t he t a nl : by a sp ecit ied amount - Tiar a p oint s nir he { _ 1 "l vs- Q) cur ve p r ovided
by t he p ump t n- anuiiact ur er t un it s changed t o S1 unit s) is shown in Tabl e 1 31 1 . 4.
[ Iiet er mine t he coel iicient s oi' t he t hir d degr ee p ol y nomial by t he met hod oi
l east squar es using l ' vl ATLAl 3' s p ol y l it f unct ion t hat r ep r esent s t he ap p r osimat ing
f unct ion For t he dat a in Tabl e Pl 1 . 4. The p ol y iit Funct ion r et ur ns t he coef iicient s a|,
a1 . a. . a_ . For t he t hir d degr ee p ol y nomial t hat best Fit s t he dat a. The ap p r osimat ing
f unct ion as descr ibed by Equat ion [ l 1 ' l l . 4a) is used in t he anal y sis.
H =a, Q- 1 + a3Qi+ a_ . Q + a4 I[ l 1 1 . 4a)
Ap p l icat ion oit he ener gy equat ion [ 4] t o t he sy st em shown in Figur e P1 1 . - 4
gives
t 1 1 |, 1 _ . _ . =hi- I- [ 1 3- r t , + t i+ ii- ii+ 1 s, , . . , . . , , , , , [ P]l . 4h)
r
wher e
it s _ 1 =t he head t he p ump del iver s t o t he wat er t l owing t hr ough t he p ip e.
is =viscous head l oss in t he sy st em.
=el evat ion.
"Il -
t s"- - . "' ei
p air ]
. . _ k
1 . ? Ian
EI Wat er
i. n
|-
Punt p
I
2 . - r . "' . "' . "' "a"' . "' . r "' . - "' . "' . . r ". - * ". F"'
3|
Wat er
. - * . + "' . - "' . * ". # ". # ". - "' . - ". <- ". "' . - "' . r * "
Figur e F' 1 1 . 4 A sl t et ch of a r eser voir , p ump . t anl r sy st em. { Fr om Ref er ence [ 5 ].
Wit h p er mission of Manchest er Univer sit y Pr ess. )
it er at ion Met hor iI 2 45
Tabl e P1 1 . - 4 H vs. Q Dat a f r om Pump Manuf act ur er
I5 2 |' m ="- ' 1 1 H iml 1 2 imit hi H t in. )
3- 3 43- 3 5 1 . 5 45 - 5
5 . 5 43. 4 5 5 . 5 35 . 5
1 3. 2 43. 5 2 5 . 3 35 . 2
2 5 . 5 43. 5 5 2 . 2 32 . 2
2 2 . 4 43. 3 t i- 5 35 . 3
34- 2 43 5 5 - 5 34. 4
41 . 1 42 . 2 1 5 2 . 2 32 . 5
42 . 5 42 . 4 1 5 5 . 5 35 . 5
5 4. 5 41 . 5
Cr =absol ut e air p r essur e in t he t anl - t .
f =sp ecic weight oFwar er .
p m =sur r oundt ng at mosp her ic p r essur e.
F=wat er l evel above t he bot t om ol l t he t anl t .
I- l . _ 1 ' l E l Ti' . l l t "t " 1 ' - RTE { l 1 E |r ' E1 ' [ ]' j' . l l IEL1 . 1 I1 ' l E P1 _ 1 . 1 T1 . P I' l ' l l . Z |. S1 . ' S2 l [ 1 5 l ' - 1 }
[ hF_ )g_ 5 =H [ P1 1 4- t - )
Viscous head l oss. h. - . in a p ip e is given by [ 1 , 4]
It - ' |. I' 1 ' l |' ; ! l ' IE'
l t .
soit
= Ti [ l "1 1 4d)
It ig f
Q =vol ume t l ow r at e t hr ough p ip e.
L =p ip e l engt l t .
1 :- 1 ' "- |- . |t r - s
l vf l inor l osses due t o el bows. ent r ance l osses. et c. ar e esp r essed by [ 1 4]
=gr avit at ional const ant .
=f r ict ion Fact or .
=diamet er oFp ip e-
1 1 . . . . . .
I
t t ' gD
wher e ii' =minor head l oss coet l icient .
s
. . . . . . . . =if { P1 1 so
2 45 I Humer icaian- o' . 4naiy t ical Met hods wit h MATLAE
Subst it ut ing Equat ions t F1 1 . 4a]. [ F1 1 . 4b). [ F1 1 . 4d). and { F1 1 . 4e) int o Eqt t at iot t
[ P1 1 . 4c) gives
E 1 ' J1 f ' | l ' i'
' =1 t Q' l + i1 :Qi+ i1 _ t Q+ t l _ . _ =nsgD- t D. ! [ + i[ Fj+ %+ l ' Fa_ Ft + ' l l il l p l l - "H1
Rear r anging t er ms gives t he Fol l owing cubic equat ion:
s, o- :+ j. - . . n1 :D_ 1 j; f + r r jjoi+ s_ . o
I[ F' 1 l . 4g)
+ al t . |p . t _ t Fl . r t :- at |:5 _ g- ]_ |. _ _ |l - ' :j :
1 '
For a smoot h p ip e l ine. t he Fr ict ion Fact or . _ , |F. can be ap p r ozcir nat cd by [ 2 ]
f =it . 5 2 l ogm t o - t . ss)' i { ]=1 1 _ 4}1 j
wher e
4
Re =Rey nol ds nt t mber =l { Fl 1 . 41 )
r t . |' Jv
wher e
v =l t inent at ic viscosit y oil wat er .
The air p r essur e. p i. at t ime 1 . . is det er mined Fr om t he ideal gas l aw For an isot her -
mal p t ocess: t hat is.
} Pl t . il [ [ ' Tl t ' ATFE4 - 5 2 f t ] { 4 - T2 _ Tr il l
. P, ' l . t _ T{ . F. } P_ . |. ATM _ Ej _ FEIJ} * . IT_ q_ g' { g _ z: _ j. [ r n { F1 1 . - 4])
I I- -
It - l . I' 1 ' l t ' ; ! l ' l ' ; "
=init ial air p r esst t r e. D .
1 ' 1 1 . . "
=cr oss- sect ional ar ea oFt anl t =ii. as?
4
"' i"' =at r vol ume t n t anl t .
2 3- : diant et er oFt anl t .
An it er at ive met hod of sol ut ion For det er mining Q is as Fol l ows:
l - Assume a val ue For f . say . _ jF]; st ar t wit h f l =5 . 5 3-
2 . Sol ve Equat ion [ P1 1 . 4g] For Q by t he l ' vl AT1 . At iFt t nct ion RUCITS. sel ect ing
t he t r t a:- t it t t ut t t p osit ive r oot .
it er at ion Met hociI 2 42
3. Sol ve For Re by Equat ion (F1 1 . 41 ).
4. Sol ve For f . say . by Equat ion [ F1 1 . 4h).
5 . if _ f . |~ =: 1 . 5 J- t 1 5 _ ' l t henf =f ; and Q =t he val ue obt ained in st ep 2 .
5 - 1 F- ~ 31 - 1 - 5 is l 5 T[ t hen set f j =1 5 : ar t d r ep eat t he p r ocess { st ep s 1 t hr ough 3).
2 . Cont inue it er at inn unt il c 1 . 5 st 1 5 - 1 -
TT' t e gover ning equat ion For t he t ime it t al - t es t o r aise t he wat er l evel in t he t anh is
as Fol l ows:
:iir i. ii_ _ . . . r r - "_ Qt i. . r , 1 I
l g Qt - - 2 . 1 or g AT t t t t at o
Sep ar at ing t he var iabl es and int egr at ing Fr om i"=t a. t o i"=t I, gives
l ' l |- t ' l , -
r t r . . _
ii=4 - jQ{ y :1 P]_ 4l r jFii' ~ r . Jiii iP1 1 - - 4|)
I
. ' t
Use . 1 1 - imp sonis r ul e t o obt ain t a . - - A r eview oFSimp sor t is r ul e Fol l ows:
Civen:
s
I =J F{ ar ]. - :t l v
Subdivide t he it dont ait t it t t o 1 1 1 even subdivisions giving r r |. . v. . . 1 r , ' . . . . . 1 r |. _ . H. Let t he
Funct ion val ues at at ] . . 1 r , . . v, ' . . . . . 1 r . ||. + ] be i- 7 ] F. . . F, J. . . . . . i1 :' :. _ |. _ E. t hen
A
r =f ir ; + s. ' - Y. + s. s_ . + ss. + 1 2 ; + ~ ~ + . r . s. . + s. . + . ir 1 =1 t . s. . ~ . ; .
1
Then t - . ir and~ F.
* 2
Pr ocedur e:
1 . At each ii det er mine p g r . by Equat ion [ P1 1 . 4j).
2 - For each FJ. . it er at e For Qj by t he it er at ion p r ocedur e descr ibed above. obt ains
ing al l t he s- Then det er mine al l t he FI. l s.
3. Ap p l y Equat ion [ P1 1 . 4m) t o obt ain t he t ime r p .
2 45 I i"t l ' umer icaiano Anaiy t icaiMet hods wit h M2 1 2 1 . - 45
Use t he Fol l owing val ues For t he var iabl es:
' |[ E3 ' ]=3i1 m, F|. =l - 2 m. r j =4- 2 r n.
v=1 . 5 1 s:1 5 _ [ ' m3i' s. p _ m:1 . 5 1 32 H1 5 5 l "~ l i' m3.
qr =I_ ' ~ ]I- ' _ EIt ]1 "~ l . im' l , t iI' =4. 5 , . [ 1 =l 5 em. - [ =5 l ' 1 m, _ l t r d- [ l l ]:p r m, N=l 5 5 . D. j. =l . ' 3m
5
1 - Cr eat e a p l ot oFt he ap p r ost imat ir t g cur ve oFH [ m] vs. Q [ 1 - 1 1 ' Fh) [ sol id l ine)
and on t he same p l ot incl ude t he dat a p oint s as cir cl es. Not e: E1 - t cep t For t he
p l ot s. Q needs t o be in t _ nt "l is).
2 . Cr eat e p l ot s oFQ I[ t t t ' ii' 1 t )vs. t ' [ nt ]. t t r )vs. i [ nt ). y s- _ T[ 1 * l it t t 1 gage]vs. t int ). and
f vs. Hm].
3. l r int out t he t ime. If { s). it t al t es t o r aise t he wat er l evel in t he t anl t by 3 m.
4. Pr int out t he air p r essur e III - iimigage) in t he t anl t at t ime sf .
5 - Pr int out t he init ial l 1 ow r at e. Cl j. and l inal iiow r at e. El y . in [ m"' i' h).
Ref er ences
l . l l - uber . "' 1 ' - ' 2 . and l iicny t t n. R. A. . Fit r ir i. i' |r t ' r r 5 t r r r r t ' r . ' s. john 1 1 4- "il cy 5 - E Sons. l "~ l ew "t ' or it . 1 5 5 5 .
2 . Hol r uan. _ j. R. Hear Tr enr ir . Sl t h ed. . l ' t l cCt aw- Hil l . l "' ~ l cv- ' Tot l t . 2 5 5 2 .
3. Pl - ober . "' 1 2 . . The use oit he t iwant ee- join For t nt t l a in p ip e net wor l t p r nbl er ns. _ i1 t it r r r t e. isf
. 1 [ :l ' . l ' :|! 1 l - "|! ' . ". l 1 . l l . FI1 t ! ". l i|"i1 :. . 3- 1 5 - 31 2 . 1 5 1 5 4.
4. Whit e. F. . Fiuinl r l dr r hnnies. - 5 t h ed. . l ' vl cCr aw- Hil l . bl ew Tor l c. 2 5 5 5 -
1 3- obcr 1 1 1 2 Fl uid mechanics comp ut er p r oject For mechanical ct t ginccr ing st udent s. s. . - .
sur es. so. s. jul y r oos-
Chap t er 1 2
Lap l ace Tr ansf or ms
1 2 . 1 Lap l ace Tr ansf or m and Inver se Tr ansf or m
Lap l ace T' r ansFor ms [ l . 2 ] can be used t o sol ve or dinar y and p ar t ial diit l er enr ial equa-
t iot t s iil il l l iis). The met hod r educes an or dinar y dil Fer ent ial equat ion t o an al gebr aic
equat ion t hat can be manip t t l at ed t o a For m st t ch t hat t he inver se t r ansFor m can
he obt ained Fr om t abl es. Tl t e inver se t r ansFor m is t he sol t t t inn t o t he dil Fer ent i:t l
equat ion. The it t ver se t r ansf or t t t can al so be oht ait t ed by r esidue t heor y in cot np l - es
var iabl es. The met hod is ap p l icabl e t o p r ohl et ns wher e t he indep endent var iabl e
domain is Fr om 1 :5 t o ' =- =_ ]. The met hod is p ar t icul ar l y useFul For l inear . t 1 onhor noge-
r t eous dit l - er enr ial equat ions. such as vibr at ion p r obl ems wher e t he For cing Funct ion
is p iecewise coot int t ot t s.
1 . et H, f l [ t ' ) he a Ft t nct ion t l et l nt r t l For al l r E l l ; t hen
- -
. t t _ i t ' r iJ. - . Fir ) jr " _ r ' t r ji. t r oat )
if [ s1 is cal l ed t he Lr t jnf t - ar t Tia- r r r gf ir r r r t of f - { r _ ).
The int - ' er sr ' r r r t r r g)F; Ir ' r r r oFf it s) is def ined t o be t he Funct ion f ir ). t hat is.
' 2 ' "[ t [ F[ il 1 =Jf "l _ il 1 . 1 2 . 2 1
"ii1 2 e can cr eat e a t abl e t hat cot t r ains l sot h_ jF[ t ) and t he et t r r esp t t t t t l it t g F[ . r ].
2 45
2 5 5 I isiumer icaianr iainaiy t icaiMet hods wit h M. i' t 1 ' i_ . 45
Exar t t p ie 1 . 2 . 1
Let f (r ) =l :t E 5 . Then
2
' 5 ' ?
r
1 _ . t =t _ I I
. ioi- js - il l ! - - j- i _ j =_ um
l l T Il l T
Examp l e 1 2 . 2
t - ar t s =r t .
I:I- I r . I- - _ _ I |_ -
_ | _ I
_ . l i l
l s t r - "* r =jaw- ::sr =js- it - r "' sr =j- it j =_ . :e. =- . - e
U U |[ _ ' - ' ' r I) U - I- ' r 1 '
Linear it y of l ep iar e Tr ar of or mr :
t t (af [ r )+ t ig(r ))=. s. . t (f (r )+ t - t t igir ji) (1 2 . 5 )
Examp l e 1 2 . 3
Let f r o =. - . - ii"
F, 1 1 r - 1 - ii. o . r + it t . ' t
r a]|_ _ l g: _ I
Et c .
. r i[ t ) st t It s+ it It )| r + 5 )"
1 ' ' - 1 ' 1 2 l .
. i_ l "l i1 . 1 ' _ 5 - l - Hil l l l
. i7 (r "' ) =it - Et cos t . or )+ it - i (sino- H ) (1 2 . 2 )
Equat ing t he r eal and imaginar y comp onent s of Equat ions (1 2 . 5 ) and (1 2 . 2 1 gives
t i
l F(cos or ) =m (1 2 . 5 )
ii (sint ot ) I l m; (1 2 . 5 1
r
l F. ' i"(f (t _ 1 ) =Ft r ). t hen
F(s - . 1 ) =If (r )e_ l _ sf t =If (r )e' e_ t f r (1 2 . 1 5 )
Lap l ace Tr ansf or ms I 2 5 1
or
. F(- r . a)=i' (f (r ) r ) (1 2 . 1 1 )
Combining Equat ion (1 2 . 5 ) and Equat ion (1 2 - 1 1 ) we obt ain
. 1 - - t ' 5 i|'
_ ' t ' (' e"' cos t t It t )- . .
|:5 _ g}_ _ |_ m_ (1 2 . 1 2 )
Simil ar l y .
5 . 1
E(e"' s' noJr ] - . .
I g_ _ g- + m- (t at s)
Examp l e 1 2 . 4
n+ 1 } :_ [ I_ . It - l - 1 E:' . r ar r
Il l -
a. l '
Let af ar =vs- air . t hen t r =Land l et t r =r "+ ' ; t hen r t l t r =[ r t + 1 ) t ' . r t ' t . .
5 - ut I
Ir t a' r r =[ t . t r r jE jt r . - r f t r { 1 g_ ]. =. jj
1 1 ' L1
Subst it ut ing t he above val ues int o Equat ion [ 1 2 - 1 4) gives
1 1 '
_ r n+ 1 _
Ir e- 1 1 E t t t :_ jC! _ It + l %| + iJt nE st at :
_ ' - ' 5 '
n ' 1 u
1 5 1 '
. |. , , r t + 1
_ [ i' it i": T- sir ") t t a. 1 s)
I3
Fr om Equat ion (1 2 . 1 5 ). we can see t hat
E{ f ""} z? f t ; r . |1 ' J
. s(r " . ' i=3 sir "- ii
ii
- eir )=l - t * (r "' )=l . e[ t )=l 1
r r r
See Tabl e 1 2 . 1 . Tabl e of Lap l ace Tr ansf or ms. "
2 5 2 I l vumer ical anol l snal y t ical Met hocl s wit h M. - i' |1 "L. 45
Tabl e 1 2 . 1 Tabl e of Lap l ace Tr ansf or ms
ir s) Fr t )
1
1 _
. 5
1
_ 1
ir s
it
a Q) (n=L2 p 3
S
Ir _ r t ' l
in5 !
1
4 T- F
1
Q5 2
s . . i agi
1 ' 1 ;
El 5 - l ' J1 Il T' [ l [ r r =. - Ir ? ! - ujl
Er r f r 1 - l - ' 2
1 n3n5 moHd5
1
f t i
sa
El l !
B "t
is- a1
IE. - 1 - 1
' l
9 H T =1 |I2 r III. l
isa1 H
Li|r t |E. t t
m- t n
t o (it . - . - I1 1
t sa1
r l i: t eat
1
1 1 l l 5 1
isa1 is- biHT
1 . t - t ht
[ H_ be e 1
s .
1 2 Ii - bl
t saHs- bl HT
1 . ,
E5 1 5 5 1 - - l I1 t I! ' E' [ l
1
(saHsbnse)
1 3
(5 a1 e" + ic a]eF"+ is hie"
iabHhcHca)
Lap l ace Tr ansf or ms I 2 5 3
Tabl e 1 2 . 1 Tabl e of Lap l ace Tr ansf or ms (Cont inued)
iisi Fit l
' 1
H s + at
1 .
s1 nat
a
5
1 5 _ T_ _ 5 '
s+ a
Ct
1
l l 1
1
sinhat
a
5
if
cosh at
' 1 5 - 1
sisi+ af )
1
i1 cosat l
H2
1
1 9' sit s + a1 )
1 .
E; { at - sinat )
(s + a' 1
1
3 (sinat at cosat )
S
2 1 i
2 2 2
is+ a1
t
5
sinat
. ' - t a
aa 5 "
(sf - |- sil l
. 2 2
as
t s"+ a 1 '
. 1 .
{ sinat + at cosat l
2 a
TCDSHT
S
Tl (sf + ai){ si+ hf )
t el al t )
cosat cosht
git _ H2
' 1
(sa): + hi
2 5
l
5
e sinbt
S- H
t 2 5 . .
(sa)* + bi
e' "cos ht
[ Cont in t r er il l
2 5 4 I Numer icaf andnaf y t ical Mef hds wit h MATLAE
Tabl e 1 2 . 1 Tabl e nf Lap l ace Tr ansf or ms { Cont inued}
I |f . ~ =. ' Fit }
3. 5 1
5 + a
4. 2
. 4
s + 4a
H-
E "e%[ cusLJET- El - _ sinL ' E]
I I
I-
sinaEcnshat cc1 sat sinhaE
. 5
i4
s + 4. - 1
' 1 . .
Fs|nat s|nh. - at
. 2
1
r - 1 * - + 1
%|[ 5 in|1 at sin. a! ' }
5
5 * a"
1
7 |[ - [ it ]! - aha! cur - ; at }
2 . 5 "
H. 2 1 5
. 1 1
H+ a- 1 t 1 I5 in at at cns. - H
l s + a]
1 { s1 ]
. 5 5 .
El dl r I H - 1
1 . u}=_ - - Fm y
" nl dt E
5
5 H. - I.
- :-
L
1
E"{ ' 1 ' + Ear }
:, |]i' TE
s . a- . , "s. b %If E' E"E "]
5 + 5
1 aeher f c t a- JTJ
:, |' In! '
1 . - ' ,
Z + . ae er f : ail
J1 - E
if 1 '
F
1
J5
' 1
EH5 ' 1 '
1 _ , :_ .
H1 Fe er f { avi
. x w 1 ?
+ :=' r * . I
e":' E- r . |"c{ . a. _ . "f ]
Lap 1 ' eEeTr ansf c1 r m5 I 2 5 5
Tabl e 1 2 . 1 Tabl e eiLap l ace Tr ansf er ms { ent inuedl
1 ' 1 5 } F1 1 1
I 1 ,
- 1 - e r 1 h. "I:r "=. ' r i7 1
{ s+ a1 Qs+ b J 1 aE E a
1 1 1 2 - I . 2 f ir
41 , 3 e [ er f 1 a- JT_ 1 1 jl
* a . 1 5 1 5 - a' 1 1 ~ 1 ' E+ e1
1
42 , I [ at ]
J5 "+ a* U
1 .
- 1 3 ; e * " ; , , 1 2 . , ! E1
44
T}; e""' " - J:T1 T1 :1 - 1 - iHIE
. 1 5 U1 ; E* " QSFCDEHIJIH
1 Z 1 .
- I1 - { ' 1 FE L HFIHEE
4- ?
1 1 .
we Hsr nhl m
5
1 .
4. 1 1 E- * 1 1 e:. 1 1 1 Leap - L
2 1 , 1 1 1 1 4!
' k
- l _ ||| _
49 - ""1 ; - n FL J Se [ 2 ] er c
5 1 1
EH " [ RED] e! :~ :|:|[
' | kij 1 I ku- J
5 1
. . 1 - 1 : . 1 '
5 _ - 1 - . |! ' E- ||- . "~
|
{ En nt f nued}
2 5 5 I Nun1 er f r :aian::f Anaf }r t icaiMet hods wit h MATLAE
Tabl e 1 2 . 1 Tabl e of Lap l ace Tr ansf or ms [ Cont inued]
1 ' | . - =. ; . | F|_ "r , 1
5 2 41 E?
- 1 . . - I _ t , ; 1 , ; 1
1 1 ; :gn; | e "e""' er 1 "1 :{ a. _ , it + ]+ er f r :[ J
5 1 . 1 1 - . 5 1 1 . _
5 I1
E - kl . |. |t . 1 2 1 - kl
- it 2 D e e E' ||' f C[ |El q; "? + ]
. 5 1 2 . J 1 ii 2 31
' i' T' I. I' :|
5 - 1
E:- "l bs
_ E|l |' :|
5
5 5 It
E' _ |_ t _ l . - I
Z
? { 1 co- sat ]
ss '
2
1 :1 5 qr I t ut - . . 1 I _ _ f _ 1 t . ' h 1 ' }
5 ?
is _ d2
J- : 1 _
ar |::t an s|nf t i'
s t
1 2 . 2 Tr ansf or ms of Der ivat ives
i1 { f r J=v[ - { PEI}: r r dr r
Il l
sf
Let r if t ! =jig- af t . t l 1 t :n t i=f
Let 1 ' 1 =F . t hen r f r r =- - s 1 - 3" of t
If - q|:f :l _ |I E- f f =|_ f e- _ ' r l :+ . ' - If - t - _ "' r l l t =f l 1 l ]:|+ _ 1 [ ]E_ l E' l - 1
. 1 f i_ j""J= [ _ { " t r 1 s" r r r
Il l
. 1 " -
Let sis =isf r . t hen 1 . " =j '
r f t
iap iace Tr ansf or ms I 2 5 2 '
Let r t =e "1 , t hen af r r =- r e af t
[ f { r }e_ af t =[ f ir m ]ET+ sjjuem t it =j"[ i_ 1 ' ]- . 1 f I[ [ i]+ sl . iE|[ f _ 1 { |1 _ 1 j. q.
By Equat ions (1 2 - 1 6 ) and { 1 2 . l ' F' ]I we can see t he p at t er n f or t he Lap l ace Tr ansf or r n
nFt l ' |e ; vt i' t der ivat ive, t hat is,
_ . - E1 Ur r sq =J. - . E Uq, _ I - . |f [ |]], _ I. . 1 f * { |]], _ . . . . . _ . f ' 3"- 1 ' . [ [ ; q 1 1 1 1 3],
1 2 . 3 Or dinar y Dif f er ent ial Equat ions,
Init ial Val ue Pr obl em
[ 1 1 . 1 - nsidet t he dif f er ent ial equat inn ar ising f t n- In a 1 - L|IIl l ' il 1 E- L' l El ! - i- l f l p - [ III- Tl ' l El t . - it . - L sy st em wit h
a dr iving f or ce { see Pr oject s P2 . l [ iand 1 1 2 . 1 1 }. ' Ihe gover ning dif f er ent ial equat ion
f or t he met ien nf t l "ie mass. p it }. is
F
' ]|; ""_ |. _ _ |l l _ _ r :|||"_ |_ . r l :|_ |:- iil il l l l l - l l
Hi Hi i"i". i'
wher e
r r r =mass.
f r =t he sp r ing const ant .
c =t he damp ing coeii- icient .
. FU =dr iving f or ce.
Ta l t e t he init ial condit ions t o he
Jim =1 ' 1 . jf iil ii=|3
Let Jp =iFqr =iand 1 - =M, t hen E. t ' . ]|. . ' |E|. l ' l |[ ]I1 I[ ' ]1 . 1 ' :i' ]heet 1 n1 es
r r i t a m
. 1 ' + r r + ar =r ' it 3' 1 ; ' 1 a. ao' 1
The Lap l ace Tr ansf or m of each of t he t er ms in Equat ion [ l 2 . 2 Dif ol l ows:
- 5 l "[ _ 1 ' "i=t i- i 1 . ' . , r isy i]_ 1 "iE' i
Ei, 1 ' i}=Ii i, 1 ' }, 1 ' iiJi
2 5 3 I Numer icaiancf dnaip t f caiMet hods wit h MATLAE
Let f f l [ _ j, |- I] = H ancl ii =_ ' f ' f r ]; t hen t he Lap l ace Tr ansf or m t i- f E- quat inn { l 2 . 2 1 1 ]I
hecomes
{ r - . e- p 1 + p (. r - a1 + ar =a
t
p + ; . . + . ; =1 r =1 r + ; . 1 a+ |3+ a
Let H{ r ]|- I 1
r l hgn s + p r + q1
Fit }=[ t r + r =iH+ [ 3]Hir i+ Ri. s}f =f isi 1 , 1 1 1 , 31 1
By t he use of p ar t ial f r act ions and t he Lap l ace Tr ansf or m t ahl es, we can f r equent l y
oht ain t he inver se t r ansf or m, if i|[ }"ir ]1 ]I =1 ; - it ].
Examp l e 1 2 . 5
G iven t he f ol l owing dif f er ent ial equat ion [ no damp ing and an eit p oneiit ial l v decav-
ing dr iving f or ce). det er mine t he sol ut ion.
_ y + J1 - ' = if
(1 2 . 2 2 )
I1 5 1 =1 _ }' l 1 l ]1 =l l
This p r obl em t s t he gener al f or m of Equat ion I[ 1 2 . 2 [ i}. wit h p =ii. if =1 . r =5 1 2 7 ' .
1 ' 2 : 2 . and II]. ' 1 hus.
1 "' l [ _ r ]| =[ 2 s]H{ r }+ . iif s]' H{ ' r :l
wher e
1 * 5
H{ r ]=, iand . if { r }=. ' =t [ je ]|=i
r + ] r + 1
Then
. 2 5 5
F1 . + .
if r + 1 I[ _ r + l 1 [ s + 1 1 f l uf f
Lap l ace Tr ansf or ms I 2 5 9
Fr om Tabl e 1 2 . 1 .
2 - 1 qj =cost
s + 1
_ 1
it . =sint
. t + l
For t he second t er m on t he r ight - hand side of Equat ion [ I1 2 3]. we need t o decom-
p ose t he t er m by t he met hod of p ar t ial f r act ions. t hat is.
5 2 1 . l ' :i' s+ C' . r 1 { r i+ 1 }+ { . Ei' r + iI' ]I{ t + l ' }
t i+ 1 1 t i + 1 1 t + 1 + ii+ 1 t r + 1 _ 1 t r + 1 1
Then
' 5 5 ' 5
f l - l ' r B' =l ]' , l :- l ' . |E=Ll , . - "' 1 + l ":=i_ ", - l i* . - i=3. . f ii=E, . L- i=5
Ther ef or e.
s s so- 1 1
t r + 1 1 t r - 1 1 at i+ n at r ~ i+ 1 1
Thus,
. It ' 5 5 ; T
:i"r l :. . F:l ::_ i+ . |
f . t "+ 1 ) 2 I[ t + l } 2 { r * + 1 _ 1 2 I[ t + i}
5 - ; . ] 1 =r r
r + l
2 1 - ] T =cost
r i+ 1
E. - . 1 _ .
1 - sr nr
_ r * + l
Fr om Tahl e 1 2 . 1 ,
Ther ef or e. t he sol ut ion t o Equat ion 1 :1 2 . 2 2 1 is
1 ' 5 _ 5 _ ,
Jr =- cost + st nr + r
I 2 1 E
F1 . p l ot of } vs- I is shown in Figur e 1 2 . 1 .
2 - E1 1 1 I Numer icaiancf dnaip t t caiMet hods wit h MATLAE
J vs. t
4 1 1 1
] .
TE
s.
_ ]_ . . .
_ 2 . . .
1 . ]; i i i
ii 5 1 1 ] 1 5 El ]
It - t i
Figur e 1 2 . 1 The p l ol of _ v vs. f .
1 2 . 4 A Shif t ing Theor em
1 f l f ' if it }]|=F[ , t ]|]| =1 ; f in. - ' t a. t hen
FI[ r a}=J. f { r ]r _ "' _ " sf t =J' _ f ' { r ]r i2 - "ai=st j' t i1 . r ' i
For damp ed vibr at ions.
. i { e' cosoJt }- Tia _
l . t t t ]I* + t 1 I|
- ' - , . o|' t [ I]
. :t ir s1 noJt } . ,
' [ . t r t ] + 1 . 1 1
Exant p ie 1 2 . 5
Det er mine t he sol ut ion of t he f ol l owing dif f er ent ial equat ion:
J1 ' + f ' i_ ]. t i+ 2 _ _ 1 - ' = jsin It
, 1 t =' ii=1 . , i' t t i1 =- ii
{ 1 2 . 2 ==' i' ]1
I[ l 2 . 2 i_ ]'
[ l 2 . 2 h' }
1 1 2 . 2 2 1
Lap l ace Tr ansf or ms I 2 5 1
sin2 r
p =3. . ; =2 . r = . isin2 t =l i1 T
at . 1 . 1 _ . 1
_ t * + 1 1 |. t + 2 f r + 2 ]l I[ s+ l :|
1 iii=l ir + 31 Hl i il l - "ir Il + Rit iHiii
Rm: f [ 5 1 t 1 l t ]_ 1 1
2 _ t ' + 1 1
t I + I
1 . =+ a1 t 1 + 1 1 t . ~ + i1 1 1 i+ . 1 1 1 i+ 1 1
l r "{ r ]I-
l t is l ef t as a st udent exer cise t o show t hat
1 I 1
[ r + 2 i{ r + 1 1 T { t + 2 }+ { . t + 1 ]
r _ 2 l
{ r + 2 }{ s+ l ] [ s+ 2 ] [ r + l ]I
1 _ x+ ai+ C + o
l . t f + ==i}[ r + 2 ]' (t + 1 } . i+ - 1 ii- a . - + 1
1 _ 1 . 1 + ai1 1 i* + sr + ; t 1 + c1 H+ =1 1 1 i+ 1 1 + o1 ii+ a1 1 i+ a1
1 j+ - 1 1 1 1 + a1 1 . + 1 1 1 . ~ i+ r i' 1 t i+ a1 1 ' r + 1 1
To mal t e t he numer at or of t he above equat ion equal t o 1 . we r equir e
B+ t I. ' + . D=1 ]. . r 1 + 3. Ei+ - l I. ' + 2 . [ J=i]. 5 . r l + 2 B+ - i[ . ' + 1 i. [ 2 =, 2 . r 1 + - ' - iiL' + S. [ 2 =1
Let t ing r 1 =x] . 1 5 =xi. C =x. . and D =x, _ . we may wr it e t he sy st em of equat ions
as a mat r ixequat ion. t hat is.
"1 1 1 1 1 "x, ' "t 1 *
1 31 2 xl 1 ]
st at x_ , _ l :1 i
_ 2 [ i- 1 1 E_ _ x_ l J _ t _
2 6 2 I Numer ical anciAnal y t ical Met hods wit h M. r 1 T1 . r - 1 B
Using t he ir st r mat r ixf unct ion in hr ' 1 i5 t TL. I' it E' E , we can r eadil y nht ain t he sol ut ion
f or t he xval ues; t hese ar e
x1 =. 1 =- 1 1 . 1 1 1 1 . xi=a =- t t t ns. 1 . , =c =- 1 1 . 1 2 1 . sq. =o =sar i
_ 1 _ . ,
a =2 -
so- 2 _
B- 1 1 zzf er
1 + 1
E" il l =l sin2 t
r + 4 2
1 5 - K if ]=cos2 r
r I+ 4
Col l ect ing al l t he t er ms in Fir } and ap p l y ing t he above inver se t r ansf or ms gives
VJ. - 1 l [ t . ]I=. f ' _ l |[ 1 "" =l - ? 5 e_ Ii[ l - ' . 7 f ' icos. ? . t 1 ]. . ' - if r sin. ' - it
Jit l t hough we wer e ahie t o sol ve t his p r nhl em l ay t he use of Lap l ace Tr ansf or ms, t he
sol ut ion cot t l cl he obt ained wit h f ewer st ep s by eit her l ' vl F' t T1 . . - il t iiis odes- ' 1 5 f unct ion or
by t he met hod invol ving comp l ement ar y and p ar t icul ar sol ut ions { see Figur e 1 2 . 2 1 .
The p r ogr am using t he ode==1 5 f unct ion in l vl r ' - "t TL. 1 ' i. H f ol l ows.
ioDE_ 1 ap 1 ace. m
1 in t his examp l e e eingl e seennd or der or dinar y dif t er ent ial equat ion
t is r educed t o t we Eir st or der dif f er ent ial equat iens. This p r egr am
t sol ves t he t we equat ien sy st em using HATLAE' s ode45 Eunet ien-
s The p r obl em is t o det er mine t he y t t ip osit ion or t he maee in a
t ep r ingdeehp oc ey et em.
1 Yl zy , Y2 =v. Y1 ' =Y2 , Y2 :5 * ein 2 t 2 2 2 - 2 2 1
1 y t 1 :1 . D, y ' t Dl : e.
el ear ; el e;
inicia1 =[ 1 . 4. o];
t ep an=o. D:D- 1 ; 2 o;
t ol 1 =1 - eE;
t ol 2 =[ 1 . De- E 1 - De- E];
op ciona=odeaet 1 Rel To1 ' , t o1 1 . ' ahaTol . eo1 2 1 ;
[ t . t ]=ooea5 { dYdt 1 ap 1 ace' , cep an. 1 n1 t ia1 . op t ionei1
P' =[ l 1 ' 2 ' ];
l Z l ' l I. :' U . 1 ;
f or i=1 :2 h1
t 1 =t i- 1 ]* dt ;
y 1 p [ ii=L- 2 5 * exp [ - 2 * t 1 io. T5 * cos|2 * t 1 l - U. 2 5 * sini2 * t 1 i;
end
Lap l ace Tr ansf or ms I 2 | - 5 2
y and y t p vs. l
1 ' l l
1 r . ii- :. 1 l Ll l iur 1 l . 1 ' |- ' Lap l :1 |. e' l ' r a|' |sl t |- t ' t t t s I ii- uhd l i:|l |=' i' i- |. |- l ul t . i. - |:. 1 :l ! | l l r y ut il l e- 1 - f a
{ LE1 '
, |l , ; |_ . . . . . . . . . . . . . . . . . _
3, .
l l -
_ ' 2
h{ L
oiT
. . . . . . . . . . . . . . . . . . . . . .
1 |1 . - |_ _ . . . . . . . . . . . . _
_ { L5 j_ . . _
- o- a I - '
o s t o is t o
I
Figur e 1 2 . 2 A comp ar ison bet ween a sol ut ion obt ained by Lap l ace Tr ansf or ms
and ode45 .
p l ot [ c, ? ::, 1 l , t , p l p , x' 1 ,
xl ahel [ ' t ' 1 _ y l aheL|' y , y l p ' l , t it l ei y and y l p vs. t ' ]_ gr id;
t ext [ 1 - U, U- 2 2 , ' xsel ut ien by Lap l ace cr eneEcr ms' j,
t ext l 1 U- . U. 92 . ' sol id l ine- sol ut ion by edee5 i;
1 d2 dt _ 1 ep l ece
2 This f unct ion wer he wit h UDE_ l ap l uee
a 1 "- I1 1 - =y , v:' ; :1 =~ . r
it ' l |"l "="f I:. T- l l , ":' J! "=r :* Fi' 1 t ' | E1 - "l ":|"2 - . 2 ":"l
iunct ien Tp r ime- dt dt _ 1 ep l aceic, r :
Tp r ime- aer osl 2 . ii1
t p r imei1 1 =Yf 2 1 ;
"r ' |:_ I|- ' t ' Il . l :' |' ||=! - l ' 2 :l =' i"' Ei1 . ! |' |' :. Ir ' . ""' 1 1 I- - ' i- El ""' r ' I:. ' i! :l - 2 . |Il """:"Il :' _ ,
1 2 . 5 The Unit St ep Funct ion
Let { sec Figur e l 2 . jf ]I
Q Rica
HhaF= L gr g heam
The unit st ep f unct ion is usef ul in anal y sing hear ns and el ect r ical cir cuit s,
2 5 4 I i1 iUt "r 1 Et it If . E1 ' t ' 1 Ef . r ' il . t 1 - 5 El f _ 1 . t 1 iE' ; Jf Met hods wit h MATLAE
t i1 t ]
I.
if
or
Figur e 1 2 . 2 Linit st ep f unct ion.
The f unct ion
- l l . t - in
f { _ t r t ]1 t { r a]=
_ , r T_ t . ei. t ea
has t he Lap l ace Tr ansf or m e Fir }. wher e if t f t r l jl =Fl t ].
Pr oof :
|- . 1 - -
e_ ' H F1 1 1 } =t ' _ ' J f l ' II]t ' _ ' f r . f ' t =1 v[ f L' [ l Il r _ "H' l iaf t
t i 1 :-
Let t =' 1 . + r t , t hen nit =of t - "When I =1 1 . r =a and when 1 ' ==- =1 , t =I1 - =1 . Ther ef or e.
r ' ' F[ s}= |. f (t r t }e if o' t =- [ Lie r f t + I_ f _ I[ t - ol e "Hef t
. . 1 1 . .
- - 1 . -
r "I f "' [ s}= [ t r [ t - a}f { r - a' J. r H af t
e ' FI[ . t ]=if ' { a[ t a}f l t a}II |[ 1 2 _ 2 i; l }
1 2 . 6 Lap l ace Tr ansf or m of t he Unit St ep Funct ion
H r . " "1
ii l a it a_ }] = [ xl r r t l r _ air = [ 1 ? ! - r _ a r + [ 1 - 1 7 air
. l ' |i' l . t r l . t . r Il l =i|. - 2 ' "]""=l [ i_ l r _ "' ]=l . r ' ' 1 1 2 . 31 2 }
r " s s
Examp f e 1 . 2 . ?
Lap l ace Tr ansf or ms I 2 &5
Det er mine t he sol ut ion of t he f ol l owing dil f er ent ial equat ion:
TI! - I- I5 - If
+ 2 _ y
1 ' ]. f or t 2
_ 1 il l l l =1 1 _ 1 ' r l l ]l =L1
)|_ j|- :3. 5 q:2 ||
r it l ={
{ f in f or t + 1 . 2 2
(1 2 . 31 )
it . f or t - 1 : 2
Ll , f or . t 2 2
ii iii=- if it l t l i=i"l 5 t l l l t i it l 1 - { I- 31 =' 5 r "1 - l - l t l ' iit 1 ]l 1 - 1 1 - 31 - l l :- l l - l t 2 l l
|Is1 + p r + q]1 r ' =[ r + p ]cr + |' 3+ R
Tit l =l ir + 5 l il l l Hir l + - iiit l f f it i
Hit }-
1 i
1
r + s1 + a t r + 2 it r + 1 i
Fit ]-
r 5 5
+ - 1 -
t r + ; t 1 1 . ~ + 1 1 1 1 + 1 1 1 . :- 1 - 1 1 si{ r + 2 ]~ [ r + 1 ]|
5 . - =1 1 1 :1
I- I-
_ ' l '
|L:l
if
. f :l :. ' t ' - l - 2 1 1 . 1 - l - 1 :1 . ~ t i+ :- . . 1 1 i+ 1 1
Let 1 1 f r ]- =1 * l + 1 "1 + l "ur + 1 "1 . + l "' _ _ :|. wher e
I
}. I"i_
=[ r + 2 ]i_ r + l ]I
. 5
r y -
f r
[ s+ 2 _ l I[ r + 1 ]|
5
1 1 :. -
r { . t + 2 ]|{ . r + l }
5 8- 2 1
1 ; -
r i{ . t + 2 l { . t + 1
t axi
st r + 2 }1 [ s+ l ]
1
2 1 5 5 I Numer ical and Anal y t ics! Met huds wit h MATLAE
By t he use uf p ar t ial Fr set iens, we esn det er mine t hat
. * E' _ ' { 1 "' ]]==IE1 e_
s"t F2 1 =ss- ' * ' + s
e"t sH}=- gs - %- it - ' 2 + 5 1 - "
s"u{ i}_ Z r s 1 45 2 s' * s"' + ssH=" u{ r 2 ]
1 - _ _ 1 I - 1 : I : '
s (F5 1 - IEI 5 + ? - ' * . s t "' " |. |{ t 2 ]=
Summing t he sht we Fwe t er ms gives
- I
5 : 1 5 9e' I + F"r _ ' . Fer :- 2
I - 1 4
_ , 1 "[ 1 ]="
:+ IIe e"E' + 1 ' _ ' , ? + 5 sI]e it EJIIEE
H
This p r nhl em eeu sl su he sul y et inumer ical l y by t he use sf t he ut ie- 45 Funct ien in
MATLAE. The MATLAE p r egr am used t e sel ve t he eh- ewe p r nhl em Ful l ews.
E G DE_ 1 ap l aee2 . m
s This p r egr am sel ves s sy st em sf 2 er dinar y diiier ent isl equat iens
iby using udee f unct ien. The p r nhl em is t e det er mine t he
iy t t r p esit iuns ef s meee in s mess- sp r ingdeehp et sy st em
iYl zy , Y2 =y , Y1 ' =Y2 , T2 =5 * t - Hil - 2 Y1 , f er t q 2 ,
E Y2 ' =~ 3TE- EH1 , Eer t }=2 ,
iy iDi=1 . , y 1 ? =U
cl ear ; el e;
init ia1 =[ 1 - D - ];
t ep an=. D:U- 1 :4;
:e1 1 =1 . ue- E;
t 1 1 =[ 1 - UEE 1 . 02 - E];
ep t iens=edeset 1 ' Hel Te1 ' , t el 1 , ' AhsTel ' _ t e1 2 };
[ t , Y]=ude45 { * dYdt _ l ap 1 seeE , t sp an, init ia1 , ep t iensJ;
P=[ t Y];
dt =. l ;
f er i=1 :1
t 1 [ i]=[ i- 1 J* dt ;
t 2 =[ i- 1 ]* dt ;
if LE 2
Lap f ace Tr ansf cl r ms I IE?
y l p iil - 1 . 5 * t 2 - l 5 f - je* exp |2 * t 2 I+ T* exp [ t Ei;
end
it t a a= 2
y 1 p t i]= i9f s+ 1 5 f a* exp [ 4]]* exp [ 2 * t 2 ]+ |T+ 5 * exp t ]}I* exp :c2 i;
end
end
p l et l t . YI:, l i. t 1 , y 1 p , 1 i.
sl abel [ ' t J. y 1 sbe1 |' y , y l p ' |, t it l ei' y s y l p vs. c' I, gr id;
1 dYdt _ 1 sp l aee2
E This f unct ien wor ks wit h UDE_ l ap l aee
s * t c1 I=y , sr sII="I"
s s1 ' =st a|, se' =s* t - see- 2 1 1 , it e >2 , ss' =- ass- est , it t 2 : e
Eunet ien Ep r ime=dTdt _ 1 ap l aeet t , E]
Ep r imer ser esl 2 , 1 J
ip r ime[ 1 ]=Y[ EJ
if r e E
I
. i
Tp r imeI2 J=5 * t 3. * E|2 i2 - D* YI1 i;
el se
Yp IimEIEJl . * Yl 2 ] E. * Y[ l I;
end
A ccr mp at isuu al l t he ude=l "iaucl t he Lap l ace Tt at t sl et t n sel ut icm is shewn iu
Figur e IE. - i.
- Ir !
IE
1 4-
I2
I
La
|| ' - ' 5 "-
Li
1 2
1
DH
. l
y iit y Lp 1 - ' s. t
II
5 - ul icl zl ine- Sct - Iuhun by - ncl eil - S Funct ien
1 t 5 u- IuI. it : t 1 by Lap l ace Tnt nsl iu- t t iis ' ' - ' ' ' ' ' ' ' ' "t
I I I I I I I I
I I
II
II
I I I I I I |.
I I
I
H U5 I L5 I 1 5 3 1 5 4
Figur e 1 2 . - I A comp ar ison het ween a snl ut inn nbt ained by Lap l ace Tr ansier ms
and et Ie45 .
2 - l i I Numer ical andainaiy t icaiMet hnds wit h MATLAE
1 2 . 7 Cnny nl ut inn
Liiy en t wn t r ansf er ms Ha} ancl { it s} whnse t r ansf ar r ns ar er l anel git } ar e I- t ncr wn. t hen
. l ' I
_ ' i' _ 1 IFIs]l t T' l sI|l =If ' I iI|_ j_ E{ It t ]Ir 1 l ' t =Igl i]f [ t Tl st "t { 1 g_ g- 1 ].
LI II
l it - ac|I' :
in t ' Ii' I. '
JIII l il -
r f a- ' sa=j' se:=j' f i. a=""- "* "' * s. as r issa
a a
Let p + T=t . t hen wheny s=iI' , t =Tant I ' l |i' l . - ' l ' it _ l ' 1 1 IiI=' 1 "=' , , . |! ' =' ==' =' . I"' l il ! - it il st :is=r 1 it -
H I' J' I
FIs]F{ s]=IgITI If { r * t )r _ a' r a. * t =H g{ t }f t r t _ }t _ "r t r a' t [ 1 - l ; . _ - , - 5 , - p ,
III If
wher e Ii is t he r egien l a- el nw t he l iner =t as shnwn in Figur e 1 2 . 5 .
' l he int egr at ien er der at t he mul t ip l e int egr al in Equat ien t IIi. f i5 Il is t e int e-
gr at e wit h r esp ect t n t ht st , t hen wit h r esp ect t n II scenncl - In t his case. t he nr cl et t :- I' -
int egr at inn cines nnt mat t er - 5 - t iwe can int egr at e wit h r esp ect t n T. Fir st , t hen wit h
I. "
It - I
Hegien It
t
Figur e 1 2 . 5 l nt egr at inn in t he It , t ip l ane.
I. ap Iace Tr ansf nr ms I 2 &9
r esp ect r e r secend. This gives
Ft r it jt r l =IIg{ t I|f t r ' t } . - r _ "a' r . a! "t
I' l l
- r r
=1 - r Ig' [ "t }If { r ' t ]- a"t r t ' . t =_ * iT Igt ' t ' ]=f [ r t ]IaI1 . '
I] f l [ I
Thus,
I
s- as- 1 ~ saa =[ t iar a- es: t l at ii
U
We can r ever se t he t al es nf f ant ig, giving
l '
s"t . smr s{ a; =J- g[ t t ]f { t }r t t
Esamp f e 1 2 . 3
Let is ap p l y t he cnny t :- l ut inn Fnr t nuia t n t he seenncit er m in t he I"[ sjl Funct ien in
Esamp l e Il t i. In t hat esamp l e t he secnncl t er m in t he Fir ] Funct ien is t he I"_ . _ t er r n
in Eqt t at inn IIEJFII.
1 1 a
s- :n- . . - r F. P
5 t et Hh+ Lih+ 1 HeHi+ e=+ nn+ aHi+ n i~ + iH1 5
s* wq=e* s* 2 - I ar ~ ; '
e+ aHr + n 5 + 1 J+ I
_ , ||. ; 1 l |::]|_ _ r 1 l :|=_ _ |; |- I1 - I. [ 1 ]_ [ 1 + L]=f Ir _ - f I
' I[ _ r + 1 }=[ _ r + l _ I r + E s+ I
- i? 7 1 iF, + I 3i=3r ' 2 ' l r " (1 2 . 35 )
ID
- t ? " iI"' . _ i[ , ]- 1 i' " iFt act 1 1 _ -
' _ [ s* + i}|[ s+ . ' i}|[ r + 1 ]I E Jr I1 2 39}
2 ? ! ) I Numer ical and Anal y t ical l l vl et l vncl s wit h MATLAE
wher e
F{ r }=_ %a. 1 it it ' _ i' I[ r ]- I
r * + - ii Is+ l }{ r + l I
. ' _ ]IF[ s}}=%si|1 2 r =f it } ancl . ii' _ ' [ G (s}}=s_ 3' + s_ =gl [ r }
st [ Fir ]- 5 ' { r ]]|=Jg(r 1 :]=f { ' t ]1 . e"t =I|[ r _ 3" _ "+ r ""; :%s|- t at s:
I II
st "|jF{ r _ ]t ? { _ i' }j| =_ %s- " Ia sin at sit + r " [ cI nnat et (1 1 45 )
Fr cr m int egr al t al al es
Ir El "? - iiit =cii[ asi|t p . r p ce- sp :r )
r t
Ap p l y ing t he abnve equat ien t e Equat ien { 1 . ? . . - iii} gives
I Z . |' 1 I. - 1 . l '
E_ ]{ F{ i]_ UH=_ l f _ g e Iiist nl t Ecnel t j + l f _ : e Lf sml t l ee- s. ? . t
it ~ * i+ i H It 1 + 4 H
Af t er cnl l eet ing Iil - t e t et r ns, t he ahnve equat inn r educes t n
- t i 1 . - 1 1 1 I _
Er (FI[ s}l _ Tl [ r }}=si|1 2 t cns2 t e_ "+ e ' [ 1 2 , - ii}
Cnmhining Equat inns [ I1 3- ii], Il l il i. an- LI I1 1 . - il l }, we nht ain
ii? "|[ } |[ s}}=1 - ? 5 . ~ . - " t 1 - 1 :is1 n2 r t i. i' 5 ces Er (1 1 43)
which is t he same as we nht ainecl ear l ier -
[ ap l ace Tr ansf nr ms I 2 T1
1 2 . 3 Lap l ace Tr ansf nr r ns Ap p l ied
t n Par t ial Dif f er ent ial Equat iens
Let us nht ain t he Lap l ace Tr ansinr m nf t he f el l ewing PIJI:' . :
-
L
il it l 31 3 _ cI' EI' EIEI
f ig- + Ea h I' l l . - . - Z ' I' . |l _ il E- I! ' . EIii=. |[ ' r I:. 1 r , , i? :| { - l l y ig}
F I
I-
wher eiil =EII[ . r c. t ] ant l [ I 5 t E =- =1 .
l ir l ul t ip l y hnt h sicl es nf t he ahnve et . p . 1 at inn hy e H ant iint egr at e Fr nm II t n - =- 1 .
s al _ =Ia_ |s* * ai=a , _ |' e. - ' . a_ . a 1
1 " Hat U Fir " sl f r l r
1 - a as _ . - v- _ _ _ . =i- mm
wher e EI:I; i] =t he Lap l ace Tr ansiiu- r r n nFIil ' I[ :t , t ]I -
ii Hail ? =_ [ l iaJ? r
an H ar -
it "
|' * I'
- we =sl H sHI:t , I' II' [ a . l II]
_ r l r
{ . ' i|]=If . - Eenl sl t =L' iIBe_ ' I al t =[ I i { :c; s_ I
i. I' ; s_ f l at sl at D r l ar
2 |
. HI-
TIE TIE . - .
s [ BET]:ID%r _ ' r . l t =D(s' El is; s]IH{ a* . U}}
it " - [ l ? B]I=I l ? ' EIr ' _ al t =E[ [ a. ' ; s]I
_ l
ir i-
. l ' i1 |:. |F"_ :I=I. F _ ' Ht ' l ' I =Fist s}
III
Ft enit he ah- ave r el at i- ans. it can be seen t hat Equat ien { I1 43} Iaecnmes an nr dinar y
cl il - ier ent ial equat inn wit h r esp ect t n . r . In t his equat inn r is cnnsider ed a censt ant .
' l hat is
r il HF I? + f . i:Li+ { Bs: + l Js+ E]' E=l ? [ . st ; s:I+ [ l :i r + r ' J' IIi. I{ Jr . III]l + BL:TE[ Jt . I]] . [ 1 1 _ 44}
I' l l
ir -
2 2 2 I l sl unt er ical anul r inal y t ical Met hncl s wit h l l vl . - * ' |TI. . l IE
Cine al se needs t n t ahe t he Lap l ace Tr an sin r m s nl qt he hnuncl ar y cnnd it inn s. Sup p nse
t hat
5 ii1 . r i=g, iiiand i' t L. r i=e. iii
El ie *
Then
{ t i; r i=i"ig, _ i { t ies}
g - ' 5 : |:iII I. iI|I' . |gi1 |:'
as ' a ii a _
i, =l j- El , _ sl ' =1 El t . ' i_ _ j { L t i] |m air H [ Jr t ]l r * t |m { Jr s]I
Thus,
ii[ L:si=f ig ] it s- - an
H
The init ial cnr 1 dit innsEl { a' . IJ]I and g{ x. II}ar e dir ect l y ent er ecl int n l iqt t at icm II2 . - Isl }.
r
Examp l e 1 2 . 9
[ Innsider a semi- inf init e sl ah, init ial l y at a uniinr m t emp er at ur e, t hat is suddenl y
suhject ed t n t emp er at ur e I3 at it s Fr ee sur f ace { see Figur e 1 2 - - t ir ijl - The gt wer ning FTJE is
t ar _ ai r
r i 5 : ax:
wher e a is t he t her mal t l il iusivit y ef t he sl ah mat er ial .
r t
I
Figur e 1 2 . 6 Semi- innit e sl ah.
Lap l ace Tr ansf nr ms I 2 ? ? -
l nit ial Cnncl it l nn
T l [ . 1 r :, l l ' } =
Bnuncl ar y Cnncl it l nns
T Il l . t i=T
r t e- . a=r j
Tn simp l if y t he met hncl Fnr ct - I ! - t aining t he snl ut inn, Iet IiII[ :r , s]I=TI[ ar , . t ' IT; . t hen
t he ahnve equat inns r ecl uce t n
1 Z 5 : gt ? { t ear }
r ; |' . |! ' I
Ht sal l i= t r ess}
t s- v1 =s. t t t aasi
Hie. t i=t i t 1 a. sa)
Tal - t ing t he Lap l ace Tr ansf nr m nf he- t h sides nf Equat iens I1 2 . - 4? }. { l 2 . 1 iiJ]|. and
{ 1 2 . ' 5 EI] gives
_ . s- E
l iIEi5 Is- Il = { I2 5 1 }
a r l ar
. |
e- =1 r }= r 1 a- sa' }
_ T T. .
|3{ r |, , ; | =L (1 1 5 5 1
J
wher e = it " |[ El [ . v. r }}. Equat ien (1 2 . 5 1 ) becnmes
. 2
iE, - iE=a t 1 a. s4)
sl x - t i
The snl ut inn is
, _ . _
- I |l
_ - . t ' - . Ir
st . - a. a=. ~ , . =\ ' ~ + . r - , . - . - * 4 as- t a
2 2 4 I Numer ical ancl Anal y t ical l vt et hecl s wit h MATLAE
l ip p l y ing a bnundar y cnncl it inn. Eqt t at inn (1 2 . 5 2 ) gives
l m; r ]==[ l ' + r t =L' l
Then
=r r _ 1 "||T I
l l t p p l y ing a hnt t nda r y cnndit inn, Et l uat inn l [ l 2 . 5 l ' gives
_ T T.
' i' L1 ' ; I- - r , Il l
. I
Thus.
_ r - r
| - )=i, . ' 1 ' (1 35 5 )
_ ' I'
Fr c- m Tabl e 1 2 . I
"_ ' l eih =er c F
* l l I f l ail
Ther ef nr e.
. 1 .
EIIJt , . t I=in
LII
TI:. ' t . , i ]- =TD - - { I3 -
4 _ 2 r t _
T[ . r , r IT
L |E' ! _ }r iness}
Yr s I Il l ? '
Examp l e l 2 . 1 LI
Sup p - use we censider t he same p r nhl em as E1 - t amp l e I2 . El ' eacep t we wil l r ep l ace t he
hnundar y cnndit inn at . 1 =LI wit h t he cnny ect inn Ianundar y cnnt l it inn
ar l s
t a. n - - t r t an - 1 1 , 1 =t i t r ess}
l ir e . t +
Lap l ace Tr ansf nr ms I 2 2 5
Again. Iet El t x. r ) =1 ' "[ x. r } . t hen t he PIJE. t he init ial cendit ien. and t he bnund-
ar y cnndit inn at x=- =- = ar e t he same as in Examp l e 1 2 . 5 , t hat is,
1 aa_ es _
_ , 3, ax. t l asxr
Bwhi t una
BhsH= ham)
By adding and suht r act ing Il , ' t n t he t er ms inside t he p ar ent heses at t he seennd t er m
in Equat inn I[ l 2 - ' iE}, t he hnundar y cnndit inn Iaccnmes
El
iaan- mwp + T- r J=u t una
dx l l . "
Tal - t ing t he Lap l ace Tr anst - nr m niIant h sides nl : Equat iens [ 1 2 . _ ' - El ] and I[ l 2 . t ' :il } and
ap p l y ing t he Lap l ace Tr ansl qt :- r m hnundar y cnndit inn t n t he Lap l ace Tr ansiiir m t 1 - F
t he FDR, we nht ain as in Examp l e 1 2 . 9
E- ' =c:e 1 ' "
d JIE- I_ 1 . Ii I
i=_ , . 1 _
r l x * st
hp p l y ir t g a hnundar y cnndit inn. Equat ien { 1 2 . t i2 } giy es
Jit q a- Q]
a - a+ t una
* - al l - ' * s
sif 1
cg- if Z - II
. ' i
+ JT t una
It a
T T l LJITr _ H ||i
=- i l l - =1 I e_ I1 T= TT xii
t . II
t A A It W al i hams
t l s l T* l il
I- T_ I' l E
5 - al ving f ur r , gives
TI1 El ' + . . ! l ' - Ii] r e.
2 7 1 5 I Numer ical ant l Anal y t ical . t vI' et hncl s wit h MATLAB
Fr nm Tabl e 1 2 . ]
a 1 ' r _ JJ _ _ B It l air B
it - t - r (b+ vC) 1 ' 5 "- ijl [ =l [ J]. |- _ =' I3 l g- ' [ |t i- "VI; - I- $ 1
Cunip ar ing F. cp . 1 at iun [ I2 . t ' iLi} t n F. cp . 1 at iun [ I2 . t i5 l .
al l
, 5 . =Z , 1 = I .
g an B I n. t . sr i
Ap p l y ing Equat iet t s (1 2 . - E5 ] and { 1 2 . t ' . ii I t n Equat iut i{ _ 1 2 . t 3' i} gives
har
Bix. t l ITwII t er ji' [ Ej; l el l r r J/_ + Ej ; ]s
- is sis
+ i. t
l ' l I'
I . |Il . I. - . . l ' | |. - r l l
- . 1 =. - . \ /T x
Tw_ Tr _ ' * "' l * * l i' i[ 2 \ /4; ] "5 L * l ' 1 ' i[ g + 1 \ / I il 2 _ t E- El
1 2 . 9 Lap l ace Tr ansf ur ms and Cump l exVar iabl es
UP III TI. ' ||I\ ", WE ' L' l . iF' I:- Il _ ' l |' |l "il I. Ii. :l . I' :' |- l . ' ! l :iI In l l - "iiFl IiIi' |I, ITITIJi; "1 . , I_ [ Il . ' l I- ' I|i||l ' i, ' l "I|- ' El ' 5 II. ' l I|' l IE |Tl IE. ; ||- " l I. l ' i- l l ] II; I. ' ][ ' |- '
sider s t n be a cnmp l exnumber ; t hat is. r =x+ i_ y . Then
F[ s]l =- [ f [ t ]e_ r :l t =r . t I[ x, _ y ]+ r - t 1 I[ x, _ y ] II- F :- { Tl - il l
u
wher e f ir ] is a r eal - val ued Funct ien t hat is p iecewise cnnt inunus [ see Rel ier enee [ I]
f nr addit ienal cendit iens Lur f t t l iand Ft s] is anal y t ic in t he hal f p l ane. l l . f unct ien
Fir } is said t n be anal y t ic in a demain. Ll , if it is dened and diiier ent iabl e at al l
p t :- int s nf l l It can be shnwn [ l l t hat
r + IH
f it } =%iIl im I Ft r l r sl r l 1 2 . ? ' Ll _ l
r * ""
T' i
Lap l ace Tr ansl nr nt s I 2 2 2
J" _ |_ y + r t l |
I
c, F3
- 1 "i|' :i
Figur e 1 2 . 2 l nt egr at inn - nf HS] an l ine C, in t he cump l exp l ane gives FIt ].
wher e t he l ine int egr al [ ' 1 " il i' |I! ~ T + if s} is t he cur y e t il , in t he cnmp l exp l ane shnwn
in Figur e I2 - 2 . l t is cnny enient , Fnr r easnns t hat wil l hecnme cl ear l at er , t n cnmhine
t t t l r t r e t ' T] wit h et t r y e - [ TE Fnr ming t he cl nse- LI p at h as shnwn in Figur e I2 - l ' i. I5 - l esit l t t e
t henr y Idisct |. sset I in t he Fnl l nwing sect i- nit } p r uvit l es t he means Fnr det er mining t he
val ue n- t it he l ine int egr al s ar nnnt l a cl nset l p at h wl t hnnt act ual l y car r y ing nut t he
. 1
y iiii
H l l
"H.
Er H ' 3:- ' |
' "' ~ .
"- x
r =' |i
Figur e 1 2 . 3 l t eginn in t he cur np l exp l ane f nr det er mining I t t ].
2 2 1 1 I Numer ical ancl Anal y t ical l ir l et hncl s wit h MATLAB
l ine int egr at ions. Sup p ose t hat t he val ue oFt he l ine int egr al s ar ound t he cl osed p at h
oFcur y es C, and C, by r esidue t heor y is g(t ). t hen
r + i|5 ' -
2 1 t ig(r )=I . F(r )r aLr 1 - J- l * ' (r )r n' r (1 2 . 2 1 )
' ; ' . =|I|- - 5 1 ; ,
It can be shown [ I] t hat l il n l g F(s)e r l r 1 - L1 . Tl 1 us.
F - r r
g(r ]=f (r )=EEIig1 q t iFl r l r r l r { 1 jg_ y j. g].
|". |+ - 1 . I
1 . 2 . 9. 1 Residues and Pol es { . 3}
IFr , _ , is an isnl at et l singul ar p oint c. - FG l s) it can he exp r essed as a Laur ent ser ies
" t r it l i
t 3 (r 1 =Z ' aH(r - r uj|"+ ' + I , + - - - + gm+ - - - (1 2 . 2 3)
1 - F _ ' - H (s sq) (s su)
The t er m h, has p ar t icul ar signicance. t hat is.
I . .
t il l =E(I:Fi- l l - ! 1 :' i" (l 2 . . ' 2 ' * l )
f .
wher e L". is a el used eur ve encl using t he singul ar p oint .
IFin Equat ien (1 2 . 2 5 ), hm, hur l , ar e al l r er n and hm at ' Fl , t hen LT (ism) has a
p al e n- Fnr der hr , IFI. _ _ - I (s) is singul ar at s, _ , an- cl t |1 (s) =(ss)m t T(, r )r emc1 - ves t he sin-
gul ar it y , t hen
), - Fm Il ia] na 2 5 1
' (x- ":r l )' '
wher e
_ r . - . uI
}l ir . I. I II gin} : { 5 * i)
1 Fm=I,
d? ]=|1 ]FE]= ' I:. l - ' . i' "Lil i:' II:. I' ]|
siIs"
If
, 5 :, [ , ]=ir l
air )
Lap l ace Tr ansf or ms I 2 . 7 9
wher e bot h p (r ) and gir l ar e anal y t ic at 1 , , andp (. - r , , ) s L1 , t hen bot h p and at can be
exp anded in a Tay l or Ser ies about r , , giving
ie. . 1 + . xy . . Hr r . . >+ ; . x' v. . Hr r . . s + - - -
t T(s) 1
r s (1 , ) + a ir u1 ir r , 1 + 5 r ; * ' t ' r U1 t r F ): +
IFG (r ) has a simp l e p ol e at s, , . t hen a, , (r , , _ ) =LI. q"(r ) as LI. and
p (sU)+ p i(sU)(ssU)+ %p (sU)(sr u)( + - . .
ir r , , )l l l Ir ) I '
r g' (r U)' + ; r y (su)(r su)+ - - -
By Equat ion (1 2 . 2 6 )
5 : _ P:F5 l I| F
s is? "
The t er m h, is cal l ed t he r er ir l ne ol G (r ) at t he isol at ed singul ar p oint s, , . l Fcur ve C
encl oses n isol at ed singul ar p oint s (see Figur e 1 2 . 9) of - II- ' (s). t hen
(iii! - Ii, - i:l t i' I1 ' :I' il . T' LF|:JFl :|+ 1 F' ir J:_ ' I' ""- I' . t FF|T)
t I'
wher e =t he r esidue at t hejt h isol at ed singul ar p t :- int -
|-
, _ - , - r + is
I-
5 1 5 :. -
I
E; 1 '
Fl a.
r s
c.
. . _ _ _ Y Lg
Figur e 1 2 . 91 l t egion encl osing sever al p ol es.
2 31 1 I 1 "- l umer ical anol Anal y t ical Met hods wit h MATLAB
l Jel iningt F(r ) =F(r )r = and comp ar ing Equat ion (1 2 . 2 2 ) wit h Equat ion (1 2 . 2 2 ).
we see t hat
. s' l t ' i=f l t i=il i1 + l ' is+ ' "+ l 1 ' . . l nasal
Examp l e 1 2 . 1 1
Sup p ose we t al t e t he 1 1 (1 ) Fr ont Exat np l e 1 2 . 5 and oht ain y (t ) by r esidue t heor y . In
t hat examp l e
2 r 5 2 s1 + 2 s+ i
y _ _ .
M r i+ |+ n+ t ur "+ n n+ 1 }ni+ 1 3 l l l l
The Funct ions 1 * (r ) cor r esp onds t o F(r ) and y (r 1 cor r esp onds t of t r ) in Equat ion
(1 2 . 2 1 ). Thus.
y hF=EE2 Q
wher e l - 1 ' , is t he nt h r esidue oFt T(r ) =1 "(r )e". which has simp l e p ol es at r =I
and r =ii.
Ft :- Ie at r =l :
a- . 1 '
Ht = Iini|(s+ 1 )G (r )=%e_ ' =gr ? { 1 _ 1 _ 5 [ }|]
Pol e at r =+ i:
K, =l im(r r ' )t l }' (r )- 2 + 2 i+ 5 e"- 5 + 2 { cosr + r ' sinr )
1 1 * " (l + l )(2 I' ) 2 + 2 . t '
l
l { :=E(2 cosr + 1 L1 sinr 1 t Iicosr 2 isinr ]I (1 jg_ . _ ' =t ]].
Fnl e at r =l :
x, =l im (r + i}G { . =1 _ 2 _ 2 (+ 5 (cosr isinr )
in- i il i1 l Eil
. Ft ' _ , _ =%(2 cosr It l sinr - l L1 icosr - 2 isinr ) |[ |1 _ 31 ' ]|
Lap l ace Tr ansf or ms I 2 1 1 1
l ul ding l iil . l l }. and l i. ' _ , gives
ii 1 5 .
y (t )=e l cnst + sin; t l l - - . ' l - il l . - 2 )
' 2 2 2 .
which is t he same answer obt ained in Examp l e 1 2 . 5 .
Exer cises
Exer cise 1 2 . 1
Det er mine . 2 (sin; t or ).
Exer cise 1 2 . 2
[ 1 et er :nit t e_ f ' [ r cos t ).
Exer cise 1 2 . 3
Det er mine E (ed 1 sin 2 1 ? ).
Exer cise 1 2 . - =1
Det er r nine t he Lap l ace Tr ansf or m oFt he Funct ion shown gr ap hical l y in Figur e E1 2 . - ' 1 .
Exer cise 1 2 . 5
[ Tr et er mine 1 5 ' ] , 2 5 + ] .
(s' + l l ) (. 1 - - 2 )
r
l l
1 ii
. [ -
2 5 -
Figur e E1 2 . 4 Funct ion y It ).
2 1 1 2 I Numer ical ancl Anal y t ical l vl et hocl s wit h MATLAE
Exer cise 1 2 . 6
Det er mine 2 ' 1 , 1
_ (s + f is+ 2 )
Exer cise 1 2 . 2
_ I
Det er mine . ' :- T I , by co- nvol ut ion.
_ (r + 1 )(r + 3r + 2 l
Exer cise 1 2 . 1 1
Fiol ve t he Fol l owing r _ l il Fer ent iaI equat ion by Lap l ace Tr ansFor r ns:
y ' + 5 _ y ' + 2 _ y =5 e L, _ y (I])=l . _ y (Il l )=2
Exer cise 1 2 . 9
Det er mine y (I) nFExamp l e 1 2 . 1 5 by t heor y oFr esidues in comp l exvar iabl es.
Ref er ences
I, t ihur ehil l , Il ' . . "1 2 . , t ' . l _ p r ' r . . - r r ir r r ur l r Ir l r r r l r . r r r . nr n' r s, 2 nd ed. , l vl r r iir aw- Hil l , New "r ' or l t , l il f ii- I.
2 . Kr ey ssig, F. - , Ar l t - Ir r r r eer l h' r r _ gir r r - er ingr r l r hr t hemnr ir s, iir h ed- , joho Wil ey ht l ions, 1 "- Jew
' 1 "or l t . I :2 ' ; Ti1 .
5 . Chur chil l . Fl . "v". . l r r t r ar l uct r ' r =u t o Cor np l r xl r ir r iuhl er r r r r t l r l p p l r cr r r l anr . l ' vl cI:Ir aw- I- l il l .
l ' ~ Icw' 1 "or l - t . I945 .
Chap t er 1 3
An Int r oduct ion t o t he
Finit e El ement Met hod
C. T. Tsai
1 3. 1 Finit e El ement Met hod f or St r ess Anal y sis
The nit e el ement met l t nt l is :1 p nt ver iit l t r t ar l t et t t at ical t ool t o nt t t ner ieal l y cal cul at e
t he st r esses and deior nt at ion it t st r uct t t r es wit h comp l icat ed geomet r y . boundar y
condit ions. at t d t nat er ial p r op er t ies. For a t wo- dint ensiot t al st r ess anal y sis p r ob-
l er n. a sol ut ion can be obt ained by sol ving a p ar t ial dii' Fet ent ial equat ion (l ' l _ l ' l i)
in i' v Ir l 1 ' l ' Lr "' t l ; l F. wher e a comp l icat ed geomet r y can be buil t and meshed. Ihen t he
FFJE can be t Iiscr et i:r . e- t l on t he mesh and sol vet l , p r oviding an ap p r oximat e sol t t r
t ion. The p t l et r inl gr ap hi- ' . :; t I t 1 . ser it t t er Fat ie in l s- 1 ATl . AFl p r ovides easy - t r i- use gr ap hi-
cal t ool s t o descr ibe cont p l icat et l dont - . t ins and t o gener at e t r iangt t l ar nt esl t es. It
al so diser et i- r es l TJEs. l it t ds discr et e sol ut ions. and p l ot s r esul t s. To over view t he
Fundament al s of t he r t it e el er r t et t t t net l t od (l ~ ' Et s- 1 ) ant iur t der st at t d It ow nit e el e-
ment For mul at ions ar e devel op ed For var ious l "Ll ' l is, a st r uct ur al mechanics p l ane
st r ess p r obl em is descr ibed bel ow.
1 3. 2 St r uct ur al Mechanics Pl ane St r ess Anal y sis
In st r uct ur al mechanics. t he et |uat ions r el at ing st r ess and st r ain ar ise Fr om t he
ap p l ied For ces and consr r - . t it t r s in t he mat er ial medium- Pl r r r r r "st r ess is a cor t dit ion t hat
p r evail s it t a Hat p l at e in t he (ac, r y ) p l ane, l nat l et l onI_ t _ . ' it t it s own p l ane ant iwit hout
a- dir ect ion r est r aint s; t hat l s. al l t l 1 c st r ess cont p nt t ent s in t he is cl ir ect ion vanish.
2 33
2 - E4 I Numer ical ant iAnal y t ical Met hods wit h MATLAB
ct
: - I_ ' l i1 |_
. . - I
""' - . ' Fat TIE L
"- . I 1 - - - F ""' - _ _ . - "' - F - I- , _ _ . . _ _ - _ _ . F ? I - - . -
1 I_ s,
. ' |_ ' _
- ' 2 ' r t
IT T H 1 '
. . . ~ >f . + it It
(a) G ener al st at e of st r ess (l a) Pl ane st r ess (c) Pl ane st r ess
(t wo- dimensional view)
Figur e 1 3. 1 Il l ust r at ion of st r ess at a p oint in a body .
A gener al descr ip t ion oFp l ane st r ess at any p oint oFa sol id is shown in Figur e 1 5 . 1 ,
wher e al l t he st r ess comp onent s in t he r s dir ect ion (C1 , . t , , _ . and r m) ar e xer o.
il be t hr eep dimensional gener al ized Hool - t e' s l aw For an isot r op ic mat er ial is [ 1 , 2 ]
1 .
e_ , =E[ o, u{ o, + o, _ )] (1 5 . 1 )
E, =gin, vio_ , + o, 1 1 t t sa)
ea =i_ [ - ct : ut ox+ o? )] (1 3. 5 1
- I
I|'
1 1 " Ty T [ . 1 34]
"r . . . , . G . r _ . . UT "r . . . g. -
wher e E is t he r l r ur ic r r r er il al r r r or l ist ing) r r r or l r r l t r s. 1 . ) is t he Poisson' s r at io. at t d G is
t he shear modul us, which is dened by
g_ E
2 (1 + u)
For p l ane st r ess. Equat ions (1 3. 1 ) t hr ough (1 3. 4) become
E U F r
E l io vt o 1 1 it s ' 5 1
E, =gin, vt o, . 1 1 r ; t . s. t E- 1
An l nt r ocl uct ion t o t he Finit e El ement Met hod I 2 35
E. =gl sis. - + it . ii t 1 s. r )
r g 2 (1 + u)r g _ _
' |' g- - E ' (1 3. 3)
Equat ion (1 3- 2 ) indicat es t hat wit hout e- dir ect ion r est r aint s, t he st r ain Exmay not
be aer o, even t hough t he st r ess in t he e dir ect ion, t , _ 1 - ' 1 , is zer o- Equat ions (l - 3- 3)
t hr ot t gh (1 3. 5 ) can be wr it t en in mat r ixFor m as shown by Equat ion (1 3. 5 1 ).
E _
- =:]1 t r t 1
Er Pg "2 I 2 ii t t ss)
In] _ t i r t . t { 1 + o) TH
o, _
The inver se oFEquat ion (1 3. 31 ) gives t he st r essst r ai|t r el at ionship For t he p l ane
st r ess p r obl em:
ct 1 L1 1 1 e
. I|I . ' |. '
E 1 LI
t vi= as =, _ , , . " , _ , , Er =I"E1 t est s)
1 ; III I2 T - ' gt _ _ l _ r
I I
L i -
Mat r ix[ LI] in Equat ion (1 3- l l il ) is denot ed as t he mat er ial mat r ixFor t he p l ane
st r ess p r obl em-
The st r air t comp onent s oFt he mat er ial ar e descr ibed by t he disp l acement com-
p onent s t t and v in t he xand y dir ect ions, r esp ect ivel y , and ar e dened by
do dv i:l ' u dv
Exr r g Et - ' =$ " and Txr _ ' g|J, + a_ g-
The equil ibr ium equat ions ar e
Ho 31
i= 1 3. 1 2 1
ax By + f , L1 1 .
EITxt - HUI- '
wher e j and ar e body For ces in xand y dir ect ions, r esp ect ivel y . Combining
Equat ions (1 3. 1 Ll ) and (1 3. 1 1 ). and subst it ut ing t he combinat ion int o Equat ions
2 iBt iI Numer ical ancl Anal y t ical Met hods wit h MATLAB
(1 3. 1 2 ) and (1 3. 1 3) gives t he FLJE in t er ms oFdisp l acemet t t comp onent s. u and v. as
shown by Equat ions (1 3. 1 - 1 1 ) and (1 3. 1 3):
El iu t l iu 1 + u E1 Eu Bv 2 (1 + ' u) .
_ _ i_ _ _ i= _ . t
i:Ixi+ ii_ y i+ 1 1 - 1 iixl i:Ix+ t iIy I+ - s Fr ii iiiii
s+ s+ + + if , = t 1 s- t s)
div div 1 + - is idu at 2 (1 + u)
dx El y " 1 - 1 - idy Ex d_ y _ E
Equat it ins (1 3- 1 1 1 } and (1 3- 1 3) can be r ear r anged int o t he Fol l owing:
dit t din d t l u Ev
it I3 = .
l av ay l il iiiiasl asiay l if r ii iiiiii
div div] - t 1 ' [ du t l v]
, + t i]- + t t + + f =1 1 (1 3. 1 2 )
1 ' r . i ir is it s iir . i
wher e p is dened as
Eu
t + ut - nu
' 1
Equat ions [ 1 3- 1 - 1 ' 3) and (1 3- 1 2 ) ar e el l ip t ic F' [ l ' r Es. l n MATLAE [ 3] at is a vect or oF
t wo dimensions. [ U]. al t d is wr it t en in as
v
- 2 - (r F~ 1 =r t t st si
wher e c is a r anl t - Four t ensor . which can he r ep r esent ed by Fot t r 2 1 - t 2 mat r ices. c, , ,
cm cu. and cu. For homogeneous isot r op ic el ast ic mat er ial s. t hey ar e dened as
an+ p o
Fl t 2 g G (1 3. 1 3)
* 1 t i
c , = -
|_ G . U (1 3- 2 1 1 )
o e _
1 3; ): H D (1 3. 2 1 )
_ _ G L1 I
II- 1 1 - U
An f nt r nduet ien t n t he Finit e Eif emer t t Met hn- t iI 2 3?
The hndjit f er ce, J1 1 is dened by
f . . .
f = { _ 1 3- . T- I3}
f t
Suhst it t it ing Eqt |at innsI[ 1 3. 1 E1 ]t |1 t t nt g1 1 II1 3. 2 3]I int n F. qI. 1 at i- t in [ 1 3. 1 H}gi1 - r es
E1 E1 t 1 1 3
_ [ 5 ](- |; ]] 1 :"r |. . l - 1 ' |' . 1 : ' |T"r "|. - :1 - - 1 : E 5 :|
- - - "1
H; H1
E{ T+ |J, 1 ] Et t + 1 "] 1 1 . dst l gl l g}
t i t s @ _ u { . 1 - ' t i - it s
It . al l . 1 . . al l - . . - t
dl u r 3Ev_ , _ , E1 I\ t _
=32 + 1 s. e ' 1 sis; ' 5 sf ' 5 at - as J1 "
a a a a
_ { ax al l :|(. r _ H"' Fu + t 1 ' Fv)- [ HI Eur ]
' "1
ii" E
1 ] G 3. 1 " G 1 . 1 HI
}. l t i a_ u "L t ian + it it 1 s. ast
dy E1 1 : I
E1 2 1 sat ea aii
=- t a G - :=
(2 + 1 1 1 3}; sis; as. - 1 dsiiy f t
Equat it ins 1 1 3. 1 4] and 1 1 3. 1 5 1 ar e ident it Ia1 wit h Equat it ins 1 1 3- 1 - I5 1 ]! and 1 1 3- 1 1 )-
Thet ef t it e, t he same nit e e|ement equat inns can he 1 ' 1 Il ' l I' l I' 1 Ll 1 $ l 1 "E- II. 1 . by using eit her
Equat iens 1 1 3. 1 2 1 and 1 1 3. 1 3} nr Equat int i(1 3. 1 3).
1 n t he FEM, t he dnt nain [ 1 is divided int n a nit e numher nf simp l e gee- r net t ie
ehjeet s sueh as t r iangl es DI quadt il at et al s. in 1 v1 i i. TLAl 3' s p df t eel , enl y 3ne+ de t r i-
angl es at e used t e ap p t ni- t in- iat e t he eninp ut at it inal demain 1 . The t r iangl es f nr m
3 ]Tl E1 ' il ' 1 HIIC1 . E' EIL' 1 ' 1 ver t est 1 5 IIEHEL1 . H. HIJCIJI- E- 31 :1 1 t r iangh: 1 5 E' [ ]1 . 1 |' 1 1 IEL' l H5 U1 ' ]' E' E1 . EI' |' IE|' It -
Since each edge nFt he t r iangl e is a st r aight iine, t he cur ved hnundat ies nFa dnmain
cannnt be mt l del ed accur at el y using inst a Few el ement s. Ther ef nr e. in r eginns neat
2 33 I Nunier ieal andiat t al t t t ieal Met hr iel s wit h MATLAB
1 -
F3 I' 1 Lr J, _ s' 3i
. 1 - ' 1
r t 1 * - t i- 1 ' 5 1
1 1 :- t i| ; | l l
I- I
Figur e 1 3. 2 l inear l r iangnl ar scal ar el t l el ement .
enr vet l hnt t nt l at ies. ninr e t r iangul ar el ement s ar e needed t n it np r nve t he at 1 t ' . t ir at . ; r
t il t he st t - l t l r it sn.
l n t he Fl il vl . a t r iangul ar el et nent (see Figt t r e 1 3. 2 } is cr eat ed wit h l t nenvn p el v-
t t nmial s l hr t he f iel d var iabl es. sueh as n and v, vvit l t in t he el et nent . The p ul vt t u- t t t ial s
int er p nl at e t he el d var iabl es at eaeh nude by t he euneep t ul a shap e l unet inn. il his
t :t Jr t t :t :|:|t is dt :st _ ' t l ht :t _ ' l in t he net - t t st :t _ ' t iun.
1 3. 3 The Shap e Funct ien f nr a Linear Tr iangl e El ement
F- n- r a 3- nt ide t r iangl e el ement wit h t hr ee p r eser ihet l val ues |[ ]|l :EEl L1 var iahl es F], 1 7 :,
and F3 at nnt l es I. It ant l 3. as shnwn in Figur e 1 3. 3. nne ean assnn- r e a l inear int et -
p nl at ie- n Fnnet inn l ht t he l iel d var iabl e Fl a. jv} as [ - 1 1 ]
FI[ . r , _ }r J=. n+ . t x+ r ' _ y
- P 1 .
- =1 { _ l 3. 2 t ' ~ i}
=1 1 s- _ ]f l " - s
II
s s s 1
. |"l . |' l |i|||l . . ' l jug! - E
I l iZ Z 1
peeeeee
Figur e 1 3. 3 l l l usl r at inn nf t hr ee shap e f unel it ms.
An t nt r er l uet ien t n t he Finit e El ement Met hnnl I 2 39
The val ues - nl Fat t he nndes shnwn in Figur e 1 3. 2 ar e given by
Pi Tl It 1 ": T , 1 T H
Fa = I F1 2 ' : 3 5 " }T[ "' l ] F 1 1 3- . 2 2 1
Fa 1 r s . l s . F . C
The inver se niil iquat inn ~ [ l 3. 2 2 ) is
_ 1 1
I H T Isis T F. s. l l "t I. s2 ' 1 TI|. - "". =- I1 . - l r iT:"F. =:. 2 ' | Ft
1
Tl TE F- 1 1 FT? FT}: FT (l ass)
F L . 1 r g:r 2 . 1 r 1 :r , r :r 1 . t r ] Ft
L 1 - _ _ _
_ . l '
wher e
l "l 3l T ' Ft . l "' s T F. s. l ' s T ' 1 - . + . 1 ' |T ' 1 - 1 2 ' s T ""|. l "s T It l l i [ l 3. 2 :2 )
Subst it ut ing Equat ien [ 1 3. 2 i3) int n Equat ien (1 3. 2 6 ) gives
1 I. -
32 . 1 : T ' F, s. l "t 35 . 1 ") T Fil l s 31 2 ' : T $ 1 . 2 1 1 F1
l l at 1 ' 3 F
F' l - "- ' r _ l I"l - IAI 2 ' 3 T. l 1 "_ t . l _ s T. - 1 ": 2 ' | T- |- PI 3 t i
- - - F
I5 st : st ] I5 Jr ] I 3
I. L -
Ft
=l . t t ' , l an, t ' l - r "s _ , III, J' l 1 "sl _ . 1 l r . _ it l . l F; (1 3. 9- D)
Ft
|. I' l ' l l iII' Il ' _ '
t "' t "|1 a =. _ }* )"- TI- l s T F32 : T - l b} + Jl l xs T Fal l 3_ 5 ]. }
1 ""* ' s' I~ s . - t l FT T TIT T Tl l l sl Fl l + HT T Tl } t t st ssi
Njxujj _ xl jvg . 1 r 3_ jt t ] + J ; 1 ' 1 ' _ ]t ' l . 1 r 1 I1 1 H35 3)
2 91 ] I Humer ieal andainal vt ieal l vl et hnt il s vvit h MATLAB
The il l t t sr r at inn nl it l t t ee shap e Ft t t t et iens is shnwn in Figur e 1 3. 3. The st t nt nt at inn
nl t hr ee shap e l iunet inns equal s unit _ v.
1 3. 3. 1 3- Net t l e Tr iangul ar El ement f nr E- D St r ess Anal y sis
Fnr t svn- dit nensit inal I[ 2 ~ l _ l 1 ' ) st r ess ar t al jr sis, t her e at e t t vn disp - l aeent ent et ar r t p unent s,
t t and v, at eaeh nnt l e as shnwn in Figur e 1 3. 5 . 1 . The int er p - t il at it t n Funet it ir t t 1 Feat :l 1
t snmp t snent . nl t t , 1 ; ) and v[ _ it , 1 ; ), is given as [ ' 1 - t i]
I.
nl t a.
vl =t ~ . r I==l 1 I r l h =~ r t - s~ . t ' l =l 1 it al l is t |[ 1 3. 3- =' i)
1 " e,
Sin- ee t he t l isp l aeement et imp t inent s wit hin t he el ement ar e a l inear Ft inet it in (1 1 :7 1 !
and v. t he st r ains ar e ennst ant s as given bel nt v:
_ a. . _ _ a- . _ _ at . a. _
E1 1 . " T(jT bl Er T$ T' FI T- =r |- ' TE- FaxT' F1 + b3
Cnnel t t sinn
The st r ains and st r esses ar e ennst ant wit hin t he 3- nnt l e t r iangul ar el ement .
Ther el nr e. t his el et nent is al sn eal l ed - . ; nnst ant - st r ain t r iangl e (CST).
. 1
l
1 ' 3
. - it
l ' l l Il :. 1 l I' ; |, Jr ]- 1 J
is
1 I r t ;
E1 - ' - Til l ] :1 - ' 2 :1
Ht
l l - 1 ' 1 i_ }' ]l '
I- I
Figur e 1 3. 4 Linear t r iangul ar el ement int 2 - D st r ess anal y sis.
An l nt r nr l uet ien t n t he Finit e El ement l l r l et hnt l I 2 ' 31
t . _ - u
. . _ l \ * L-
Ls
. t 1 l + . - ' l . l + . - ' 1 . 3- . - ' 1
t ; . =1
2
1 . .
i. - /
. jr l |=_
=l
\ l /i
:~ , /"
Figur e 1 3. 5 Ar ea cnnr dinat es in a t r iangul ar el ement .
I3. 3. 2 Shap e Ft r net inn in Ar ea Cn nr t l inat es
The shap e f unct inns shnwn in Equat iens 1 1 3. 31 ) t hr nugh 1 1 3. 33) ar e nut suit abl e
f nr Finit e el ement Ft ar mul at iun- Fnr f init e el ement Fnr nt ul at l un. it is essent ial t n
n- t ap p hy sieal el ement s - El l : var inus sizes and shap es int n t he nat ur al nr int r insie
et t t ir t l inat es- Fnr t he t r iangul ar el er ner l t . an ar ea - r nnr dinat e is used as nat ur al nr
int r insie ennr dinat es. Figur e 1 3. 3 shnws t he del init inn nl ar ea ennr dinat es. wher e
a p nint l s. f r ) in t he t r iangl e ean divide t he ar ea A int n t hr ee ar eas. 2 1 , . 2 31 1 . . at t d
. F' t . .
Fr nniFigur e 1 3. 3 it ean be seen t hat
at + . 42 + 1 1 . _ ]
A A A t _ t s. st u
1 - 1 - ' el :|ne
st , A2 at . _ 7
L1 =F 1 1 2 1 :?
T. l . Tl ' H' _ ' Tl E' 1 |. ' F_ ' f :|. "' ' l . Tl El . f 1 ' l ' _ * 5 1 Hl l ' l C[ _ l l ' l il l - H' _ 1 . l ]T. l . ' E 1 :1 1 , l LEl :l ' 1 l Tl ' l l i' Hl . 1 ' i' [ ' l . [ ' ' |. ' . l ' I' l ; ' l ' il iTl l . ' - l "Il ' _ 1 . l i]' 1 |- ' El . Tl :' El . E' |iil ' [ l l l ' l ' . ' l i1 |' l l El . l i' l l i
l l . . . 1 . 3. l . _ . ). Fr nm F. t ]uat it in (1 3. 32 ). it can he seen t hat 1 . . =1 at nnt l e 1 ant i1 1 at
nudes 2 and 3; LI =1 at nude 2 and l l at nudes 1 and 3: 1 . _ . =1 at nude 3 and El at
nudes 1 at t d 2 as sl uasvt t it t Figur e 1 3. 3. Ft l sn by Equat init (1 3. 36 ). L, + L_ . + L. =1 .
Ther ef nr e. t he shap e Funet iun l "~ l . . H3. and H. ean be dened as
N1 T Lt Ta T Ls Ms T is T 1 T Lt T Fa 1 :1 3- 35 )
2 ' 92 I l sl t imer ical ancl ist nal p t ical l vl et heci' s wit h l vt ATl . s1 l 3
El si s
l l l l l as t 3 "1
' :l ' i' , - "1
as i,
g ' |T' s_ . _ i g * 1
t E- l 1 |_ 1 I I
l a] l 1 :i- 1 '
Figur e 1 3. t :i(a} G l nbal disp l acement ct imp cinent s f nr an el ement wit h nt it l e num-
ber s i, i. and l t . (biCnr r esp nnding disp l acement cnmp nnent s in a l cical el ement .
wher e l nit al nut l e number s 1 . 2 . . and 3 ar e cnr r esp nnt l ing t n gl ebal nude number s
i. j. and l t , r esp ect ivel y .
1 - l nw, F. . t , 1 t |at inn (1 3, 31 1 ) can be al s- n wr it t en as an int er p nl at inn 1 1 - 1 : disp l acement
ct nnp nnent s at t he t l it ee iit ides as given in Eqt iat inii(1 3. 33):
1 ' - f t It ]
ii=Liv, it ; st . )- iH1 . t J=Ll "' i' r | t il ; iv. )- ii . =- iis. ssi
l l - 3| 1 - l g
' . ' - J
The il l ust r at inn cit t hese shap e f unct inns is al su shnwn in Figur e 1 3. 3.
l ' * ~ l t it v t he disp l acement snl ut inn is a simp l e l inear l ' _ 1 . 1 l l I. ' Z l ' l t JI' l t iF. v and _ _ _ |l cnnr di-
nat es. t in each t r iangl e. 1 Ft he eit act disp l acement snl ut icms in t he vvhnl e dt i- r nain
ar e al sn l inear Funct inns nFir and _ t i. t ine cnul d nht ain an esact snl ut inn by using t he
t r iangul ar el ement s in l init e cl eiuent - 1 |i' l i. t l }' S1 . 5 - . 1 Ft he ei- t act disp l aceit t ent scil ut icins
in t he wht il e dt iniain ar e iint l iiieat Ft inct inns. uit e can st il l nht ain an ap p r t nt iinat e
scil ut it in hv using mer e t r iangul ar el eineit t s in t he whcil e dcint ain.
I3. 3. 3 Finit e El ement Fnr mul at inn Using Tniangul ar El emen t s
Fl ame l Tl ' l l 1 ' E el ement equat inns can he der ived 1 1 ]; using eit her E- quat it ins (1 3- 1 2 )
and (1 3. 1 3) nr (1 3. 1 ! - 1 ). l it p iat it ins (1 3. 1 2 ) and (1 3. 1 3) wil l he used her e t n der ive
t he l init e el ement equat inn. The same equat inn can be der ived in t he l ' vl i' l 1 TLi* t 1 3.
which uses Equat ien (1 3. 1 3). Equat iens (1 3. 1 2 ) ait d (1 3. 1 3). whic. h ar e in t he l cir m
at st r ess cemp nnent s. wil l be cunver t ed t n disp l acement cc- mp nnent s n. What we
at c l nnl t ing Il ' _ t Jl ' is t he l t iest ap p t ciit imat iun - U1 1 : at in t he cl ass I' _ 1 Il Tt _ ' t ' ]- l ' 1 1 . ' l I l l . l II. iIl . l ! ip iecewise
F1 ' l i]' l - "1 , - "I' 1 U. [ ' |' l il . H. l l ' i- , El . H|l ' . 1 . ' ||- 1 iI' l ' _ " 1 ' 1 t _ "1 ' _ ' L1 . l il il l l . ' t ' _ ' 1 ' il i1 Il ' IiI t _ ' - l I||. IEl l Il - [ ]l l ' l l TU1 ' II El . EH. 1 . |' IEi1 I Hl . 1 P{ ]3i31 . l ]' l E' F1 l Hl El . ' 1 U"3iI- '
An t nt r ncl t ict icin t n t he Finit e El ement Met hnd I 2 ' 33
cif t hat cl ass. Test ing ineans FBI- 1 ' l ' l ' |; 1 1 l }* ' t n nt t il t ip l y t he r esidual against any l l unct icr n
and t hen int egr at e. t hat is. det er mine iit such t hat [ - 1 l t . ' i]
I LL u+ ' ' v r t l il =l ] (1 331 1 3)
n _ t 3. \ - <3_ y El _ y
f nr al l p cissibl e Eu and 5 - v in t he ar ea demain 1 2 . The f unct inns i' 3u and 5 v ar e usue
al l y cal l ed weight ing Ft t nct icms nt t est f iinr t iens- l n st r ess anal y sis t hese Fu nct inns ar e
dened as vir t ual disp l acement s-
l nt egr at ing F. r |uat it in (1 3. 41 )) hy p ar t s (l f ir eenl s Ft ir mt il a nr diver gence t hen-
t em) gives
I T 431 _ 1 r _ l . r ' 3=- I C1 - ' @ r t . t + J' nvt r _ _ iiu. :l ' 3 (1 3- - "~ il )
t i1 3. 3 t iT H- 1 ' s
(- 1 3 El an
[ + ' 3ut l A=- It . r ii* l + J- n l _ 5 uia' 5 H42
t iIl l ) is 1 31 31 . 1 " s l T" l
BF dv
I i- gvdii=_ I - In ' ! l + J. ny t gv 33 [ 1 3_ . . 1 3)
t if s '
is 1 1 1 . ' I . '
"r . "
ie. as
I "3v. t . il =- 1 nr iss+ - 1 t ' Ip C1 ' |_ _ El I"- 1 ' it s t t as- t i )
r iEl y n ' El y s "
wher e 5 is t he ht iundar y t if t he ar ea |L1 |[ ]|I1 1 E|. l I l 2 and it =nxil + ngg- iiis t he ur iit vec-
t nr nnr mal t n t he bnundar y 3. Et ihst it t it ing F. t 1 uat i- t ins (I 3. - 1 ' - 1 1 ) t hr nt igh (1 3. - Ii- i) int n
Equat ien (1 3. - ' - 1 1 3) gives
_ _ . 3.
35 ; "
as
as T T f 1 r Eu I
_ Z up 35 . 1
In 1 1 1 " ' + JTl E? :|
T
@ + 5 mi iiassi
it s El y J
+ J [ (nl _ ct _ \ _ + F. i! 1 _ "C_ n_ )5 l . l + (nxt n + IIIUT )Ev)r i' . ' 3 =1 1 '
5 . .
2 94 I Numer ical andat nsl y t ical Met hnds wit h M. - 4Tl _ . 4t i
wher e
T_ ; I' it l ' J' + Il T_ i1 :l ! T(E+ 1 . iE)+ n T y
. ' r _ 1 _ - _ - . _ - . |. - _ ' r |. - . Ir 1 _ _ |g2 _ - , _ - P Il l . ir e
E E
1 1 ' ), =ngt g + njj =nx - Tr . ! l . Tl ' 1 "1 . ' l TgTl F; 3' FE. - l (1 3. 4? )
Subst it ut ing Equat inii(1 3. 1 1 ) int n Equat iens (1 3. 46 ) and (1 3. 42 ) gives
T_ =ir _ T. au+ t iE + n_ T al + Tu (1 3. 43)
" J 1 - 1 . 1 1 3. 1 " - :3_ y - 2 (1 + ' I. . i) f l it cl y
T=n T Tl T+ Ti+ n T. Tl + I. i (1 349)
- " ' l 2 (1 + ' t i) El st t l y - l 1 ' I. _ i* t l _ y i3ir _ "'
Equat iens (1 3. 4. 3) and (1 3. 43) ar e cal l ed 1 * - l eumann hciundar y ccindit it ins.
Subst it ut ing Equat iens (1 3. 45 ) and (1 3. 43) int e Equat ien (1 3. 45 ) gives
as. .
El ir Ur
35 I 3n f r ( hiT Tr
. . t r " " =
- l it T- F I (TTT- 1 - Ul al l :1 TT+ ' 1 . 5 l :aTTr TIT D
. 3: i3_ y J
(1 3. 31 ))
1 :1 - y using F. qt iat inns (1 3. 1 1 )) and (1 3. 1 1 ). F. t |t iat inn (1 3. 5 1 )) can be eit p r essed in t er ms
cil ' 2 - l l ) disp l acement hel d u and v as given by Equat ien (1 3. 31 ):
_ y - ' _ _
333. 33.
3. 1 : t l it
t iv t l v 5 L. T f .
- ~ in I as
. l . . it s [ Tl - l it + ul av) if . l
as. ass a. at .
L as "ay . 3. e+ i:1 _ y t issii
H ). . r . s=r i
An l nt r r icl uct inn t n t he Finit e El ement l l r l et hnt l I 2 35
l l t he dnniain is divided int n a nit e number nf t r iaiigul at el ement s. Equat inn
(1 3. 31 ) becnmes
_ - I
(Hi 3_
El ir t zl sr _
3 : l . l 33l l l iil ""
- 31 3v t iu t iv t in
gt gj g+ g t iasr i
. . . 3"
+ Z i. . ( : l (I;
I I I
wher e r iis t he t nt al numher n- Fel ement s in t he dnmain 2 . and in is t he t nt al num-
bet nFel er nent edges subject ed t n 1 "' ~ l eur nann bnundar y cnndit inns. Fnr a 3- nnde
t r iangul ar el ement . bnt h disp l acement Fiel ds (u and v) and weight ing Fiinct inns
(n and 3v) have t he same int et p nl at inn Funct inn as shnwn in F. qt iat inn (1 3. 33).
Tl ier el cr r e. any t r iangul ar el ement wit h gl nhal nnde nut nber s i. j. and l t can be
r ep l aced by a t r iangul ar el ement wit h l ncal nnde number s 1 . 2 . and 3 as shnwn in
Figur e 1 3. 1 3. l n addit inn. t he el ement st if f ness mat t iit and l nad vect nr can al sn be
eit p t essed in t et t nis nFl ncal nnde nur r iber . The st r ains in an el ement can nnw be
eit p r essed as
L
_ E _ ax U1
= 5 - = t iE5 t i BN1 t iLl - 1 U
- 3} t l jy El y 3] v .
3_ " E 33- 3) U
_ "' =- t _ av aii aiv. aiv. - 3i"' i(1 . . _ q
Z . |. Z ii
|_ (1 ' I (l jt 1 3} dat El y as El y it . _ . q
T [ Bl . ia- t t L[ 3]t ii- t i
(1 3. 33)
2 93 I Numer ical ant iAnal y t ical i' vl et hnn' s wit h l vi ATl _ AE'
The l l nl l ciwing t et iiican be dened as vit t t ial st r ains as
- i.
as- . 1 .
at P :
3y W 3
33
3. 1 :
@
it s
El n
t iTl ii
t . l ' . :it t l a:
r 3l ' 1 ii' 3N
aiv,
T 1 B=1 _ s. 1 r t . l F"' . l ' - 1 t . - . ~ =i
i3l "il _
I31 1 ?
= t i_ ii t ii
3) 5 - ii
aiv an ar r . aiv. an
' l FT i t _ Z + Z ii-
E- 1 1 ' (l jil 3} - i3. it t l ' _ y 3. - it 3]
L Z
-
ii
* t i
BN5
3:1
TN3
ET
Eu l
5 * .
5 1 . 1 1
Ev:
3- u _ , r
Ev.
(1 3- 34)
wher e [ 1 31 r el at es t he disp l acement wit h t he st r ain and is dened as t he st r ain-
disp l acement mat r i:t _ Ther eFt ir e, t he r st t er m in Equat inn (1 3. 32 ) can he eit p r essed
H5 1 ' - [ ' l l l il l ' l "ii"r ' ! i' r :
@
a. . -
%
. l . _ 3)
35 1 1 i3(f l it - El r it in
mp ? i_ |. _ . _ .
l l - 1 ]
t in
E
il ii
ET)
wher e [ l t ]' =is t he st i:l 3ness mat r iit nFt he t r iangul ar el ement . dened as
is- 1 ' =( iai"' ir iiiaiaa
an =1 5 ; - ]l _ l iat isiiiaiaaiai=iit iai
(1 3. 33)
The seennd t er m in Equat inii(1 3. 32 ) is r el at ed t n t he bndy l br ces. which can be
er - t p r essed as
i. (2 :l ) i)e=
- 1
3n.
Evl
5 - u I
31 - ' 3
Eu _ .
5 v_ , i
1 ) NI
l N"
r 1 )
Ni
t i - =1 =1 5 - s1 Tl Fl (.
(1 3. 31 ? )
An t nt mduct inn t c: t he Finit e Et ement Met hnct I 2 9' ?
wit er e is t he eqt iivat ent it ]- act vect er r 1 Ft 1 t 1 d}' Ft ]- r ces in t his eier nent , which is
N, u
. II]
N, :1
F- :=I - ,
[ 1 , E U H
I
J J-
Ni n
- El l
N|
Iv 3
N
N
1 "
Nt f s
' if 1 , - I
l f ' : AL:
. N@ . f , . |_ 5 ' i1 J
1
I
EH I { sf - . [ Lil Ft
= , = ' t l E' . + . E- I )
f r f in:- f l Ft
' l ]1 e equival ent t r :- r ces ar e act ing at each nude at t he t r iangl e as shewn in Figur e 1 5 . 1
iit l c t hir d t er m in Equat ien { I3- . 5 1 ] r el at es t |1 r : sur t - ace t r act iun bnundar y cunct ir
t inn { t hat is. t he Heumann t at :- unct ar :- , r ct anct it in- r 1 ]l - l f t hc sur f ace t r act icm act s um edge
I- 1 nFt ]1 e t r ia ngies as shnwn in Figur e 1 3, 5 3, t his t er m can he exp r ess:- :|:1 ast i- n~ |]t w. ' s:
|'
F1
- T _ _
I- EL N, u
Eu N
5 T T. Eu]. hit 1
I u 1 J3: L I E
E1 . Ti. 5 - vi r [ 1
5 - ui U
I 5 1 ' 5 II]
1
1 - Z
U
- [ I
1 | F,
{ - 1 } [ hi
Figur e 1 3. ? t a} Bed]; f er ces act ing en an el ement . l b} Equival ent nedal f er ce at
each nnde due t n t he bndy f or ces
Fis
"i 1 ? . F
H
F1
a1 =[ q1 WF1
I 2 F3
E-
T.
t 1 5 . i- E)
I93 I Numer icaiandt naf y t icaf Met hucis wit h MATLAB
T _ Ta T
l - t il *
1 1 I- J
T:
3 3
1 1 T
{ :1 } { bl
Figur e 1 3. 8 t a} Sur f ace t r act inns T act ing en t he et l ge uf an el ement . { bi
Equival ent net l al inr ee at each nnde due in t he sur iaee ir act inns.
wher e[ F]} is t he equival ent l ead vect er due t n sur f ace t r act inn act ing nn t he bnund-
ar v. which is
r v, n 3"}
n N. T2
. v, - Li T 1 ", , .
iFl ' . ":_ iJ _ T f f = " [ 1 3- Til l
=. _ n N1 1 Ti
t i t i H
U U _ 1 ]
The equival ent l nads ar e nnl y act ing at nndes l and I5 . since t he sur f ace t r aet ic- n is
ap p l ied an edge 1 - 2 as shnwn in Figur e 1 3. 3.
Final l y , Equat ien { I1 5 1 } can be r ewr it t en as
l ' l i' i' |' |' i'
Ems- 1 3' |s1 :|s1 , =Z ia- s1 Tt F1 ; , + Z t s- ; n "t F1 ; _ , MED- ,
i=l . ' =l _ _ |i=l
i' * ~ l cnv al l t he t r iangl e eiement s. wit h nnde number i. j. and l t as shnwn in Figur e 1 3. 1 5 .
ar e assembl ed t nget her and exp r essed in t er ms nf t he gl ebal disp l acement cump u-
nent s as shewn in Figur e if i- l 5 a: t hen. Equat ien f if |- t ' it ]' ]I beet :- Ines
isQ1 ns1 t e1 =ise1 it |F1 . + IF]. + [ e1 >=|se1 l F1 nssn
wher e [ H] is t he gl ebal st if f ness Inat t i:- t t br t he wheie dcnnain. [ F]h and [ F]- r ar e t he
git - baiinad vect er due t n bndy f er ce and sur f ace t r aet ie n. and { I' ] is t he ccinee nt r at ed
f er ce act ing at t he nndes. [ F] is t he assembl y nf aiif nr ces act ing un t he dnmain. i~ ' nr
an ar bit r ar y val ue uf t he t est f unct ien E. |[ . ]i_ 1 Ei1 Ii- [ H1 l [ l ? 1 - - ]]I becnmes
l =i l [ Qi=iFl t 1 s. t ~ :- as
An int t educt ien t e t he Finit e El ement ivt et hecl I 1 99
Equat ien I[ l _ i~ . i5 l ican be sel ved by ap p l y ing t he hnewn disp l acet uent val ue at t t edes
en t he beundar y { t hat is. Dir ichl et beut t dar y cendit iensl l . Cit t ce t he unl t newn
disp l acement s at nedes ar e ebt ained. t hey wil l be emp l ey ed in Equat ien (1 3. 5 3)
t e cal cul at e t he st r ains in each el ement . Final l y . t he st r ains ar e subst it ut ed int e
Equat ien I[ _ l . i- l t l ' ] t e cal cul at e t he st r ess c- et r t p enent in each el ement .
1 3. 4 Finit e El ement Anal y sis Using
Mt it TLAB"s PDE Teel beit
l vl F' t Tl . Ft ii- s F' l ' l F. Tet il beit sef t wat e [ Ii] can he t t secl t e numer ical l y sel ve a 2 - F} FDF
p r ebl em by def ining t he 1 "- D r egien. t he beundar y cet t dit iens. t he FDE ceef l iciet t t s.
and gener at ing meshes f er t he r egien. Pt f t er t he p t ebl er n is sel ved. t he r esul t s can
be visual ized. Advanced ap p l icat iens ar e al se p essibl e by dewnl eading t he demain
genmet r y . bnundar y cendit iens. ant imesh descr ip t ien t u t he i"t - "t . - ' it il iLi' i. l i' t wer l t sp ace.
Fr em t he ct :- r nmar t cl l ine [ er l ' vl - t il es] y eu car t cal l f unct inns t e de t he har ciwer l - t , f er
eit amp l e. gener at e r neshes. t l iscr er iae y eur p r nhl em. p er f r t r m int er p nl at ien. p l et dat a
en unst r uct ur ed gr ids. et c. . whil e y et t r et ain f t t l l cent r el ever t he gl ebal numer ical
al ger it l t r n.
Eef er e y eu st ar t t he FDE t eel bes. it is bet t er t e f er mul at e a PDE p r ebl er n en
p ap er { dr aw t he demain. wr it e t he bnundar y cendit iens. and t he i IJi:' ]|. Te st ar t t he
FDE t eel bect . at t he l vl . F1 t TL. ' i' t E cemmand l ir t e. t y p e
p det eel
and p r ess t he ent er ht t t t nn as shewn in Figt t r e 1 3. 9. This invnl - t es t he gr ap hical user
int er f ace { G UI} as shewn in Figur e 1 . =i. iii. which is a sel f - cent ained gr ap hical envi-
r enment f er FDE sel ving.
' ! t ' eu can cl icl t t he Up t ien but t en as shewn in Figur e 1 3. 1 1 t e cr eat e t he gr ids.
def t ne gr id sp acing. sel ect ases l imit s. sel ect t he t y p e ef p r nbl em y eu want t e sel ve.
CFC- FCIF f _ "IH. |' |' |P' l l iI, }"[ ]' l _ l . HIE 5 [ il ' l ' l |I"i. |' l g E. F|l H. |' |l l I 5 ' l I|"f _ ' 1 ' il ' iFl |"l i. ' l l :l l l . t _ "|' |1 |. FFC. ' l IT| l iii1 f _ " Ll . |' l :l F|"' l I. ' l ' l ' _ ' l "t . l |- ". [ ' l
menu sel ect t he "Ft p p l icat ien Up t it sn. "t hen sel ect t he iit r t t ct ur al Mechanics. Fl ar t e
St r ess ep t ien.
Te dr aw t he geer net r y ef t he mnt l el . cl icl t t he Dr aw hut t nn and st ar t t n dr aw
sel id ehject s t r ect angl e. cir cl e. el l ip se. at t d p el y genias shewn it t Figt t t e 1 3. 1 2 .
Yen can cent bine t hese ebject s by adding er subt r act ing t hem t e cr eat e t he
geemet r y y eu want . Simil ar l y . t e ap p l y t he bnundar y cendit iens. el icit t he
Heundar y but t en and y eu can sp ecif y dif f er ent t y p es ef bnundar y cendit iens
er t dif f er ent edges-
in t he FDE mncl e. y eu int er act ivel y sp ecif y t he t y p e nf F' f l ' IE ar t d t he ceet l icier t t s
t r . . e. _ ; iand cf . "f r . - t t can sp ecif y t he ceef l icier t t s f er each suhdemain indep endent l y .
Fer st r t t ct ur al mechanics. heat t r at t sf et . er et her sp ecif ic p r ehl ems. y eu just need t e
sp ecif y t he mat er ial and t he t her mal and p hy sical p r ep er t ies in t he medel .
I- t il t ] I Humer t caiant it nel y t ical t viet het is wit h MATLAE
{ Ir 1 . It I' hil t ! IIIr |I- l ' |I|:- i_ ' I- t l - III
J _ ' p H. I I' I |' I- it J: E |. |; - - |t |, i1 - :|. |- _ | t La. - |. |1 |- |- ||||- t I- u|- |t . I. |- |. - |_ r n- |; ||. . . |- a|' |I. a. ' |a. |- st :i- { -
. 1 u- 1 . |. ||. t { |I- It - r e. - t in: - [ ' |' t Il ' ||:t |l \ |- t l t - I
at r t I r I I: E J r aI| |
1 :I|' I |' |=i. ' t - Fl - " I' :Iir :::|.
:- "I"- I- I' l l l it l l hr ' i' l
If
Figur e 1 3. 9 MATLAB cemmand vvint l evv. [ Fr em MATLAB. Wit h |:t er missien. ]|
. _ . _ it
ii- iiiF"I="l ' 4Il I=l - I"I=IIl ' I' * U' EI' I - I:"' - l ' l III:I' I=I' - E' I-
U :j:_ j: t jijt . ; t ; _ |- :I; - t _ _ - _ "I. | ' . - - t - It - qt ; - J" - t t l t . e
K - r i
1 1 l '
H
III
J- I
l l
I.
j t l
Jl :
II!
l l l l
I I . I
|IIIII- I ' - It . - ' I|I ' II- - I I t I' |I. I\ - - - IIIIII I- - - - r I J * I -
Figur e 1 3. ' l l ] MATLAB gr ap hical user int er f ace { E- Lil } f er FIJE t eel heit . iFr er n
MATLAB. Wit h |1 er missien. ji
An int r ncf uct ien t n t he Finit e El ement Met hne I
Il t aut mt n- - vi- . =- an- I- Int r - Innsr l vt t - t e- ' r - a:- - . - r - up
IE? I- III] Lu: . . - f "- . . . - EI- . I ~ | . "I=iI4, _ [ ' - an. |- t |. nt t |' |- t - t ~ . _ |I- t |. |- |. |- - . ' t |- |- t - t H1 ' 5 F- 5 35 I F5 5 " IT]
5 "I1 t it l t l 1 |1 :- ' . r t - ; |.
5 - |' I- =1 !
l |:|l - hl - . _
1 ' - t l t r l t ut - |- l l
' |Ir |r |l ' l ' I- r t l - Jl . |- It t l - \ ; | I I I I
:|h=l "|
m* =- =- v==- * -
t ; , ||. - . |- . - ct - r - t - ' - t St il t s"- s _

"it - - st em Fl - t |J' c1 I|- e=t . I"|:t ' t ! I- |. | :- It
I I Iii- :|:r ||l :|. ' I:t '
"PI- I- |r - it - l :|:- s|. t - I:- Ls
- I I - I- if - t n- t r |! ' Iut - ' - :I' - :t - ir - t - I1 - 1 :1 '
- II- t I' - III. - min l "l - I- zl t H
|. | 5 - mat ' r - I"i. l l i'
t . ' Ir l I|. ||:- t :r |
- t i:
I' I=|l -
l ib
|' ||' |t _ _
:|- t . I- - It - l _ I. . . - L I1 -
Iii I IF. Tl ' 5 I IF-
l ' r i|: - |Z hl ' :r t |iel ' q:I|::|I- III- |||' t |t :r t :||- @ - I- n I | I
I
Figur e 1 3. 1 1 Dp t iens but t en. - { Fr em MATLAII. Wit h p er missiemi
Hi- E. ' Iat - eubset r eeu- r t et t - t - t =t - ' :t - H- 1 et a ' - t - t r eh- . I' l - Ih
' ' ' ' ' It |||| t | I
|E_ t : - E Er - 1 "- I' l l - it in- t ut - u- s1 . t - ur aan- u - t . - III * 1 "- 1 ! " E- "I"
gwnu F:I:Iq I:, I|:|. :|' It :
Fl t - =a||' - i1 t , |t a. Ia' - HI:- . 1 "t I:- s- :' I
l :I|; :r |- :_ - :|It :|:
_ El l :- t - I. I. - t r - t c + t e- ' - "Il a- al l
Fd- |n- El " II I
Fl - F- 1 |:|.
UH!
es- -
ut
I' I? ' - - -
[ |_ . -
_
nt - -
Uh- -
- ea
I I I I I
I - I - ' I"i III Fl I ' |
l - v- t - et - | - at t - n. ; . ||n- - ' - - t - |- t - t a- =r ut | din.
Figur e 1 3. 1 1 [ Il r avv but t en. [ Fr em MATLAH. Wit h |]er missien. ]
31 1 2 I Numer ical ancf iinal y t icait vt et hc- e' s wit h MATLAB
III I- HI r - =I' ~ I"I=r new
hHII' l ' I. . I' l ' | I' I. I1 ' i:|- Il l l l |. l ' ' $ .
1 IIIII
It hl nt l t t - t . |' t 1 |' |. Ir l at ! t r ct l r e|1 ' I' |er l at Ir Is:
1 EI
Tr nar t t uiaaeia- ar a- nnl ir eci
El mu Iiimgiea
Ft e- l =I. Ive1 ! t iuat ' t |:e
i:il Jaet ' - aet t r nat t 1 ' l . . nt :l ien
' i""t I. ' ! l ' :5 IIr I' l t l ' t l I:! l It Ii' t
1 1 5
H e' l I' ut 1 ' |e|1 r r uI:l Iic- t :l :
har qeat Ir
|_ en ] [ came]
Figur e 1 3. 1 3 Sel ve p ar amet er s windew. [ Fr em Mi- ' t Tl _ il t E. Wit h p er missien. }
I1 Ie gener at e t he mesh. cl icl t t he mesh but t en. f en can cent r el t he p ar amet er s
UIIII IIIIIIIII 3. l . 1 Il 1 IIIIl I|. It I. [ |I_ ' II. I. FIIIt _ ' ! ' i- I. I1 H- l L' IIl l I_ 1 I3. I. I' [ IIF. . |"IIl |. IiIIIl It I|I Fil . IIII. ' l t - ' II. IIl g H. P1 ' t IiII. ' . l ' Il iII. ' . IIl , 1 |- ' l L' . l I. I CHIII F' iI. Il Il . l 1 IIII l . Il L' . l I. II. ' . I. II_
]Tl ' 5 III ITIIIII- [ . IIt . ' _ ' III] IIII. I IIIl . Il iII- E' II IIE' I. ' IIIII|II' II; l ' :|. "Il iIII. ]. F IIIIIEIII- III E. |III. II IIIIIIEIII 1 - i- [ ]l v' t . - I EI. _ gI. FI. il IIIIl Ii' f ]Il . I. Il . Il [ ]' IIIi' iFIIIIIIIITI I. ' . l ' Il . Il ' I
meshes ar e st t f t iciet it l y cl ese. it indicat es t hat t he sel ut ien has cnnver ged t e an accu-
r at e sel t t t iet t and iIur t l t er mesh r el inet nent is net needed. Cit her wise. l t eep r el ining
t he mesh unt il t he sel ut iens cenver ge r e an accur at e sel ut ien. I' ! t Ieu can al se emp l ey
t he adap t ive mesh r eiiner and sel ver by el icit ing en t he . ' 5 el ve" menu and sel ect -
ing t he Par amet er s t l r ep - t . l t iwn menu it em". a windnw wil l p ep up as sht :- wt t ir t
Figur e l i_ i. If i. Then y t :- u sel ect t he adap t ive mncl e it em f r em t he menu har and inp ut
t he p ar amet er s in t he wint l ew. In t his mede. t he mesh is aut r t mat ical l y r el inet l unt il
a sel t t t ien l t as cenvet gecl t e accur at e sel ut ien.
It t t he sel ve t nede. y eu can cl icl t t he Sel veII menu it em and sel ect t he Sel ve
l DI II but t en t e sel ve t he medel y eu cr eat ed er y eu can sel ect t he p ar amet er s. . I' I
but t en t t icunt r el t he nenl ir t ear sel ve t s f er el l ip t ic p r e bl er t t s as sht :- wr t ir t Figur e 1 5 . 1 3.
Fur p ar ahct l ic and hy p er hnl ic p r ehl ems. y eu can sp ecif y t he init ial val ues and t he
t imes f nr which t he nut p ut shnul t l he gener at ed- Fer t he eigenval ue sel ver . y uu car t
sp ecif y t he int er val in which r e sear ch f er eigenval ues.
An l nt r ncf uct inn t n t he Finit e El ement Met hnt t I SIIIS
"Il It I' Pl = Fl I=l iIl l ' Ii' t ' I- . Il ' l Il l ' f ' l l r Pil l i! |' r l l I
EIIIIIFIIFIII l . I II I- I
E|+ IeI|:|- . |r
7 ] ght - . 1 - t nl juj sr I- t r . - r l - ni. :|- |. | - 1
_ _ |1 ' s- r t r r n- e: nur - =|- "FI' F"" F"' I ""'
. I
; _ _ |F=- t H1 - I- |- - |; |' t - t l II IIIIIII I' D |gH- t l . e:Il . . H:- I' t ||I. . l - t t ' I- it - :- el - |-
zt a- =- - - . """" " as
t i]. . . |i]. . . . . was
Figur e 1 3. 1 4 Fl et sel ut ien windew. [ Fr em MATLAB. Wit h p er missien. ]
Tn vist t al r t e t he r esul t s. y nt t can cl icl t t he p l n- t II hur t - en ant l sel ect t he Fl nt
Sel ut ienII t e p l et t he r esul t s. I t ' Ieu can al se sel ec. t t he "p at at net et s. . . II. t hen a windnw
wil l p ep up as sl t ewt t it t Figur e I. i. I=l I and y eu car t sel ect t he ep t iens it t t he win-
dew t e cent r el y eur p l et s wit h a wide r ange ef visual iaat ien p essibil it ies. I! t ' Ieu can
visual ise bet h inside t he p det eeiLiLl l and in sep ar at e f igur es. f en can p l et t hr ee
t . l iHer ent sel ut ien p r ep er t ies at t he same t ime. using cel nr . height . and vect er Iiel d
p int s- Sur f ace. r nesh. cnnt nur . ant iar r nw [ qt t iver ] p int s ar e avail ahl e. Fnr sur f ace
p int s. y et t car t cheese het ween int er p el ar ed ant iHat r ender ing schemes. The mesh
may be l t iddet t er esp - esed in al l p l et t y p es. Fer p ar abel ic and hy p er bel ic equat iens.
y eu can even p r educe an animat ed mevie ef t he sel ut ienIs t ime dep endence. Al l
visual it at ien t I1 . t nct ie|t s ar e al se accessibl e f r et n t he cet nt nat t d l it t e.
I1 Ihe FDE Teel bes sef t war e is easy t e use in t he mest cemmen ar eas due t e t he
ap p l icat ien int er f aces. Eight ap p l icat ien int er f aces ar e avail abl e I5 ]. in addit inn t e
l II. ' I. l I_ gt _ ' II|il IIII' l iI ! :it I. II. 3. F HIIICI. 5 1 |"If . ' iIl If _ ' IIII1 It ' l l - ' Iil Il l I. IIl Il l Il F"t "IEI|. l l III_ II l l - IIIII iI. IH. 1 ' i' l L' SI
I St r t t ct t t r al i' vl echanicsF' l ar t e St r ess
I St r uct ur al l ' v l echanicsFl ane St r ain
I El ect r est at ics
I ivl agnet est at ics
I ALI Pewer Iil eet r emagnet ies
I IiiIi. Ii- I1 . l i. l |i_ ' III t . "|i_ l ' v Iet . Iia El l :
I Heat Tr ansf er
I l Il il f t t sie|t
31 1 4 I Numer ical ant l sinal y t ical t viet heds wit h MATLAB
These int er f aces l t ave dial eg be:- r es wher e t he F' l I. Il E ceef cient s. bet t ndar y c. en-
dit iens. and sel ut ien ar e er t p l ained in t er ms el I p hy sical ent it ies. The ap p l icat iet t
int er f aces enabl e y eu t e ent er sp ecif ic p ar amet er s. sueh as ' iIeungIs medul us in t he
st r uct ur al mechanics p r ebl ems. In t his b- nnl - r . . we wil l use st r uct ur al mechanics
EIIILI heat t r ansf er p r nbl ems as examp l es t n er - t p l air t ht :- w t n use t he FEIE t t ' inl hn:|t -
Il he t y p ical p r ecesses nf using t he PIJE t eel bes r e cr eat e t he nit e el ement medel .
nht ain snl ut inns. and disp l ay t he r esul t s ar e l ist ecl in t he f nl l nwing t hr ee majt t r st ep s:
l - Pr ep r ncessnr : Cr eat e a nit e el ement medel -
I[ aI]I Sp ecif y t he ap p r ep r iat e F' l :l E- t y p e p r nhl em-
{ hiSet up t he dr awing ar ea and cr eat e a sel id t nedel .
l eiSp ecif y t he ht :- unr . Iar y cencl it inns.
t t l iInp t t t t he p hy sical cnnst ant s.
l eiG ener at e t he mesh.
2 . Seiut ien: Cibt ain t he sel ut ien.
S. Pest p r ecesser : Disp l ay t he r esul t s.
Examp l e 1 3. ? F- l ane St r ess Anal y sis et a Pl at e wit h a Hel e
Ft p l at e wit h a hnl e at t he cent er is subject ed t e a unif ut m l nat l p at it s f r ee end. as
shnwr t in Figur e I5 . IS. IS =. . Iit IIl Il at 1 ' l Il Il l I ~ l l iIm1 . v =l l uf i. t hicl t ness =t Il ' . l i' 1 m. ant l p =
Iii"i"~ l l m3. l f l . =ii. 2 l J nt . w =iJ. l J4 m. and r =l l l l l m. nd t he st r ess cencenr r at ien
f act nr { F- Iif r nm nit e el ement anal y sis and cemp ar e t he r esul t wit h t he cur ve f r em
st r engt h ef mat er ial s.
1 . l I r ep r ecesser
{ aiSp ecif y t he ap p r ep r iat e FDE t y p e ef p r ebl em.
Ll l iel t t he Up t ien but t en as shewn in Figur e 1 3. 1 1 . sel ect t he . hp p l ieat ien. "
t hen sel ect t he St r uct ur al l vl echanics. Pl ane l "it r essII ep t ien- I"- l ew y eu ar e in
PIHIIIE SI. I1 Il ; "5 S IIl l I1 LI. l I; * -
{ hiSet up t he dr awing ar ea and cr eat e a sel id medel .
Te set up t he dr awing ar ea. y eu need t e l t new t he dimensiet t ef t he
p l at e. which is l ]. E is EIJIIIII m. Ii' Ieu can set up a dr awing ar ea a l it t l e bigger
I }I"1 . I' * ~ . I"- . I * ~ . ' ~ . _ I ' ~ . I"~ t
s
l ei
. . _ I' -
n
Figur e 1 3. 1 5 C- eemet r y ef a p l at e wit h a hel e at l he cent er . i' Fr em MATLAB.
Wit h p er t nissien. I
An l nt r ecl t - t ct ien r e t he Finit e El ement t vt et hecl I 31 1 5
it - at r ia r ange: |:| , a. ut . ; ,
ier eeiai
HI - a:- r l s r ange: |' :| emu
t eesenn
| l l - . |a|aiy | | Cl ese |
Figur e 1 3. 1 5 Axes l imit s windew. [ Fr em MATLAB. Wit h p er t nissien. i
t han B- 2 is i]. { l - =im. say . I- i. . IE' . - iiat I- I. I t n. Cl icl t t he CIp t iet t II but t en. sel ect r ises
l _ imit . . . . II and an t l t ses Limit s dial eg bes wil l p ep up as shewn in Figur e 1 3. 1 6 .
inp ut t he r ange ef t he - . "|. ' asis and t he _ y asis. Iihe asis r ange sheul d be ent er ed as
a l it . . I1 l ' v1 . r "t Il IL. t ' i. l i. . "t vect t :- r such as il ]l - IE f l . I- Ii] f er it - ar t is r ange and [ ' [ I- ' l IS f I. f l ' Sl
f nr y - ait is r ange as shnwn in Figur e l I; Ii- 1 iIi- If y nt t sel ect t he . t ' I' |. i. 1 if I]- checl - r . hnit .
aut nmat ic scal ing nf t he ait is is used. l f il icl - t ing t he r l t p p Iy II hut t t m ap p l ies t he
ent er ed ait is r anges and t he dr awing ar ea is set up as shnwn in Figur e IS- 1 ? .
C. l icl ~ r ing t he IICIeseII bt t t t en wil l end t he t - "t i- r es Limit s dial eg hes.
Yeu cat t al se set up gr id sp acing by cl icking en t he i:Ip t ienI' but t et t . and
sel ect "G r id Sp acing. . a gr id- sp acing dial eg bes wil l p ep up as shewn in
Figur e I3. iSa. wher e ii. i:i]. [ I' S:ii. 1 and l - i. iIl ' S:[ i. l ]1 :[ i. i]S is t he def aul t sp ac-
ing- l ]. l :I]- l ]' S:{ I. l means t he gr id st ar t s at it =' [ I- I and ends at it =' l I. 1 wit h
an incr ement nf t I. iiS gr id unit s each- IIIIIU- l . 1 can adjust t he - it - ait is and _ y - asis
gr it l sp acing if y et t t ie net l il t e t he def aul t sp acing. Ii- y def - at t l t . t he Ivl hTl . - t h
aut emat ic Iit t ear gr id sp acing is t t sed. III y eu t ur n ef f t he il t ut e checl - t bes.
t he edit el ds f er l inear sp acing and ezt t r a t icl t s ar e enabl ed. Fer esamp l e.
nncheel - t ing t he I l ' t ut eII bes. t he def aul t l inear sp acing l ]. i:t i. l Il S:[ I. 1 can be
changed t e [ i- l ' . 1 :[ i. [ l E:[ l l E. as shnwn in Figur e 1 ? - . 1 Sib. l l il icl t ir t g t he II- ' ii. p p 1 y II
hut t nn ap p l ies t he ent er ed gr id sp acing- El icl - t ir t g nn t he I:l nneII hut t nn cl nses
t he G r id Sp acing dial eg ht nt - El icl - r t he ' T. ' |' p t it t n ht t t t nn and t hen cl icl t t he
G r id but t en t e t ur n en er et f t he gr id. t it gr id is shewn in Figur e I. - I:i. l . Il .
New y eu can dr aw t he medel . Te dr aw a cir cl e f r em it s cer t t er . cl icl t
t he "Dp t ien but t en. and sel ect t he el l ip sel cir cl e { cent er ed}- II but t en. t hen
cl iel - r - and- dr ag f r em t he cent er [ E]. El l . using t he r ight meuse but t en. t e dr ag
a p t - t int t n t he cir cl eIs p er imet er { r adius =l l l l l it n cr eat e a cir cl e. hut use t he
f ef t mnt t se hut t nn t n dr ag an el l ip se. If t he cir cl e dr ies nnt Innl t Iil - r e a cir cl e, it
means y eur r t - and y - ar t es sp acing is net eqt t al : y eu can cl icl t en t he ' Up r it t nII
but t et t and sel ect Ft r t es Equal "; a cir cl e wil l be shewn as in Figur e I3. ; . Il ' . ' Liand
a name CI is assigned t e t his cir cl e. ' ! t Ieu can al se cl icl t t he el l ip se wit h + sign
3I]t It I Numer ical ant i Anal y t ical Fvf et hncf s wit h MATLAB
. 3
f l ? t :t
1 - |. t . I . ; |. t |. |. - - t . I|- p t . - . 1 - cl - | Ip . 1 |1 - ' - , _ u- | ' |- :t . - v I- Q.
| | ; _ =| - 1 :. 5 - _ ' == j" I Il 1 - - . . EE- ' t , , _ l - . t - . . - t v- - =- = . |- =:- =t 1 - I ' H" ' i - "' 1
in I- |l I. I
r t r | |
l ' l _ J
ct r
LL
I- 1
I
I. |. I
- I. I.
II
LLI- I
I I I
IIIIIIII 4. 1 1 - . . I:- I LIJ I
III- I II- It t l - Ir l r l t - I- I- . r I' I- I- IIII- I' r n:- it - t Il ' - I Lg
Figur e 1 3. 1 ? Dr awing ar ea ef [ - 1 2 1 2 ] f er it - ar t is r ange and [ - H El ] f er y - asis r ange
is cr eat ed. iFr em l vI. # t TI- i! t B. Wit h p - er missien. }
It - e:=1 a|r |eat ensue- r e t i] Mu I- ans l inear anat f t r t |"_ ' ] Ma
in t ee ea- e. t ; 1
I- aide t nr l r t t it - :ir s: it - aide is- r l r a ihal r s;
t - t t et is Int ent sp - r t cir ig N1 5 it - t n- zie. he- t t t s|i- r ich; mg
I' |I- G il l i! E=f II|' Il IIIIIIIG I III- IIEIIIEI I- ' =I l l IIIZ IISI
I
iil i[ W] I?
l ai [ bl
Figur e 1 3. 1 3 Ia] Def aul t t aut eigr id sp acing. [ biManual gr id sp acing. iFr em
MATLAB. Wit h p er missiem}
An l nt r ncl t t ct inn t n t he Finit e El ement t viet hncl I 3[ Ii"
:1 - t - l ea- I- - vi- I- is- sl - t II. l - It l - ' - a- I- - r s- ' - n - - I- ' :4
cit ; :. =. | caiin as . - :"- . i. e- - =- I- i"1 "- . . i' * v* =- - ' ==~ I- =s- =- 1 II ' - "" " " "' -
i. I|t t IIt . ||t
II- l I|' II t | t | | |
l I|. -
IIIII!
Ll - |' I
LIIIII
; |.
t _ |_ |I I
- I. I.
Il l It -
' - |- "|' ' I ' I I
. |_ _ |; I I t I I
- El . - U1 - l Il . I:' - l . l l . h 45 1 . 1 - I - . L. J Ll l |. LiJ. - 1 3 i. ' . l : . I - |-
I- It l - I I- Il IIr l r r r r Iq' l I|' I1 I- |- It |n' q|Ir I1 I_ t I' Ir Ir ' n- r II1 1 1 r 1 I' - 1
I Ll r l
Figur e 1 3. 1 9 Dr awing ar ea wit h gr ids. { Fr em MATLAB. wit h p er missien. }
1 - I- :|:- :|\ t - I It s ' . =t t - ' . ' - It t r t r t s I_ I _ ' I! |t .
:1 - t sl - . it . - I- - =1 - r - - I- I- t ' Iu. 1 - I- I; - - - r - Iu' - I- u- I- It
' - - I ' - = I- . - . t - nev - - r - r I|s|-
II. . . F| |. . . . I III _ ::|; IIIII _ |IIIi_ |i| :F' | iQ Evil - in I- I I
i. ||r - t ||t . l |
II |I|' I| | I t | | |
|' |' ||' . - |
LL . . .
LLLI. .
.
. d' _ I.
. I
1 - I; l ::- -
. |. _ _ . I
' l - '
]_ [ |:. .
LI. I- I' -
|_ |_ |=. .
|_ |:E I I I I I I
1 . , - I. I' I - I. Il . I - I. Il . I; . - LI_ |- I - - I, I, ' I I1 1 1 , |. . . , I- I. - t _ IH - . 1 :I - I ,
Hr - l |r Il . II' 1 I:r I IIl Il I. I' |I- Ir ir I:t I' |IIIIII|Ir IhIr Ijr Ir Ir I' III|I |II:l |' :IIIIt I. I | I
Figur e 1 3. 2 1 ] Dr aw a cir cl e. l Fr em MATLAB. Wit h p er missien. i
3I]t iiI Numer ical ant i Anal y t ical l ivl et hncl s wit h l vIr l l i' Il _ . =l t . - El
ut r t l eel t y p e ' 3' r - 1 - Ir
i' i- * =r I' Il sI- t r t ir e- t t esant - =ssa:n - t ens
' r * ==" HI Ieht t it t aasessair t assr
S"- ' 5 IJ. nt Er Ieist 1 t |2 se- t t t r t t s
I"|- HIE [ :1
l sf I] I "e- "sf IJ
l a}
In
csit ect l y p e: Er r - H
ii. - eE=I' l . ' I3I' . [ | 5
' r ' - cent er . . |] |]
Ft ael ss g |y ||
I"|- Hil l |:I|
I [ er r ] [ cu- ea]
[ hi
Figur e 1 3. 2 1 Ia} Dbiect dial eg heir shews t he er r ist ing cent er Iecat ien and r adius.
l b} Ent er ing t he er t act cent er Iecat ien ant l r adius if Figur e I3. I1 a is net t he er t act
numher . { Fr nm MATLAB. wit h p er n1 issien. }
in t he cer |r er II but t en r e dr aw t he el l ip ses er cir cl es. The ht r t t en wit h t he +
sign is used when y eu want t e dr aw st ar t it t g at t he cet t t er . III y eu wat t t t e t neve
er r esiae t he cir cl e. y eu can easil y de se. Cl icl t - and- dr ag an ebiect t e meve
it . er deubl e- cl icl t an ebjeet t e ep en a dial eg bes as shewn in Figur e 1 3. . Il . ia.
wher e y uu can ent er t he er - t act cent er l ncat it m t n I[ l I. l ]l } ant - I r adius t n . . Il as
shnwn in Figur e I5 - . . IIl Il ' i. Fr nm t he r - l ial ng hur t . y nu car t al sn al t er t he name
nf t he cir cl e. IIIIIIIII- 1 . 1 can al sn t ur n en t he snap - t n- gr id f eat t t t e hy cl icl t ing t he
I. I. ' Ip t innII but t en and sel ect ing Snap t e iIer ce t he cir cl e t e l ine up wit h t he
gr id. If y eu ar e net sat isf ied at t d want t e r est ar t . y eu can del et e t he r ect angl e
by el icit ing t he Liel et e l cey er by sel ect ing Cl ear f r em t he Edit menu. f ee can
al se sel ect I el Iip sel cir cl eII t n - dr aw el l ip ses and cir cl es in a simil ar manner .
_ . 1 - Il il l l i. II|I3. IIIt I' I|' I H 1 ' f _ ' l iIIiHIIl gI- |Ii" [ HI S. l II. il I[ I. 1 EI. |IEI SI1 I. 1 Il . II. FIg HIE El . - I:' [ ]II|I|Iii' 1 I1 ' I:IIIf _ II' l iI. IIIIII- Ii- ' IIIIIISI. t I_ "l l I_ IIIH. FIgIIiIII
St ]uar eI' ht t t t nn_ Then p ut t he ct t r snr at t he desir ed cnr ner t her e is [ l }. 1 .
I- l . l l I2 ]i. at t d cl icl t - and- dr ag using t he l ejimet t se ht t t t en t e cr eat e a r ect angl e
An l nt r ecl nct ien t n t he Finit e El ement t vt et hncl I 3I]' 9
:1 - t - l ea- I- - vi- I- is- sl - t II. l - It l - ' - a- I- - r s- ' - n - - I- ' :4
cit ; :. =. | caiin as . - :"- . i. e- - =- I- i"1 "- . . l ' * v* =- - ' ==~ I- =s- =- 1 II ' - ""' " ""
i. I|t t IIt . ||t _
. - - l I-
II- l Il "' t | t | |
I' l ' |l ' . - - |
|. I. =|'
|- |1 - I_ . - . . . . . . . . . . . . . . - _
III E1 IIII
IE III"
t t - t -
- ||- ||||- - :
t | I t I I
- III- - t |1 - uur - ut n eel - I- . - t ut - LLIJ. - r e - at - | - |-
Ht l - ' 5 - It - It ' l - t I niI- I' |' I' II' I|It I1 I- :I- II- . Il I' I |:r II- |II|I' It - | Lg
Figur e 1 3. 2 2 Dr aw a r ect angl e. iFr em l vI. l I. Tl . i! t B. Wit h p er missien. }
wit h t he desir ed side l engt hs [ her e wit l t h is Il ' . 2 m. height is l II. ' l IIt imi. [ Use t he
r ight t t t euse but t en r e cr eat e a sc]uar e. } Ft r ect angl e is cr eat ed at t d assigt t ed
t he name I- Il l . f en can meve er r esiae t he r ect angl e by el icit ing- and- dr agging
an ebject t e meve it . and deubl e- el icit ing an ebiect t e ep en a dial eg bes.
wher e y nu can ent er esact Iecat ien eeer dinat es- Iihe r esul t ing medel is new
t he uninn nf t he r ect angl e f l ' . I ant - l t he cir cl e 1 :1 as shnwn in Figur e 1 5 - 2 2 . .
descr ihed as { III + RI- The ar ea wher e t he t wn nhject s nver l ap is cl ear l y visihl e.
as t he nver l ap ar ea is dr awn wit h a dar l - t er shade ef gr ay t han t he sur r et t t t ding
ar ea. The ebiect t hat y eu ar e sel ect it t g has a bl acl t ber der . it sel ect ed ebiect
can be meved. r esiaed. cep ied. and del et ed. ' t Ieu can sel ect mer e t han ene
ebjeet by Shif t + el iel - r ing t he ebject s t hat y en want t e sel ect . Al se. a Sel ect
. ~ ' iI. II np t inn is avail ahl e f r nm t he Edit menu.
The desir ed mnt l el is f nr med hy st - t ht r act ing t he cir cl e III f r nm t he r ect -
angl e HI. I' t Iet | t ie t his by edit ing t he set f er mul a t hat by def aul t is t he uninn
ef al l eb_ ject s; t hat is. Hi+ CI. I' t Ieu car t t y p e ar t y et l t er val id set f er t nul a int e
t he Set f er mul a edit el d. Cl icl t in t he edit el d and use t he It ey bear d t e
change t he set f er mul a r e f il l CI. if y eu want . y eu can save t his medel as
an l vl - l e. Use t he Save it s ep t ien f r nm t he Fil e menu. and ent er a l e name
ef y eur cheice. it is geed p r act ice t e cent inue t e save y eur medel at r egul ar
int er val s using Save. Fil l t he addit ienal st ep s in t he p r ncess nf mndel ir t g ant - I
snl ving y nur FEIE ar e t hen saved t n t he same M- Ie-
31 ! ] I Numer ical ant l sinal y t ical l vl et hncl s wit h MATLAB
l ihI- I' ii- |l I|- ' l iI' E- l ' i' l Fnl - TI' III- |' IPF"' - ' ' IIi|- "' . ' * -
|; it i. ' 1 ' | cait sr it r was . c. i. n - 2 - e- iEI. - |=v =>=- - ==- - =:- =- 1 - | ' - "" ' "' - ' - "
I ' I I
l ain- . |I
t ' l Fi I
I' l ' |l ' |
Ll l l
|"|1 - I_ 1 . . . . . . . . - _
I 1 '
2 | I
5 e
- IIIIII 2 |
t t - t
- L LL
t I I t I I
nt - ' - t |1 - uus - ut n ee- I I. - t ut - t i. . e - at - | -
I- II- I T- Hi1 :- Il r r l r l l - I|r I1 ITIt I|' I1 - vI:I' l Il ' 1 IIl I' IIIInIIt ' l | Lg '
Figur e 1 3. 2 3 Beundar ies ef t he mnt l el ; t her e ar e eight bnundar y edges in t his
medel . [ Fr nm Iv1 i' - l t TL. l l t . H. Wit h p er missien. }
{ c} Sp ecif y ing t he bnut t t - I. ar y cnndit inns.
l I. _ il icl - . : t he IIISnt . t ndar y II ht t t t nn and sel ect t he IIBnundar y l ' v' l ndeII t n t ur n nn
t he hnundar y mede. . - l t l sn cl icl t t he Shnw F. dge I. aheIsII t n t ur n t in t he edge
number and t he bnundar y l ines wil l be disp l ay ed as shewn in Figur e 1 3. 2 3.
Cl icl t nn t he l ine whese bnut t dar y cendit iens [ edge 3} want t n be set . and
t hen sel ect t he "Sp ecif y Bnundar y Cnndit inns but t en. . |' i' t l t et nat ivel y . y eu
can deubl e- cl icl t t he sel ect ed edge t hat br ings up t he dial eg bes shnwn in
Figur e 1 5 - 2 * - I wit h t he l ' - Ieumann hnundar y cnnr . l it inr t being checI- t . ed- Since
edge 5 is a Dir ichl et bnundar y cnndit inn. checl t t he I' I:l it ichIet II hut t nn hel nw
t he cnndit inn t y p e as shnwn in Figur e IE5 . "- . I- 1 S- Since edge 3 is f l ar ed. hnt h t i
and v disp l acement cnmp nnent s ar e t er n- Fr nm t he bnt t nt l ar y cnndit inn equa-
t iet t s: I3]
TIIIIIIJIIIITIEIIIZ IIIII TIIIIUIIIITEIIIZ IFE
Ent er hu =1 . hm =III. and r . =Ii. which imp l ies t hat u =I]. Simil ar l y . ent er
h_ . ] =I]. hg =1 . and r :=I]. which imp l ies t hat v =I3. . ~ ' - t f t er t hese number s ar e
ent er ed int n Figur e I5 - ". 1 5 . cl icl t t he I- _ . ' IIiiII hut t t m and t his hnundar y cnndi-
t inn is ap p l ied t n edge 5 f et l ge S cnl nr changes t n r ed}. l l il er t t cl icl t nn edge
I and t hen sel ect t he Sp ecif y Fieundar y Cendit iens"bes again; a dial eg
An int t educt ien f t ) t he Finit e Ef enient Mer ht ad I 31 1
B=:- . |' r :hr g- - :1 :||' t t l :|:r |- . - t ||. |- i- |:- |' | r |* - t s - l - t r ij. |_ |- |:|' - . - ; |
II- :- r Id=l ' h:r - 1 ' |- ' |:I- : II- :I- |:* "I- cl er l "- ' - Il se l ! - t - :t - r r 1 :Il l :|' -
l ' i- ' I ! ' h. II|' || 5 ' 1 . 5 ""H' :' ! t un :- ' 5 '
t ' IEl l Il :l - ii In
C ms r |; 1 l , r ||2 |- | . 1 5 - |:r mc- r |' ||. l :||r I. |r
l ' l I- ' i' |. \ ' l - 7 1 " |] |] '
I I. l - . | - ' . - t en- I |
II- +
Fl gur e 1 3. 2 4 Buundar y cnncl l t t un windnw f ur inp ut of t he Heumann hnundar y
ct mt it t ir t nt { Fr nm MATLAIEI. wit h |:|t :r r r |i5 5 it . |nJ
has wil l p up us as shewn in Figur e l f inl - i. Since edge I is t he l "* ~ l et t n1 ann
l r t t t t t t t d- a1 ' 3, ' ct :t 1 t dit ic:|t ia nct r t nal dist r ibut ed l ead ct l il Li"' Hint ? is ap p l ied}, sel ect
t he hieut t iat it t heut t dar y t y p e and inp ut t he r equir ed val ues. Since gt is t he
sur f ace r r acr icm ir t t he :1 : dir ecr ict r t and g_ . is t he sur f ace t r act ict n in t he it dir ec-
r ict n. inp ut ID f er 5 ] an- Ll U Fur gh. { edge I t ur ns t n st hl ue ct Jl t Jr ]I. Ft l su inp ut
1 - 1 ' . l . ]' [ PUT E] H. |' |[ l . l T. l . ; ' |. " l l gE|1 I|||r il :- l . L"|- C TIH EIITLI HFH1 1 . ' l . ' l . ' I' L I HI1 ' l . 1 ' _ l . 1 |- ' ' |' _ ' l IIl ' il ' |' . l . Fl ' |Iil l i' I- i; 1 ' . l ' l . ' 1 ' i
t il t he unit t mt war t int sr mal 1 u' et ; t t t - I H ! t his edge, The r emaining ht mnr l ar ies
ar e Fr ee (nu r mr l nal st r ess], t hat is, a l ' * - Tet it nat ut cent l it ir m wit h q =f l and
g1 : g_ 1 =ii. Mal - t e sur e al l t he edges ar e in hiue, excep t edge 5 which is r ed as
shewn in Figur e 1 3. 1 3. Due can al se sel ect mixed he- undar y cendit iens. if it
is needed.
' il l :- an- t a I gr IL |1 |1 |l l l Ir - t 1
l 3. ' |- . r e|- t |- - - t . s|' ui. |:n- ennt nt r . h' L|- r
r - |- . - l - n- ||- . , - |- |. - - l ' n|I- l r l l r l ' . ' . - . s- |' ||H. n||- l h- |
- j _ :I- bu- ' 1 1
- F! il r l t hr i
I:- :2 Il aal u
I"I1 |. "|' l I. E ' I|"|iI- IIIHI
I- ' El _ - G I , 5 , | '
I Q, |. ' Iq=Ir - II- I|' r I|1
r _ ' | cl '
I
I I _ I I I
. * ' * - | l a- 1 |
Figur e I32 5 Bt t undar }- ' cnndit inn windnw f ur inp ut nf t he Dir it t hl et hnundar y
cendit ien. { Fr nm MATLAH. Wit h |:|er missit m. ]t
31 2 I Numer ical End Anal y t ical Met heds wit h MATLAE
In |, |. I , ' |, ||. |. - - |. I|- 5 |. - . |- cl - | Ip . 1 p - ' - ; ; . |- |- F|. ||. gs- an I_ - Ii.
- - - - - I - - - - . - - - ' I . t l l - |- I ' I- J. - ' . l ' |' l
|- . | . . - . | an e1 :. - - - ~ |. + t =+ t - - t ; . t ". s - - r e- |' 1 ' I- . . |i' ~ =- - ==- r - =1 - =- - | ' ' -
i. |||u- l ||. |||
F "" | |
FIT
Ll . l
l ' l ' |"' I-
I
{ |. -
|. |. - l i
- |- ||' L
| I | I I I
t n- 41 1 - u|. |= - l . l l . I:| er : - . |. : ' 1 ut . a - I . 1 1 | _ I. -
I' Il - ' THI' I' I- |' I' QI' I' |! I. ' i:I l ' I1 II- ' Ir I I- ' . Ir I' =' |II|"5 r - II' I' i' II|- |' \ - i- t - |- r r | L"
Figur e 1 3. 2 1 5 FDF met t l e t e disp l ay t he sel id medel . { Fr nm MATLAB. Wit h
p er n1 issit :|~ n. ]
I[ _ d]I l t t p ut t inp ; t he p l t y sical cct nst aut s.
Cl icl t t he "FEE"l ":- ut r ct r t and sel ect t he PDE Made" r e t ur n an t he FDE
r r t ede. wher e a sel id medel [ y eu can t ur n t he gr id eiinew} wil l he disp l ay ed in t he
wint l ew as shewn in Figur e l f el - I5 . Sel ect t he F' l :l E l ' i- p eeil icat ien. - . "; a dial eg hest
wil l p up up as shewn in Figur e 1 31 ? . Inp ut t he mat er ial s cnnst ant s (EDG E? ) Fur
E. T1 5 f iat nu, [ 1 iit t l s:- I, (1 Far l - qr , and H1 l hr t he]! ur t r l er t he val t t e heading. "The
|I:|. |in' : H- uel - |. |- H |- |u:' - nines, p in: an- us. I
' |' |- "p l l il | PIPE Ct l - |' l ' i:I|I|1 ' 1 ' - II- I l l il l l - I:r ' |=I- It
F l l ' IhJIl ' II' IIiI I
E
' 1 ' - l II. l ' I' I' l ' . ' l l it :l . - I' IIIl I. ' u! l "
ar e
E- 3 !
|j- ; , |5 , |t , |. |, _ | ' - ' s:i. I1 r l ' - :Ir I|' Ir - 1 i' I|- r l l cr
IIe- ' r |. I' |, -
iii]
Figur e 1 3. 2 ? PDF sp eeicat ien f er inp ut ef t he mat er ial s cnnst ant s. { Fr nm
HATLAB. Wit h p er missienf l
An Int r educt i- en t e t he Finit e E- l enient Met hed I 31 3
in , ' |, ||. |. - - |. I|||- 5 - . |- t t l - ||I, |. 1 |- up - 1 - |I|. |I. ' g' |- :. - r Igqi.
- - ' - - - - ' ' - - - - "- ' ' ' . t - saI' l - - ' Hil t s ?
|- |; . ; | - 1 . 3! r e: . t - st . . - _ t ; . se - =- r e- 5 ' 1 1 - . . |=1 ~ =>=- - ==- - =:- =- 1 - | ' -
isin- . |||
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FIT
l . l . Il
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- It - :. ? L' . - "I- . - ' l . T- - ' - - I . . - "L
:- ~ . _ _ |t - I t r :_ _ _ ; - I: | _ . - :_
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1 - - * . - - _ _ - It . _ I I _ | . I . . _ . - I
IUJI I
|. |. I- l l
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. |_ |EE I I I I I l
l - - l . |' l - |. |' l . E - l . l |. h Il l :- I L . | l . ||. . l J| t iI l -
I- Il l - ' ' I' |l I|I:' I- II- Ii- r I' r It |II1 ' I""l r |I:II- I|' I|l ' iI' l ' I|r |jI|I | Lg '
Figur e 1 3. 1 8 Init ial mesh wit h net l e numher . IFr nm MATLAH. Wit h p er mission. )
bedy t hr ees. it s and l - t y , ar e aer e in t his e:- t at np l e. The densit y . r he. is net needed
in t his e:- t ant p l e. Af t er y eu inp ut al l t he dat a. el iel t t he "El l i"but t en.
[ e]I G ener at ing t he mesh.
I' . _ ' . l iel t t he "Mesh"but t en in t he main menu and sel ect init ial ize Mesh"
r e gener at e t he r st mesh as shewn in Figur e 1 3- 1 1 3. wher e t he nnde number
can he disp l ay et ih}- ' sel ect ing t he ht t - w l ' " l r . - cl e Label s. T|"t st | ean al se dis-
p l ay el ement nut nher s by sel ect ing t he l ihew Tr iangl e Label s as shewn in
Figur e 1 5 . 2 ). This t nesh dees net ap p ear sut l icient l y ne and Fur t her t nesh
r enement is needed. The mesh ean be f ur t her r ened by sel ect ing "Ref ine
Mesh"er by el iel t ing t he but t en wit h t he t aut - t r iangl e icen { t he Rene but -
t en}. "f en can al se use t he jiggl e Mesh ep t ien and t he mesh can he jig-
gl ecl t t :iimp r t we t he t r iangl e qual it y . Tr r u can al se eent r e- l t he jiggl ing ef t he
mesh, t he r enement met hed, and et her t nesh genet at ien p ar amet er s Fr - ent
t he dial eg bes (see Figur e 1 3. 30} t hat is ep ened by sel ect ing l "ar amet er s. . . "
f r em t he Mesh menu. Yen can unde any change t e t he mesh by sel ect ing t he
Ll nde Mesh Change f r em t he Mesh menu. ' l he p r ecedur e used her e was
t e init ial ize t he mesh. t hen r ene it ence. and nal l y iiggl e it ence t e ebt ain
t he mesh shewn in Figur e 1 3. 5 1 . { Jne ean al se sel ect t he l jl isp l ay Tr iangl e
Qual it y iif r em t he Mesh menu t n shew t he qual it y ei: t he t r iangl e as shewn
in Figur e l j? - - 31 . A val ue cal : l indicat es t he t r iangl e is an equil at er al t r iangl e,
31 4 I Numer ieaiandnal y t icaiMet heds wit h MATLAE
' . I JI- I- I:|- IIIIIII- IIIIEIHIIIEIII- I- IH|I' I:IIl II- I:II||II
I ]_ ' 1 1 - ; _ ' :- i- :_ - _ :' :"_ ' _ ; ' . - _ ::4_ |=- r - ' _ _ ; :"- ; _ _ _ 1 :7 >_ I - , _ EiI, , J' :- In- r t - . - |- I- I- I1 - I- 1 - |- 1 - t - |- |- I Fm ' " i
f dl r i
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r . - ' . ' . - ' l .
||_ |_ I IIITI 1 ' - I . - Ii
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_ |_ L- . . . J I I I L
I! - I - l . l |- - l |l ' . H - |. |- # - l , ' . - I - , l l , l I, - I I, j l _ . j I - |
I- II L|I|- III- t in |. I' I' I! II' - |I|I|t |In|II- . |I|' I|I| - . - . - - I- II. I _ I
Figur e 1 3. 39 Init ial mesh wit h el ement numher . ' l FI"I]l 1 1 MATLAB. Wit h p er mission. )
l ' II"l ' IE! Il "I l l l iii
hH' l iI' |' l |l ' |' | II' |i! ' ' Hil l "
l nseaigiewt l - t r ssn
1 . 1
l Eil ~ I- it al - In- t at s
. i_ ; |- ip ut t - esh, |:- at - n' |- et er s
. I]|; |' e|I' I' I|Jde'
r p t inze mam - u-
r I. n- mt - st Iggh: maime-
Ff el ' i' r :' r - I- ' 1 r ' eIr l 1 - cit !
Fe! - il l "- "'
I- st at s- =~ 1
Figur e 1 3. 31 ] Mesh gener at ien p ar amet er In cent r el t he jiggl ing ant ir ef inement
nimesh. [ Fr nm MATLAB. Wit h p er missinn. ]
An t nt r uct uct ien t n t he Finit e Et ement Met hud I 31 5
IR . j' IiP# l ":IEt "i' l - i- IF ' - Iil i
i' |_ J - l "l . |' |: I- I- - I- 1 : | ; :|' , | - F III? I- I " "HI ' Hi
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. - - PP- . _ L. =
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qq: L J _ | I |_ I I I I
1 - - I. Il J. Il . I: - l 2 ILl ' . - Ll l . ' l - 1 5 ; J EL. |. ' _ J . l ' J JLI L1 _ ". '
r l u J- |||- l |||I; m|- |:||- |- II' I' IIr - . - ||r u\ II! :|' II- |p || ' "
Figur e 1 3. 31 l t ened mesh. [ Fr nm MATLAI3. Wit l 1 p er missiunj
. ' I| |. |Hr |. |||Ii. ' 1 Ii
' . l Ir - il l l r l i- il l - I- l l I|r Il I|l 1 l ' ! IIl 1 I|I|I' PIIFI|l III' I|l - |IIl :I|\ I
r ' 1 |=| r . ' . ' | me . 3 ="- ' 1 . H- |. - - ' 3- . |- 1 3. ] - |- |t ! ' - i' l ' t - . |=I- - - - - ' =~ =~ r - ==I- ==- - ' [ "' * "' ""
IL- |||- - q. ||| I
"l l - ' ||5 ||. ' |. ||l n
|J1 ' l | | 1 1 | | |
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n' . r i- -
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TI | I | I I I I I | I il ' J"
- J . U I. l IIJ- . l |. | - . |. |- I L l l III. ' ' 1 . l - I I. - Ur . l l l . I: I. I I l |' l J'
r IIII JII|II1 I|I|I Ir - l 1 II- I i' i' l ' r I' Il I |I' I' IIIl III=' r IIr I|- I L- I
Figu r e 1 3. 33 En nl uur p l et t n disp l ay t he qual it y eit he t r iangul ar el ement . IFr nm
MJKTIJLB. Wit h |Il Er mi5 5 il Jl l . }
31 6 I Numer ical ant i, - t inahr t ieal l ir t et heit l s wit h MATLAB
* _ H- - t il - I- ' - t I|. 1 - sl - ' - l r |i' :l ==! l I- ht :- Ir - r b- I- ' l ' r - I- ' s|i=
I_ I| . ' . :. | . _ :=|r . ; . ~ | s= + ::|a- =. ' ii. |. - E1 - . - |- @ 1 1 1 "- 1 . ' 1 - - - ' =' =' - 7 ' - 5 - =- = 3" """" ' "
EIII- . -
|! |:|' J |
5 " I I | I | H
IIIEF _ l J
l
|}t ' |. |:r -
I
1 -
|II|I' .
I
l Il IJ- l - - '
|' l | l =|
I
|; ||:g| I I I I I
III Il l I' Ir II _ IIL Il l f . I| |. I. l l I
I- l l r I- 1 |- l \ ||I||:I|Il , I |iIjIIIl I| IIIIIIIII IIIII I|r II|I. |IiI | 1 ' I
Figur e 1 3. 33 Cent aur p l et f nr t he disp l acement enmp enent u in t he at dir eet ien.
{ Fr nm NIATLAH. Wit h p er mission. ) { See cnl nr inser t f el l ewing p age 334. }
whieh is t he hest qual it y . Af t er t he sel ut ien is eht sined wit h t his mesh. t he
mesh t mee again can he r ened t n eht ain a secend sel ut ien. IFt he Fir st and
secend sel ut iens ar e cl nse, t he sel ut ien is censider ed cnr wer gent t n accur at e
sel ut ien and Fur t her mesh r enement is net needed. Ut her wise. successive
r el inement el t he mesh is needed unt il - 1 eeiwet gent sel ut ien is nht ained.
Uht aining a sel ut ien
Cl ick t he "Sal ve"hut t nn and sel eet t he Sal ve l l - ' 1 ' JE' ep t ien. The eut r ent
medel wil l he snl ved. and t ip l et t it t he sel ut ien wil l sut nmst iesl l y he et eat ed
and disp l ay ed as shewn in Figur e 1 5 - 35 - The st :- l ut iun is t he disp l acement
cemp nnent 1 1 in t he at dir ect inn- Cine can al se sel ect Par amet er s- . . f r nm t he
Sal ve menu causing :1 dial eg hes as shewn in Figur e 1 5 . 1 3 t e p ep up l - at ent r y
at PDE adap t ive and nenl inear sel ver .
Disp l ay ing t he r esul t s
Tu cent r el t he p iiut t ing and visual iaat iun nf t he sel ut ien, cl icl t cm t he Pl ait
it em in t he menu har and sel ect Par amet er s- . . ; a dial eg he- it wil l p up up as
sht :- wr iin Figur e 1 3. 31 - i. The up p er p ar t ef t he dial eg hes: cent ains ihur cul -
umns: Pl nt Ty p e. Pr ep er t jr , User Ent r y . and Fl nt St y l e. each discussed in t he
Fe- l l ewing sect iun [ 3].
An int r oduct ion t o t he Finit e Eiement Met hod I 31 ?
F' IoIl 1 |1 :Ie F' r I:|n- t |I' l ' |- ' . LII- t r el i- r F' |l :|t It y l e
Er - =- is- - mi -
I:
E|F' t r l ! I|:- :- y |II|:l ' :' 3 "" "Ih""i' 7 El |EP1 I:It a- n- l . . l J- t |' |- aI. . l . u|t r - it - :- I, r
[ _ ' l 5 t Ir ' # r r - :t r - ' =' =' l ' i"' * F it - sci ' - r
I: - l - l ' t l ! h' I- ' l [ l . l , ' |r ]- - - i|:r - at - a- t l - t r il l -
I:
[ , .
' - T- IJl ' l l il . I
El ' eI' c|"n|ot t r r |e~ sI' I- |u, ' |- ' ]- Ir '
I- l ean t se non s7 TiaI|ee? uiit Ui ' - - _ f r uit ion v
i_ i1 =- a iii:- - = - a
Figur e 1 3. 34 Pl ot sel ect ion window t o cont r ol t he p l ot t ing and visual izat ion.
{ Fr om MATLAE. Wit h p er mission. )
f il er r y p e { t ar l ef t ] cont ains a r ow oisis dit t er ent p l ot t y p es it l l ol or . { l ent oor .
iil t r r ow, l ' _ ' l ' el :or r ned r nesh, 5 - D p l ot , and i"' t nir nat iot 1 ]I t hat can he used For
y ist r al iasit it t n.
Pr ep er r y cont ains Four p op - up menus cont aining l ist s oip r op er t ies t hat
ar e avail ahl e iiar p l ot t ing using t he cor r esp onding p l ot t y p e. Fr om t he r st
p op up menu one can cont r ol t he p r op er t y of y isual iaat ion using col or
andior cont our l ines. The second and t hir d p op - up menus cont ain vec-
t or y al ued p r op er t ies For y isual i:- r at ion using ar r ows and deiqor n- t ed r nesh,
FEHPECTTVEI}- ' . F|' [ ' il F|' l [ TIE il iTil ' l , . I1 ' I. ' l ' 1 Fl ' { l I' |_ ' l |="l , . ' |. iTl l Tl . - I? , ' . ' Tl l . . ' l . , , ' l . :l . 1 ' 1 E. l l }- ", Tl E' C31 1 Ii, :' II' l l l i' l [ |' l . ' l l l
which scal ar p r op er t y t o y isual iae using e- height in a 3l TI p l ot . The l ist s
oiit ems ar e dep endent on t he cur r ent ap p l icat ion t node. For t he p l ane
st r ess mode. one can sel ect an it et n f or visual isat ion ir on: t he p op up
menus { such as t he disp l acement s II and t i. t he nor mal st r ains and st r esses
in t he it and y dir ect ions, t he shear st r ess. t he y on Mises et t eet iy e st r ess,
and t he p r incip al st r esses and st r ains] as shown in Figur e l f i- - E- "; i- -
i' i' . r t =i' ent r y cont ains Four edit l iel ds wher e one can ent er t heir own esp r es-
sion. il t he user ent r y p r op er t y is sel ect ed Fr om t he cor r esp onding p op - up
menu t o t he l ei' t ot it he edit f iel ds. l l it l t e user ent r y p r op er t y is not sel ect ed.
t he cor r esp onding edit iiel d is disabl ed.
f il er r r y ie cont ains t hr ee p op up menus f r om which one can cont r ol
t he p l ot st y l e For t he Col or . i"' |. r r ow, and Height p l ot t y p es. r esp ect iy el y .
The avail ahl e p l ot st y l es For col or sor iace p l ot s ar e int er p ol at ed Shading
[ t he det qaul t l l and Fl at Shading. You can use t wo dil ier ent ar r ow p l ot st y l es:
Pr op or t ional [ t he dei - aul t _ l and l "~ l or mal i:t ed. For Height t il l - l _ i|' |". Il r 1 - if - ii, t he
ay ail al al e p l ot st y l es ar e Cont inuous it he def aul t } and Uiscont inuot t s.
31 1 3 I ht omer ical ant iianaiy r icaiMet hods wit h MATLAE
F\ iIl I' |' l ! i l "r 1 # ' l ' |' Ll ' I- l i' l iI"' |' Hil ir i
He" . a:. . "s . ; . . . . . . . . . . . ' . . t . . . . . . ' ' .
i. - - :1 ; - a- t e- ier l jul jl I
El ' :' f "' "' y - smut - |- - |- t ' - it
t il :- ' |:- l _ . - . - ' 2 _
|:| . I- |' II:- ws 1 . : ' F""' P' f ' 3' i"' H "F
er
|:|EI- 1 - |t :|- |' - It - |I|' |- I- l t - i ' "
' l "! '
:' l | l |l I' I| '
IIIIIl "l Il ' |1 . IIi' l . |II sl -
l _ |r Ir - ar l t t l - t - |=I. Ii Hg
sheust r r i
- . - el m- . |=:.
shot ! mess
II1 Ft i"l I \ :I- iT- UI1
[ _ |l i\ :l n|- "p p m i""i"F""' F' F' i|' I"' |_ ? :ihu|. . |. t :|n|||. ee|a- . |l |e||l - |r
1 :r I |. r ' r |:q. Id :' i|::|- . |
Ir |- :i|:- r |1 e1 t - ||- I' l l ! 1 .
' - or - I- II- 1 - :1 : ' t I1 es1
if E
F]* . 5 I' - t r - r eam
Figur e 1 3. 33 Sel ect t he disp l ay oinor mal st r ess comp onent I[ t r . . 1 in t he it dir ec-
t ion. t Fr om MATLAB. Wit h p er mission. ]
l "- l ow one can sel ect t he Col or f r ot n t he Pl ot - t y p e sect ion. r t st r ess"f r ot n t he
Pr op er t y sect ion. and al l ot her sect ions ar e l ef t as def aul t . and t hen cl icl t t he Pl ot
l sut t on; a cont our p l ot f or oxwil l he disp l ay ed as shown in Figur e 1 3. 31 3. To f ind
t he act ual y al ue of g at any p oint in t he model . moy e t he cur sor t o t hat p oint and
PIEHH ' l . ' l ' l ' I' ; ' |' I' : If T l IH. l . ' l I' l ICI|' 1 Ii. ' l I|' l l i. ' l . ' l . H |' I' l l I]|. I. 1 ' it ' ; " El . |' 1 l i' . . l . ' l . ' i' H; " l ]' 1 F[ ]' "l ' ]]I[ in ' l Il ' I- E l ' l l ' Cl l . ' |. ' [ ' il l f |' l l . ' il f l l . ' :l f l l ' ; "' l i' I|i' l 1 ' 1 t ' . ' l . l I]"l i- 1 |"
wil l show t he y al ue of I3. and t he t r iangul ar el ement nt r mher wher e t he p oint is
l ocat ed.
Discussion of Resul t s
1 3y moving t he cur sor t o t he p oint s on t he t op and hot t om of t he hol e. it can he
det er mined t hat ixinm is ap p r oximat el y 1 . 31 I- Ht 1 1 33' l "' ~ l i' mf . as shown in t he inf o
hos of Figur e 1 3. 3- I3 and Figur e l 3. 3Fa- The aver age nor mal st r ess gs at t he same
p oint is 1 at 1 i1 I' i* 1 * - l imf . as shown in Figur e 1 3. 3? ' h- Ther ef or e. t he st r ess concent r a
t ion f act or is t i. t r ig; =1 . - ' ii1 "i. which is f ar away f r om t he st r ess concent r at ion f act or
of ah- out 3. 3? obt ained f r om st r engt h of t nat er ial hool t s. Ther eiior e. f ur t her t nesh
r enement is needed t o oht ain a mor e accur at e sol ut ion.
Cine can al so use t he adap t ive mode. wher e t he mesh is aut omat ical l y r ef ined
unt il a sol ut ion is conver ged. l n ar eas wher e t he gr adient of t he sol ut ion { t he st r ess}
is l ar ge. l iner meshes ar e cr eat et l t o incr ease t he accur acy of t he sol t r t ion. To do t his.
sel ect Pat amet er s f r om t he Sir - l y e menu and checl t t he iiidap t iy e mode hos as
shown in Figur e 1 3. 1 3. You can use t he def aul t op t ions f or adap t at ion. which ar e
t he Wor st t r iangl es sel ect ion met hod wit h t he "Wor st t r iangl e f r act ion set t o [ l . 3. The
An int r oduct ion t o t he Finit e Eiement Met hod I 31 3
in - :e|. |. |' a l t nn It - . e- l ip - | r l :II||i1 - In IIH. I' r - p - |- |I|||i - _ - - - _ _ I I
El l 1 |. - || - Iwimuh - al l I- . HF ? |' IIIII
I. l r II. I
Et ir |I|. I |.
' 1 " I I L I |
l 1 L' E
IIICI- I -
QUI-
l Il ' t . I
I
|II|. I- I
' 1
l ' l |' l 7 |
|; ||' g_ | I I I I
i. . l Z | Il l I' 1 - l ' l L IIIL Il l f . I IIII I -
I' l l . |' r I' III' II I- III iiiI' l l III- |III I LiI
Figur e 1 3. 35 Cont our p l ot oinor mal st r ess o". . . (Fr om MATLAB. Wit h p er mis-
sion. ) { See col or inser t . )
maximum numher of t r iangl es can he changed f r om 1 . 1 1 1 1 1 ] { def aul t } t o 1 t 1 [ 1 . [ 1 ' [ l i1 I
and t he mar - t imum numher of r ef inement can he changed f r om 1 1 3 { def aul t } t o
El l . Choose t he l ongest r ef inement met hod. 1 * - l ow sol ve t he p l ane st r ess p r ohl em
again. The act ual nu mher of t r iangl es in t his sol ut ion is 1 33. 33- 1 1 af t er 2 1 1 it er at ions.
Sel ect t he "Show l vl esh "op t ion in t he Pl ot Sel ect ion dial og hos t o see how t he mesh
is r ef ined in ar eas wher e t he st r ess is l ar ge as shown in Figur e 1 3. 33. It cl ear l y shows
t hat f iner meshes ar e cr eat ed near t he cir cl e and cor ner s of t he sup p or t . The masi-
mum UK st r ess is shout 4- 33 is III) 1 ' - - l imion t he t op and hot t ot n of t he cir cl e and t he
st r ess concent r at ion is ahout 1 - 1 1 1 . which is cl ose t o 1 - 3? f r om st r engt h of mat er ial s-
f oo can r un mor e it er at ions t o nht ain a mor e accur at e sol ut ion.
_ . ' - El i? !
DI. ' l 1 . II.
t al l { hi-
Figur e 1 3. 3? l a) Nor mal st r ess dist r ibut ion f r om FIEA sol ut ion. l b) Aver age nor mal
st r ess obt ained ir om st r engt h oimat er ial s. { Fr om iy IA. TI. il il 3. Wit h p er mission. )
331 1 I ht umer ical ancir - Ihal y t icaiMet hocl s wit h MATLAE
' |. - I. - . i- . ~ - p . - . ii. ' I- Il q.
- -
". - it - Inu-
I1 1 -
l ' 1 J|
|-
r - :. - ' i. ' 1 - Ii=' - I- I Ii. - t I|. |- i:|. - Iii.
| ' - ] . ' _ :; . ! f l - I ; "I" 1 | : |I1 II- 1 - 1 :- . _ - 1 ' . o- I. - :r . r |"Ir - . - I I- II- I:LIt I1 :|: - I ' I- "1 "" ' I - "' 5 ' - "
. . . . . I _ . _ . . _ _ _ - .
IIII
t n.
I1 3;
_ . .
L' -
ust
1 -
il .
I
' . II IIII. I' Ii
I I I
II II. I l il II II . '
l ' I" l iq- 1 - r |I' l "I - . . . ; - |- - 1 . |:|:' l - II- ' I
Figur e 1 3. 33 Cont our p l ot of t r . obt ained f r om adap t ive sol ut ion mode. { Fr om
MATLAB. Wit h p er mission. )
1 3. 5 St r uct ur al Mechanics Pl ane St r ain Anal y sis
For p l ane st r ain p r obl ems. al l t he st r ain cnr np o- nent s ' [ E. _ . . "y g. and Tu) ar e t er n.
Set t inge: =it in Equat ion (1 3. 3) gives
e iio oit r + o )1 - t i=:~ =:+ t r - uit r + o) iijit si
' c_ F : - it 1 - _ r _ it 1 - "1
1 '
Subst it ut ing Equat ion i1 3. |S3l int o Equat ions { _ 1 3. 1 _ 1 and I[ 1 3. E1 . gives
1 + 1 )
en =ior oior + uct _ L + uop )]=? [ o_ { 1 u]=ut r r I |f _ 1 3. i' i- - ' 1 )
1 + o
e F =%[ o. oi- t r y + vcr x+ y o] 1 ] =? [ ogit t i) vt r _ T] t 1 _ s_ i5 s_ }
Fr om Et |uat iot I I1 3. 4}.
1 ' . . .
TH I1 3 1 31 31 - g? . . .
An int r oduct ion t o t he Finit e El ement i viet hod I 331
Eqiiat ioiis { 1 3. 5 - I1 t l it ough (1 3. 6 6 ) ar e t he st r essst r aiiir el at ions f or t he p l ain
st r ain p r obl em t hat can be esp r essed in t he iiiat r is iiar in as
- L - . -
f r . i- o - u o_ Us
I+ u
it Er 3:? _ =u. ]_ * |_ - I [ I it U1 . 1 *
T. - t _ II' I D D T T Tl f l t
II' 1 II'
For T 1 ' I. i o I1 - ExI
. E -
iv1 =is. I- 1 T E. l =t s- l ie
1 . 1 + ' o)|[ 1 Eu) 1 - I- t o
- . I1 t i i. . . I
1 . ' l . :||' 1 . Ir |- '
. |'
I1 3- - ISE)
l ' v Iat r iit |l _ . ' I] in F. t |IIat ion l [ I' ; 1 ~ . ISi3} is t he mat er ial mat r iit f or t he p l ain st r ain p r nhl em-
The mat er ial mat r iit f or p l ane st r ess and p l ane st r ain is dif f er ent as sh own hy F. - quat ioiis
i1 3. 1 i]) and (1 3. 5 3). To sol ve t he p l ain st r ain p r obl em iiil ' vIATL. Al 3 just cl icl t oiit he
Cip t ionf menu and sel ect Ap p l icat ions. l St r uct ur al Mechanics. Pl ane St r ain. "t hen
Equat ion (1 31 35 ) wil l be used t o sol ve t he p l ane st r ain p r obl em. Al l t he ot her p r oce-
dur es ar e er t act l y t he same as t hose discussed in t he p l ane st r ess anal y sis p r obl em-
1 3. 6 Model Anal y sis of 2 - D St r uct ur es
When a st r uct ur e is subject ed t o an imp act l oad. or when l oads var y wit h t ime. t he
r esp onse of t he st r uct ur e wil l al so var y wit h t ime. If t he f r equency of t he l oad or
t he excit at ion ap p l ied t o t he st r uct ur e is l ess t han about onevt hir d of t he st r uct oi- e s
Il Jl "I. |I. ' l L' 5 ' II I' l iEII1 ' l . I1 ' i3. l IF1 ' l _ ' l . |l . |l Il ' l - l :]. ":. I. ' l 1 ' I. f _ " EFFECTS l . ' l l I:t l ' 1 C' II' l l _ "1 ' l 1 IH. CH. "Til t . " Fl - l . ' gl C' ICI. "l ' _ "I' _ I. 3. |' |l ' . I. l 1 l ' l II F|I. ' I' _ ' l ' l ]' If _ 1 l T1
can st il l be consider ed as qiiasist at ic- That is. t he st at ic anal y sis. l I I]|Q} ={ F}. t hat
was p r eviousl y discussed is suf f icient l y accur at e since t he l oads IF} and disp l ace-
ment s { Q1 var y sl owl y wit h t ime. The gener al f or m of t he diif er ent ial ec|uat ion t hr
dy namic anal y sis is
i. v1 it ii+ ic1 ie1 + is1 ie1 =ieiei il sssi
wher e
[ l vl ] =t he mass niat r iit of t he st r uct ur e.
[ C] =t he damp ing mat r ixof t he st r uct ur e.
[ ii] =t he st if f ness mat r ixof t he st r uct ur e.
[ Fit il =t he l oading which is a f unct ion of t ime.
: ' l ' l f Il ' _ " l l ' _ "[ ]I' l ' IF|' I. ' 1 l - Tl C|' |I1 5 [ 1 I' FH. ICCI' _ "I- l . ' I' i3. ' I:l l 1 ]' 3. ' 1 at l l ' l ' _ ' I' 1 I' l Ut 1 . I. ' El ' .
[ Q] =t he cor np onent s of vel ocit y at each node.
[ Q]=t he comp onent s of disp l acement at each node.
333 I hl umer ical ancl r l t hal y t ical Met hods wit h l vi. - * I1 "i. . AE
If danip ing and ext er nal f or ces. { Fir t h ar e negl ect ed. Equat ion i1 3. [ i3' ) becomes
a f r ee vibr at ion p t obl eiii. which is
1 l )f l 1 il + l E' l l Ql =l iJl iiI3. ? ' oji
Equat ion { 1 3. i' i]) can be sol ved by using eigenval ue anal y sis t o obt ain t he nat u-
r al f r equencies and t heir cor r esp onding vibr at ion mode shap es of t he st r uct ur e. The
numher of nat ur al f r equencies in Equat ion [ l 3- F"|3]l is t he sar r ie as t he t ot al number
Cl Ii1 Cl . ' Il . "i"|l ' I l :l l ' i' E|' EI' ; "S t il l FTE- Hf - ' I' l ]I' l ' I Il . |' I Tl l Ii . |' 1 l I' l Il l : I"l ' l E|Tl l ' I|' l I. ' 1 I' l ' 1 [ 1 Il - I- I _ "I_ E. 3. ' l . :l . l . I|' l i' _ "L' |1 . I. l _ "l ' II' _ ' _ ' I|- " l . l E. S- H
cor r esp onding viht at ion mode shap e. Al t hot igh t her e ar e many f r eqt iencies hip t o
inl init y ) t hat can be cal cul at ed. onl y a f ew of t he l owest f r eqt iencies ar e of int er est
t or engineer ing ap p l icat ions.
Examp l e 1 3. 3 M' odel . Anal y sis of t he Pl ane St r ess Pr obl em
For t he p l at ies st r ess or p l ane st r ain p r obl em. t he nat ur al f r equencies and t heir cor -
r esp onding vibr at ion mode shap es can be det er mined. Her e t he same sol id model as
in Examp l e 1 3- . 1 is used t o cal cul at e t he sever al l owest nat ur al f r equencies and t heir
cor r esp onding mode shap es. The mass densit y f or t his p r obl em is FHSI3 l - t gl m- 1 ' .
To sol ve t his p r - t ihl em. t he exact same p r ncedt ir e is used as in Examp l e 1 3. 1 .
excep t in t his case. sel ect t he Sp ecif y l iot indat y condit ions. . . f r om t he l ' 1 ot indar y
menu and change t he val ue in g. t o I1 f or edge I as shown in Figur e 1 3. 3- l l . so t hat
edge 1 becomes t r act ion f r ee. l "' ~ l ow onl y edge 3 is const r ained and al l ot her edges
ar e f r ee f r om l oading. which is disp l ay ed in Figur e 1 3. 33. 1 ~ l ext sel ect t he Ii1 _ )1 ; '
Sp ecif icat ion f r om t he FI:' - IE menu t o op en a dial og hox. Change t he t y p e of
FEIE f r om EIl ip t ic t o Eigenr nt i- des and inp ut t he mass densit y t if ' . i' l il 3l 1 int o t he
densit y boxas shown in Figt ir e 1 3. 33. For t his model . a mesh can al so be gener at ed
as showt iin Figur e 1 3. - =' - 1 1 . 1 .
l "' ~ l ow. sel ect t he Sol ve Par amet er s. . . f r om t he Sol ve menu and a dial og box
wil l p op up as shown in Figur e 1 3. =' - 1 1 . Cine can t hen inp ut t he eigenval ue r ange f or
PI- ii il l - IF- I- I - i|"I|F|' |IF' I=1 i. P- I' II' "l "Fl
* ' _ - ' |:i- I- at H1 ! III:- I- 1 t - LII ' - ' - l l III- I- |- I:iI|i- :- t i
I' l iIl 5 3 Pol l - ion t it - t i
Ht my ' - s- I. - iI' I|' t al t e = - il l "- II. - I. I'
l ' FI' l H. I' IIi' I' i:l I' ; '
. Ti iii
Figur e 1 3. 33 FDFsp ecicat ion f or inp ut oit he mat er ial s const ant s and densit y .
{ Fr om Ii- ' IA' I' I_ AIil . Wit h p er mission. )
An int r oduct ion t o t he Finit e El ement l vl et hocl I 333
LII , ' |. ii. i. - - . l . l |- Ii. - . i- I- | I; 1 ||in hil l FIJ is- . 1 . - r IQ.
. . - . . . _ . . . _ I _ _ . : E _ |, ; . ||.
_ _ I_ | I :_ _ a; ' 1 1 , : i' . 4 _ II1 _ aI- |. - ' :|_ l l g - I - # 5 ; q_ F! - It 1 . l :I' . II1 l :l ' I I' II' Ii:. I1 . ' |- :i II ' F "H f " "
II I' Il H. I
f "f l I I I I I |
I' IT. -
LII-
. - - |_ - |_ - - 4- . i- . . - . . . - . 1 . - r ho. ' - - l | r _ _ r I
- I- ' 5 ' 1 F T' . i; 1 ' . :||' T |' - _ I; . :. I_ :Tr + i:|' . . _ . Tl ' - . "i. _ ITI
. - . - 1 1 ' - ; P l iF; ' T' . ' l - i. - _ |. - I- - r _ . - I- ; . iI; . . l _ l "5 |_ ' i- . l -
|- I- I- I- ' IT|. T- i. i_ ' r - u' ' J_ r ' _ d- q 1 : T T "I
I I I I I I
- - - . . - i Tt . ' i:it + i" - - . * j . ' r . r . t - - ' - i:)- t . -
"* "' 33- 3- 1 "- ii- r t 1 * ; "i"i- i- - L=i"t
- ' - i- H- _ - F1
. i. ; - g- _ r _ - . sgL. v .
II. . I' -
- ' __ I_ r
1 ~ _ . _ , - + :- i- 1 "- . _
"=. 1 - . - ' - "~ ' ~ T"=- ' 1 . - - r ' - I' Z . ' I- I- l ' l _ i_ if l _ l - ' |' . I_ - ' - F. |. ; k_ - ' _ I _ . - . . - I1 PI . - l - . - . _
Hg}. _ F1 . _ - iE. ' - :r 1 -
"- - ' - - * . - t . ' . . * - - 3 "- i' 1_ F:I; I. I. I - I II I I I. _ - I- :I_ - l l l l - - _ Il - I - I- I
! ""' |' 1 ' . t . - I - I
|- - g. g. |+ _ r 1 - I' F- .
. _ a- - - =ss. _ |. "' - . _
. - _ . w 1 1 . . . ,
_ . :gt _ .
- ' - :- . - :- : -
. ; l ' - i- "- . - - . ; - . - . - l _ . |"- l ' i; ii? - T III- il l - 5 :- . . . . -
- i' . I- "' . - . I". ' -
gl l i:_ ' _ :|l l . l ' . L- . IIT. -
' I- ' .
_ . - ' - I
- II
t ot -
It o
. |_ gE I I I I I I
I. ' - I. I' I - l . H. I: - I. II. h LI. - I - . L 1 III- . ' - IJJI - 31 5 - 1 I I
HI- ' f r r l iii- I1 - r I' r ' 1 ' III1 Il 1 - . ' l 2 l ' I:I' iIII' Ir ' l - ' - . 1 l Il II' I' IIr I ad
Figur e 1 3. 4- [ II l t ef ined mesh. [ Fr om i' vIATI. Al 3. Wit h p er mission. )
t his p r obl em { def aul t is f r or n l l t o 1 1 1 1 3:). if eigenval ues in t he ent er ed r ange ar e not
f ound. It eep incr easing t he r ange unt il t he eigenval ues ar e iiount l . when t he r ange
f r om it t o 3 t at Il l ! as shown in Figur e 1 3, 41 is ent er ed. t hr ee eigenval t ies ir it his r ange
wil l he f ound af t er it is sol ved. Sel ect t he Far a met er s. . in t he Pl ot ment i. and cl icl t
t he [ 1 ' et ior t n l vl esh under t he p l ot t y p e. t he Iir st vibr at ion niode shap e f or t he l owest
eigenval ue l l . =3. 43? is 1 1 3"") is shown in Figur e 1 3. 1 - 1 3. The second f l it : =3. 31 1 1 is 1 ' 1 1 )
and t hir d { . i' i. _ . =1 . 41 3 at 1 1 1 - ' ) vibr at ion modes ar e al so shown in Figur e 1 3. 43 and
Figur e 1 3. "- l - ' - 1 . r esp ect ivel y . Since t he nat ur al f r equency f [ Ha]! is cl eiined as
_ Ji
l t a
Et p er r r vuae E=! IH' E=l "l t ango:
it s asi
I oi- i I I can- . - e ]
Figur e 1 3. 41 Dial og boxf or inp ut oit he eigenval ue r ange. [ Fr om l vIATl . AI3. Wit h
p er mission. )
31 4 I Humer it aiand Anal y t ical Met hnds wit h MATLAB
I- r l l :- I- ||1 IIl - ' ii' . "= i"l I' Il - 1 - I- I- - ' |1
| .
III!
|||
III . -
Il l .
I1 1 :
- I1 1
Ul il
I I I
| - , r |I' |||| |- . | | ; - ||| 1 _ .
|' I' I II|I|Il II' IIII' Il 1 - l ="l ' I|:I' Il |' |I|I' l I| I ii
Figur e 1 3. 42 The r st uibr at inn mnde ier t he l uweit nat ur al f r equency . [ Fr nm
MATLAB. Wit h p er mission. ) [ See cnl nr inser t . )
1 " I- - ' ||"l I ||l ' || I ||||l l - I . 1 Il l I |_ _
BI EIIII l I:l - I' I|I' l |' I| 5 - 5 III - II El l I5 ". - ' :l Ih
1 e1 :. . 1 - :~ s1 s~ . . I1 ; ~ =~ =. @ s- . ' . s. - ; - . - e:; ' . * - . l - - - - - - - - ~ ~ <L* "r ""-
l . |||- uni.
|- I- il I|- . | |Il I"' - I- F" ' I i- ' l "l ' F- l ' 1 Il I- I: T - I- II- |- I:|I- Ii- II P
|_ |_ - I I I '
l . I. iI:|
nu -
|1 """"
P j
r _ |:- r r - ' .
El l
- I. I. II- |
- G l l l b
- l . |3
LL
| . | I |
I. . ' I1 " nI|. - =I r . ":4 ' . l ". . ' ' ||| J- I | ' - - |. ' 1 . "
r r r IIQI1 - ' 1 - \ I|Lnf Hhi:II|' IhI' 1 - I1 Il 1 IiI' Iq- ip l l nn I ii
Figur e 1 3. 43 The seennd vihr at iun mnt l e f nr t he seennd l uwest nat ur al f r e-
quency . - [ Fr nm MATLAB. wit h p er missiemiII5 ee r ul er inser t . )
. 4. - 1 t nt r nduct ion t o t he Finit e El ement Met hod I 32 5
t i1 . ' nI- I- - t l t . - I- II- - l r |I' :l . =! l - I- ' - at - I- r e~ I- ' |' r - t l - I- ' .
g||_ - 5 |- _ |- . ||; |=|- ||I- ||5 |- |_ - |; | - el l I. |i' l I- I' l | |' - il IJ' ! l ' . l ' . l
I. l |II. I
. |- ' I! |- l l ' il f - - l ' . i' 1 ' l i|"' Il il ? l Iil l l l t l - I . ' nil :- ' |I. - I It . I' l
|' |' ||' | t t t I |
um _ nnr s
1 . l l . |
I' l - l ' l - I -
Il 1 |'
Iii]:
1 . "-
|; |-
- Il l l l . - el l
El l "
III}.
UL" l "|
""" - oi. - I
il l ' . |- l ' i I I I I I
El l l l I' I' |- II l l . l . Il l l . l l l
I- l l t r l I|r Il Il Ii:r Il l hII\ :l ' IIIIi:' Ii' 1 Ir ]IInI\ uIIh' :r q1 I1 Ip ' I|nuIn | Li]
Figur e 1 3. 44 The t hir t l vibr at ion mode f or t he t hir t l l owest nat ur al f r equency .
{ Fr om It - ' l ATl . At l El . Wit h p er mission. ) { See col or inser t . )
t he l owest nat ur al f r equency is i"il f ~ He, t he second l owest nat ur al f r equency Ur i) is
4- IE3 l - l s, and t he t hir cl l owest nat ur al f r equency (hi) is 5 932 He.
1 3. 7 Finit e El ement Anal y sis f or Heat Tr ansf er
The gover ning PDE f or heat concl uct ion [ f or t he der ivat ion of Equat ion If - . ? ' l . see
Ap p endices E. l and P- . 2 ) is
5 - [ p t - T)
3:
wher e
T: t he mat er ial t emp er at ur e.
p =t he mass el ensit y of t he mat er ial .
if =t he t her mal cont l Lt ct iy it _ y of t he mat er ial .
c =t he sp ecic heat nf t he mat er ial -
g =t he r at e of heat gener at ion wit hin t he mat er iel .
The t r at ial t il cs |J, e, ancl it ar e t nil el f unct ions of t emp er at ur e ant iar e f r equent l y
t al cen as cnnst ant s, This is p ar t icul ar l y t r ue if nne is int er est ecl in t il :- r aining a
31 1 3 I i' v' un1 er icaianci. 4naiy t ic. si' Met hods wit h MATLAB
cl osed- f or r n sol ut ion by sep ar at ion of var iahl es. In t hat case Equat ion { l ii. ? l l '
r educes t o
iii? "
- _ =v- - r "+ - -
H E s (I3? ! )
wher e y a
{ I =t he t her mal dif f usivit y of t he mat er ial =.
sv
Examp ie 1 3. 3 Temp er at ur e Dist r ibut ion in a Siah wit h a Hoie
In t his esar np l e, model ing of a I- f l sol id st t hiect ed t o var iot t s hot t nt l ar y condit ions
is cover ed. iit f t er using any combinat ion of sever al dif f er ent boundar y condit ions.
al most any E- D he- at t r ansf er p r obl em can he t nodel ed in l vl i' t Tl . . - iii.
Pr obiem Descr ip t ion
it s shown in Figur e 1 5 . - - i5 . t he t op is insul at ed. t he r ight and l ef t sides have eon-
st ant t emp er at ur es. t he bot t om side has a const ant heat Hus. and t he inside eir el e
Top Fiur f oce insul at ed
I.
icm
iii
Con st ant I:- _ :"' |' i""Hi' i"' :"| Const ant
Temp er at ur e 1 "] ' Ei' I' 1 1 " =5 5 1 "' l ' ; ' r "' ml ' ' l l : Temp er at ur e
I1 3 int n: 1 ) " 5 - ' 1 r - t oosc
_ 1 _
l cm
4. I- H ent + l l ] cr n + H cr n - . _
I- L' on st ant Heat Hur t
G - t t = |||:I:' l . l |l - l - l l
Figur e 1 3. 45 G eomet r y and hount l ar y cont l it ion f or Examp l e 1 3. 3. { Fr om
MATLAB. Wit h p er mission. )
. 4n int r oduct ion t o t he Finit e El ement il vf et hociI 32 ?
is subject ed t o convect ion. The sol id has a t her mal cot t duct ivit y . ii. of . 7 l ' i"' l ' i inI- C
and has a unif or III heat gener at ion r at e, g, of l ' l i' iIII- l . Det er mine t he t emp er at ur e
dist r ibut ion in t he sol id.
Sol ut ion Pr ocedur e
Fir st cl icl t t he Up t ion"it em on t he main menu bar and sel ect "Ap p l icat ion. "' l hen
sel ect t he Heat Tr ansf er "op t ion t o get int o t he heat t r ansf er mode. ' l he p r ocedur e
Iii] ii- El l up l Il ' 1 II f . ' l . 1 ' H. \ ? II"l 1 ' l . g HFIIH. 3I1 f _ l . t I1 ' f _ "HIl If _ " H. . ". ' i' [ 3l . l . f . l . l ' l ' l l i. ' l ILl . L* l I5 l I. 1 IiH' I:t l :' |I"l Il ' l l II 1 ' iH. l T1 E 3. 5 - II. l - IiIl ' iI:I' l l . ' l ' IiII' . l
in st ep l f l a) in Examp l e Iii- To sp ecif y t he ht it t ndat y condit ions, cl icl c on t he
l 3oundat y op t ion in t he IIIain menu bar ancl sel ect t he l ioundat y l vf ode"t o dis-
p l ay t he boundar y edges as shown in Figur e 1 3. 41 5 . it s is l t equent l y done in sol ving
a heat t r ansf er p r obl em by sep ar at ion of var iabl es, l vl i* t TLhl 3 sol ves t he p r obl em in
t er ms of Ii"wher e Ii"=Ii' in t his equat ion. 1 "is t he act ual t emp er at ur e and ii}
is t he ar nbient t emp er at ur e. . h. s seen in Figur e l l f a- - l it , TE = F- [ 1 . [ il nce t he p r obl er n
is snl ved f or T , Tis ct l at ained by adding inf : t o Tit o ol at air it he act ual t er np er at ut e
T To nht ain t he sol ut ion:
1 . l jioubl e- cl icl - t edge 1 causing t he dial og bor t t o p op up as shown in Figur e 1 5 . - 1 ? .
Sel ect t he Dir ichl et boundar y condit ion and inp ut h =l and r =95 { subt r act
5 Fr om Il l l l l t o sp ecif y t he t emp er at ur e, T , nf 5 l ' 5 ' C al ong t his ecl ge.
' _ . I- I
r - g
! . i
t~ r
l l : '
- . "' . 5 |
II. ' - . ' . i4; :
II IIl |' ! ' II' IiI- l II' EI- Il l r nl - - Iii
r r l _ - ' 1 3- I- :- ::_ . l ; cit . - p i]- it - L Em I l l l - "1 - 1
- I
I' -
I I I I I I
I: I I
LLI:
E ' r
. I J I
III
LLI:
I I II-
3- I I I I I I I
Er r - . n- - . |. ! Il l s t r In . | us 1 - . n . | 1 - - l . l
Ht l r l ' I' - II' |II|I' ! l I' I1 - I- I- II:I. l :|I- :l II|II|I|' IIs|III' III|I | Ed '
Figur e 1 3. 45 Boundar ies of t he model ; t her e ar e eight boundar y edges in t his
model . [ Fr om MATLAH. Wit h p er mission. )
333 I Hunr er icaiandsl naiy t icaiMet hods wit h MATLAE
l il c- . r r :I- IIr - - :onII:I:n - t o- . I- I- I:- I' I h' T- I
I' 1 ' Ir . IIl I' r | I' ||1 ' l I' I' r |III"I' . l II' I ' III' IIi. II I|' IIIII:nr r |' l l ' r I
I"' _ ! =I- IeI. I|' |I|"n
I_ _ ij: { III- :r ' l - II _
I1 , ' I"IIIqI' t
r _ - 3, 5 "' e- III. "- I. - Id' J' e
L, i
i- 1 I- - I
Figur e 1 3. 4? Boundar y condit ion window f or inp ut of t he Dir ichl et boundar y
condit ion. { Fr om it - ' l iIITLIIt l EI. Wit h p er mission. )
I|; III
l f ioubl e- cl icl - t edge 3 and r ep eat st ep 1 t o sp ecif y t he t emp er at ur e. T . of J5 C
al ong edge 3.
Doubl er cl l cl - t edge E and sel ect t he l "' ~ l eumann boundar y condit ion and inp ut
g =l l l t l l l and t ] =Il l as shown in Figur e l Z l |. * ' - Iiit o sp ecif y t he heat l l ur t =
It l t l t l Win- Fal ong t his edge.
Doubl e- cl icl - r . edge - l l and sel ect t he l "~ l et ImanII boundar y aIId inp ut g =[ l and
q =Ll as shown in Figur e 1 3. - t i ) t o sp ecif y t he insul at ed boundar y condit ion
al ong t his edge.
l l _ l - l - I_ l 1 . 1 l IIl t I- II_ ' l l t _ ' l - F. edge 5 and sel ect t he l ' - l eunr ann boundar y and inp ut g =f l and
q =5 5 as shot . - vr t in Figur e l f l l it o sp ecif y t he beat t r ansf er coef f icient f or t he
convect ion boundar y condit ion al ong t his edge.
l f ioubl e- cl icl - t edges t i, T. and Fl and r ep eat t he p r ocess descr ibed in st ep 5 t o
sp ecif y t he convect ion bot t ncl at y cnncl it ion al ong t hose edges,
II; - . r r :I- sr - c- I:n' . IJI:|' I- r - 1 - . I- I- t - I1 n' II- In- :eTI~ - :| T- t |
I' 1 ' s- . II' r I' I' |r |' l I' I' r I||I"I' JIIl ' l ' III' IIi. |I |' I|InaI' r |' l l ' r I
|_ ' - _ : I- Iet l ur n F "' IIIIIIII HI I"- I-
C; |, ; |. - |, - I:|= U I' Iu- Il ka- I1 :\ - II I:t I- III- I:III1 I'
T| ||
Figur e 1 3. 45 Boundar y condit ion window f or inp ut of t he hieur nann hound-
ar y condit ion t o sp ecif y t he heat f l uit = IIIIIIIIII Wimii. { Fr om I' I~ l . |It Tl . Al 3. Wit h
p e r mission. l
An int r oduct ion t o t he Finit e El ement Met hod I 339
Bc- . r r :It Ir 1 - - :- I:II' It l :II:ne- :|I. I- I- t - It r el - ' t |- t - aTI~ - :|"T- 5 |
E:- I1 dIIu' - t - r t e ' ' 2 - :Ie- I- t t er l y ou t ' - t - :t r oII:r -
Ijij: I- Iet l ur n 5 | . III HI 1 "- ' 5
, - ' 1 ad. r t ' q I- is- It r l 1 s"a' - t I:IeIIt :IIt
. * ' . | I. - - =' . |
Figur e 1 3. 45 1 Boundar y condit ion window f or inp ut of t he Heumann boundar y
condit ion t o sp ecif y t he insul at ed edges. [ Fr om l ' I~ ' l iIt Tl . . It H. Wit h p er mission. )
To sp ecif y t he p hy sical const ant s, cl icl t t he F' l _ . ' IE menu and sel ect t he FDE
f ip ecihcat ion- . . and inp ut l s =1 5 f or t her mal conduct ivit y , Q =il l l f or heat sour ce,
h =5 5 f or convect ive heat t r ansf er coet hciet t t , at t d Test =IJ { subt r act ' 3 f r ont if - ) f or
ambient t emp er at ur e as shown in Figur e 1 3. 5 1 .
l * ~ l ow cl icl t on t he " l ' vl esh"op t ion in t he t nain menu and sel ect l nit ial ir e l vl esh
t o gener at e t he f ir st mesh. ' l hen cl icl t on t he l t ef t nc Mesh"t o obt ain Finer mesh
and, f inal l y , cl icl t on t he ]iggl e l ' vl esh' l op t ion t o imp r ove t he mesh qual it y p r oduc-
ing t he r r t esh shown in Figt t r e If . - . 5 3.
Final l y , t o sol ve t he model , cl icl t on t he Fit Il ve"op t ion iII t he main ment t and
sel ect Sol ve FFIIE. "The nit e el er ucnt model is t hen sol ved and t he r esul t s of t he
t emp er at ur e hel d, T , ar e aut omat ical l y disp l ay ed as shown in Figur e 1 3. 5 3. To
obt ain t he t emp er at ur e Fiel d, iii _ i' f ' IT_ l needs t o be added t o Ii". ' l his is accomp l ished
by cl icl - t ing on t he Fl or op t ion in t he main r nenu and sel ect ing Far ar net er s.
a dial og host wil l p op up . Then sel ect user ent r y in t he F' t op er t y ' l col umn and
[ Is- . r r :I- sr - c- I:II' IIIJI:II' I- I1 - . I- I- t - n n' II- I1 :- :eTI~ - :I' T- t |
I' 1 ' s- . II' r I' I' |r |' II' I' r I||I"I' IIIl ' l ' III' IIi. |I |' I|InaI' r |' l l ' l ' I
I_ ' - _ : I- Iet l er n F ' 1 ] HI I - I-
C; D1 , . I:|= ' I_ ||:_ I' It I- Il l a:- I1 :r - II ' IIIIIII|' I\ IIl II' l '
T| ||
Figur e 1 ? - . 5 [ l Boundar y condit ion window f or inp ut of t he Heur nann boundar y
condit ion t o sp ecif y t he heat t r ansf er coef f icient f or t he convect ion edge. [ Fr om
ivl iIt Tl . i- It l 3. Wit h p er mission. )
33III I ivumer icaiandnnaiy t ical Met hods wit h M. 41 ' i. . 4t i'
I1 - IIII- I. r I - III- 1 ' l 5 II' I=l f I; I- III- l 1 ". |! + II=|- 1 ! I, I' - IIIII|t IIIr II- III
TI- ' |t Ir t r l HI II1 :IIt III:Ir I' t ' - I - III- Ir IIII- I=:IIi- III1
I' _ f - I- II|- Ie
f _ _ ' - Par - t II. I- . 1 l - :
I 3. ; IIt II- "I r II' I' I- It - t I' IIl . Ir II:II
III I, I1 :- I :- Ia. II' - t e
II 1 g Il a- Ir . - I- el - IIIIIIIII- III- III' III' uI I:- ser l
Tr st , 3. El l - II' I' IIIl ' III- III=III' IIII. III
mil l
Figur e 1 3. 5 1 FDF sp ecif icat ion f or inp ut of t he p hy sical const ant s. [ Fr om
ivI. II. Tl . . 4B. wit h p er mission. )
inp ut u + 5 in t he User ent r y col umn as shown in Figur e 1 3. 5 - =1 . The l inal sol u-
t ion in t er ms of 1 "is disp l ay ed in Figur e I35 5 . To disp l ay t he heat f l nr t How in
t he body sel ect t he l l hr t ow"op t ion in t he Pl ot t y p e"col umn and t he Heat f l ut e
op t ion in t he "p r op er t y "col umn in t he dial og boat shown in Figur e l 3- 5 = - l , r esul t ing
in t he p l ot shown in Figur e l f l I- f l - Fr .
1 - I- :l i- r l l - I. I. l H. |' . l 1 "IIl l i||I| ' _ f "' f Il
:- a- I- - - I=- I- I- - I- r t - at - ' - I- ' - s- - - II- I1 "- - t I- - I:- I- Ii
. - . ' ' _ . - . I |
I I . . ' . l ' - _ 3I; =' - :3; ' 3 =1 ? Iv- r . - ". i. ' I. r . "II" - t _ ]' 3I- . . . , "- ' * - "- ' " """"' 1 ""
i. |I|I. - II. II
" I I I I I | | I
Fl :
sf . - i:I_ '
r _ . Il g :- . |-
. i- P
t "I' . . ' - I l l gi . - I
. 1 7 5 I
- :, _ I
- t . -
* . II. I. - 1 ' - ' - ' I. - ' . . ' - '
- t t - 1 - * - . sr s< -
- I- Ii. "- - - - . 4 ' ; - - i- :- I . ' f |il ' , ' ' . "1
I- I I- ' . ' I - . - I- . ' . t I1 - ' - ". . ' -
_ J. _ I- I- 5 _ :I. - l - - I|- . ' l ' I_ + - ' . ' -
- . |:_ 1 - I r . r _ - II I. - El ": - _ |. _ - _ _ -
I"_ _ h_ :_ i. - . - L- . %:i:_ . - 1 - . - L- l l - - _ ' |- . 1 - r |_ _ . - ' l . -
- =:l . . ' =. ~ . ~ . Ir - Is- , I=~ . . + t "I"
I. t I=. - 1 - ' :- . . . . . . - - - "- . . - 1 ":- cl ": ' . =I. I- "
' _ - - "I I- I. . - "- . , - . . II- ' , .
- ' - 1 ; _ , ' . r ii" ' s":* . I. - _ 5 ? . - "
T r . 1 ' * 1 1
- . I I. +
gr . . .
- . II- ii. .
I- - r _ r _ - _ I- ' _ - _ I. _ I. I II- I - I - I l l II. ' _ I - I. I. _ ' . L:' ! ' ; 1 - H - I- |_ II_ III; _ |_ _ g. . - _ - ' at. _ ' ; t - ' - 1 - " . 1 - . ~ _ . Ff J . - ' 1 5 iii? - - . i=. ' l . ~ f i- if
_ h. _ h' - _ - ' _ - T: I_ - I- "' - |. _ '
' . I_ :' . ' II' r . ' . 1 . I- ' - ' _ |II; I_ ' I; . :"_ . :' . ' l [ - "; r . :||_ " - l - I - . |_ _ - l g _ - gr _ l :_ - - i|_ I - I. l . |g_ gL |. : . - _ 1 :" _ - _ l . _ _ ' , :: - _ - II, _ . - . - "- ' - . - r - ~ ' _ . * - . - "- ". "' _ - _ ' . . - . - Z . "". " - 1 - ". ' l - ' ' . - 5 I. - T F. I:- . - P: :. I_ ' _ I. - -
- I- _ - . . - " _ I
I . . ' -
' 1 _ d "
' . 1 3. I- _ l |_ - IIg- i
.. - I_ I' -
' . l . - . ' + . - . s- - E. I~ = T- 5 . ' . - _ _ I- I_ * I. _ L_ ' l ' _ . I; ' . _ ; | 1 :- I _ "! ' - ' - :' - IIi"i- . - . 3' . I I' I' I I. I. - I I-
- I
I . . . I - ; - _ -
' . II : - ' I
- "r =" . r ; "if . ' - i. ' - ; - - I- - _
- ~ ? "* . ' =- . . ' - ' . - ' . r
I : + Fl - - - - . I ; -
' - . 1 . L II- I- I - I". "- 1 - -
_ . _ . y ; . . 1 - - I. - "~ I.
_ _ . , _ . . , .
- . :- - if
II "_ "_ . |' - I
IE- Fg- I. - I-
' I' I
l "' _ ' . I'
- so" ' . . .
- I
4' . _ -
. . - 1 =a. . I- r
- II
_ I II I I I I I
Idl IL. "' L I:I Il l - I. I | | I III. 1 1 II U. , ' :I
Hr =' I. I' II' I:I1 |IIIt II' | III III1 Il In|Il ' II | r i
Figur e 1 3. 5 2 l t ened mesh. [ Fr om MiIt TLiIt B. Wit h p er mission. )
. 4n int r oduct ion t o t he Finit e El ement Met hod I 331
:I- I. II=I' - II. II- II- I- l III' iI- . ' I- Iias- ' - I- r - I' =' I' II=I- III
_ , - l . |_ |, . l H_ _ - |, . |E|h|_ =- |I- . |- |- - I I. t Ii:II- I - I' IIl =III|l Il
II- Ir aiII. I
l l I I ' I ' ' I
l l l i
|I-
I! IIIII"
U
i' l i' i"-
- . il
ul
I I I I
. ' i. ' |. |" . I' III I. l - II' iI IIIJE I. I Ii. I"" l . I I. ' . ' - J
- IL
=i1
II
I
1 |
I ?
r II: IiiIII. 1 IiI' I- - i. I. 1 _ I:iII' - p iIiI1 ' iniIl IEII IIIIII ir h:- . iI_ IIIIi
Figur e 1 3. 5 3 Cont our p l ot of t he t emp er at ur e f iel d. { Fr om iIiI. II. Tl . IIt El . Wit h p er -
mission. ) { 5 ee col or inser t . )
LII
T- sci:
Iioir iiar y - - r
l it ir l t iir
_ ' - Ivr o- I- ' =i 1 ii=It 1 ' l . t - I- I
_ l II' I:I' I:Im' IeI:l n' IeIsl ' I- ' It ' - IIIi:IIt II- II' uI' - t Ig' II- t IIsI' I I- I
: I- Iq1 [ a- ot ut ing:- t |u1 . r - t i u-
|:| . nI_ , r . Id IEt I' l II:Ii. I|:I- :l EIiII- I E
Ll Il ' - t IIIII' h' ; I F"I! l l 4' i' it
ut s l l r - IEIIEH- Il it l nun W
III
il Il II1 II' I. II.
|EF' IIr . It sI:I- II. . l :I- t r i- II. . l . I:I' r IIl ! II:=d5 I
El smw r uin ' i' =* I' "' I' [ t an
II
it
Figur e 1 3. 5 4 Pl ot sel ect ion window t o add 5 C t o t he sol ut ions shown in Figur e
1 3. 5 3. { Fr om MiIiTLIIt l l . Wit h p er mission. )
' III'
332 I Numer ical and Anal y t ical Met hods wit h ivi. 4Ti' _ . 4B
Idl ir i
- II. |hI- ' |. |- It
I' 1 I I : '
I. l
r |_ - I
III
uiI. - I "f
4. 1 - _ , g
i. II
- I- II.
I I I I I I .
. 1 IJL1 III. I. - I5 III IIIJIII I; I. IiIi Ii 4| - II $ I I! I Ii]
Ii |i| _ l ' I' I# _ Il I' Z ' _ l ' II' I|IH' H"_ dl In L
Figur e 1 3. 5 5 Cont our p l ot of t he t emp er at ur e el d af t er adding 5 C t o t he sol u-
t ions shown in Figur e 1 3. 5 3. { Fr om it - ' Ii! t Tl _ iIt l EI. Wit h p er mission. )
' 1 - ' I. - . - 4. . I|' I' . . - I- - :I=. - - - J- .
or I. I- I' II=t I- IsIi' Il I' I- ' sII- t IIIII:III- I' t I==IIIIsII- II:IIl ~ _ _ _ _ _ _ _ _ _ _
1 1 %|. ! . |. ' =I=i* Eii. ' s* - f ' s . . r "". * 1 "~ ? . s=t |. ' . |. :I! * |. i? - - - ' - ' - 1 ""=- 1 "" ' "
It I":- 1
1 Ii I ' ' I
f l ;
I1 . ' IE
- I
Il F
J. l
J] 1
I I I I I r il
- :I l . I_ E J - . Il I- III ' . i' _ ' | LII 1 ' Ii. l |. | . I' l I I. -
II I- 1 IiIiI- i- | , IuI- |||IIII. i|Ii|It B_ IiI- aii- I- ' - I g LII '
Figur e 1 3. 5 1 5 Cont our p l ot of t he t emp er at ur e f iel d wit h heat f l uit f l ow. { Fr om
l Ir IiIt Tl . iIil 3. Wit h p er mission. ) [ See col or inser t . )
. 4n int r oduct ion t o t he Finit e El ement Met hod I 333
Examp l e 1 3. 4 Second Examp l e of Temp er at ur e Dist r ibut ion
inaSmh
A sl ah as shown in Figur e i- 3. 5 ? is subject ed t o convect ion on t he t op and bot t om
sur f aces. wher e T_ _ =5 1 3 C, Tw =5 IIl ' [ l "' E, L =E m. w =I- l . . ? . m, it =5 ' 3 Wl t ni- C), and
h =43' - Il l ] Wl l mf - C).
Det cr mine t he t emp er at ur e dist r ibut ion in t he sl ab and comp ar e t he r esul t s
wit h t he sol ut ions obt ained f r om t he If r aussFSeidel met hod-
Sol ut ion Pr ocedur e
Since t his p r obl em is sy t nt net r ic about t he xaxis, onl y hal f of t he sl ab is model ed.
Fir st cl icl t t he l l - Iip t ion menu and go t o "Ap p l icat ion"and sel ect He at Tr ansf e r .
' l hen set up t he dr awing ar ea and cr eat e a sol id model by f ol l owing t he p r ocedur e
descr ibed in st ep l f b) in Examp l e l 3- l - To sp ecif y t he boundar y condit ions, cl icl t
on t he H- t i1 , t ncl ar y op t ion in t he main menu and sel ect t he f l - ouncl a t y l vl ode"t o
disp l ay t he boundar y edges as shown in Figur e 1 3. 5 3. Since l ' v' l ATl . Al 5 sol ves a
t emp er at ur e dist r ibut ion p r obl em in Ier t iis of T =T Tm, t he boundar y condit ions
need t o be sp ecif ied in t er ms of T , t hus set l l : =t iand Tu). ==Ii5 [ l C. To obt ain a
sol ut ion in t er ms of il l add _ iI. i L' t o t he sol ut ion obt ained f r om l ' viA' l ' L. Al ; l -
l - l f l iouhl e- cl icl t edge I and a dial og boxwil l p op up as shown in Figur e l ' ; iI. ' I' iI' ; l - I,
wher e y ou can sel ect a l "~ l eun"t ann hot int l at y cont l it ion and inp ut g =Iiand
q =t l iI. I t o sp ecif y t he heat t r anst isr coef l icient f or t he convect ion hnundar y
condit ion al ong t his edge.
3. l l oubl e- cl icl - t edge 3 t o sel ect t he l il eumann boundar y and inp ut g =I. ) and
t - ] =I3 as shown in Figur e l ; 3. I3' [ I t o sp ecif y t he insul at ed [ sy mmet r ic] boundar y
condit ion al ong t his edge-
i""l
sxgxsxxssu,
xhxsxsxas
ii, l , _ , ,
- Ii' l ' , , .
h.
Figur e 1 3. 5 ? G eomet r y and l ioundar y condit ion f or Examp l e 1 3- 4.
334 I l ' v' umet ical ancl . 4nal y t ical Met hods wit h MATI- . Al 3
Ir - ' T. . t - . . II. _ l ' Fl iI. l ' r ii' I' FIi' IIi I l - ' _ "' , E
' IiII. :I . it ' I:II' Ii' I. IiIl III. I"IIr |=i. I. "IIiI' i . :I' - ' IiI' - iII Ir It Ir - - IIII:
|| F- | . - _ _ _ . - ; _ T_ ' ; : 1 - . - . - _ | I- 1 _ . ; _ ' "- _ _ i}_ - I- . ~ n- 1 . - - - | ' - * 5 " - 1 I- I- "II
. r - I- 4; . - .
Il
- I . i. '
- I
' - - i- =' - i- ir - ' r I - " l - I ii - I - ' r t in
Ii- IIPIIIZ IIIIIIIIIII- I I' l ' I|I - H- * I' l ' l ' _ ' l _ I|I|' | ' II' I"I' iqII | 1
Figur e 1 3. 5 3 Four boundar y edges in t his model . { Fr om MATLAB. Wit h
p er mission. )
3- l f l oubl e- cl icl - t edge =5 and a dial og boxwil l p op up as shown in Figur e l f l - ISl ,
wher e y ou can sel ect t he f l - Iir ichl et hount l at y condit ion and inp ut h =I and
r =E) { subt r act 5 ! - I f r om 5 f l ) t o sp ecif y t einp er at t ir e, T =IFJC, al ong t his
edge.
I' . t s Ir
[ II:Ii. r i:h"|I i::I' :II; It 1 I:|I. I:I1 Ii1 ' I. "- IIIIr l jil ' IIq"' l ' I- q
II:- I1 - :IInt I, - In- I IIt i- t r l cir l y um III- t eet - I:t I:n
:1 : l ' II' i. I' iIIr r i II f l ' 5 ' ' 1 ' ":
' _ - :mH q H |' l t dl . l r l ' il |d' l ' |:l l I:l 1 |:t H
ii
Figur e 1 3. 5 3 Inp ut t he heat t r ansf er coef f icient f or t he convect ion edge. { Fr om
MATLAB. wit h p er mission. )
. 4n int r oduct ion t o t he Finit e El ement Met hod I 335
B:- . n- :Ia- ' 9 t - I:i' I:l :I:I' Ie- :II. I- I- t - I' I Iii- ' 9- I- 1 TI~ - :|I' T- 5 |
II:- I1 - i:I:II' I' I' I- It ie II- :I- ir "I- t ie- I' l II - IIII. I- I { l it - :- t r i:IIl :r I
- _ i. I- iII. II|I' i1 5 | III l """' l "5 "
, "' - g- d. II|: g, HIT- I' l 5 I H' Il IH' I' l Il u' I'
* 5 . l I "J- =' . |
Figur e 1 3. t it I Inp ut t he insul at ed t sy mmet r ic) boundar y condit ion. { Fr om
l vl ATl . Al 3. Wit h p er mission. )
t i. l _ )oul ' il e- cl icl - t edge 1 ant l a dial og boxwil l p op up as shown in Figur e I31 5 - 1 ,
wher e y ou can sel ect t he [ Jir icl il et bot indar y condit ion and inp ut h =l and
r ==' l 5 [ ) { subt r act 5 t - I f r om 5 I]I. )) t o sp ecif y t emp er at ur e. T == l 5 l - 1 C, al ong
t his edge.
To sp ecif y t he p hy sical const ant s, cl icl t t he FDEH op t ion in t he main menu
and sel ect t he FFJE Sp ecif i- r . at ion- - - and inp ut It =5 ":l ' l ' iIf l m- If : f or t her mal con-
duct ivit y , Q =f l { no heat sour ce), h =t l - l l ) iif l nii- C f or convect ive heat t r ansf er
coef f icient . and Text =I. ) { subt r act 5 1 ' - I f r om TH) f or ambient t eiiip er at ut e as shown
in Figur e 1 3. 5 3-
l ' "~ l ow cl icl t on t he l ' vl esh op t ion in t he main menu and sel ect l nit ial iae l viesh
t o gener at e t he f ir st mesh- - l l r t cn cl icl t t he Ft ehne l idcshf op t ion t o obt ain a f iner
Uo. Int I. Ir y I; - :I1 eIl t II:I' I ' r . _ l - E l ' l IT=
I32 - . l "iIIl Ia- ' II:IIIiIII' :l ' iIEIiI. IIIIIIII' i h' T- I
r - r eiiImi- , 1 |- I' r i|iI"I' . III' l In- Iiu- I Tl Il IIIt Ir r |' l l ' l ' |
I_ "j I- III. Iur r I _
If ? ; t IIII:I- ' 1 - I f
l ' II ' I"iHf ' l
I , 3. "' I! Il ' Ii| II. ' I- H' J' II! '
Figur e 1 3. E. 1 Inp ut r =I) t o sp ecit y t he t emp er at ur e of 3t I II al ong t his edge.
{ Fr om MATLAB. Wit h p er mission. )
335 I l "- l Lit Tr 1 E' t ' l t I' ; 3l 3t ' r t ' Il . - ' 1 ' l t 1 . :i l ' _ ! . - ' l l t Z . Eil Met hods wit h M. Al "l - . 4El
IIII:- r r :I- Ir - - :i:r III:I:n - t ~ I- . I- It - Ii h' T- I
I"I' ir . IIl I' I' | I' ||1 ' II' i' r iII"I' . l II' I ' III' iII. II I|' IIiIi:nr r I' l l ' r i
_ . - : H- I_ _ n
' 3 ~ =' II=I' III .
l ' II I; ' I"hII ' l :
r _ |_ I; _ |] "' I! Il ' Ii. ' II. ' IH' J' J! '
L, i
i- 1 I- "J
Figur e 1 3. 5 1 Inp ut r =45 t I t o sp ecit y t he t emp er at ur e of 5 I)I) ' t I al ong t his edge.
{ Fr om l vIATl - AB. Wit h p er mission. )
mesh, and f inal l y cl icl t jiggl e f vl eshf t o imp r ove t he mesh qual it y , p r oducing t he
mesh shown in Figur e l ' ; l - t 5 Al -
Final l y , cl icl t t he f it il ve op t ion in t he main menu and sel ect St il ve I- "' l _ )F. - l The
l iiiit e el ement model is sol ved and t he r esul t s of t he t emp er at ur e l iel d ar e aut omat i-
cal l y disp l ay ed as shown in Figur e 1 3. 5 5 . To obt ain t he f inal sol ut ion in t er ms ol
if add 5 I]' :' II t o t he sol ut ion by cl icl t - ing on t he "Fl or "op t ion in t he main menu
and sel ect "Par amet er s- - - "' ; a dial og boxwil l p op up . Sel ect t he Ll ser ent r y in t he
F' r t i- p et t y col umn and inp ut u + 5 f ) in t he User ent r y col umn as shown in
Figur e l 3- t it 5 - The f inal sol ut ion wil l disp l ay as shovt r n in Figur e l j. l |- t ' i5 ' - The maxi-
nut r n t emp er at ur e al ong edge 2 is about 435 C. which is hel nw t he 5 l )f ) If . sp ecil iet l
al ong edge 2 . The sol ut ion can be it t ip t oved by r ef ining t he Inesh.
E:I. IIit iI' I - I:l I. II' II. ' I; I- II:ITI' I- I]- I1 T- eel - T_ - , I- 1 ' - IIII- u' I' _ IIe
I, - Iiiit t n Hat : I; r |t nr . |er t ' . - ' III. ir |LeI:I. eII- IIII- In
r ' - ' _ :- m
I"- l it i- Iir ir
I H - Ea- n' I ui' I- t ee- snaeiiai- .
III , 3, IIIIIIII It l - r - t r
h I- I IIr |"r . I- I- |:I1 ' II' Ie|I' :I- I' I:IIt - eico- t n
1 ' s=4 , 3. EI' III=I! ' IFI:Ir - IIII' I. IIII
Figur e 1 3. 5 3 FDF sp ecif icat ion f or inp ut of t he p hy sical const ant s. { Fr om
ivIA1 ' l _ . IIt B- Wit h p er mission. )
, IIiI' IIZ I' I- Ihil ii- hil ". Im' l # IIf I' ! |I"IIl I_ *
Ll . - _ i- I ; 1 I t o Ivr . _ . . a. _ . I - QI
I IIIIIIIIIII I . - - . ; |a- |, _ _
IIIIIIIIEIE
ii' - I- -
l l IiII-
. II
. I
I
I1 I- -
- l l - F - I
. II. ' I'
I
I- F
' I . _ . . 1 II- - _ - I J . . L. I_ II. I II
i- ' ; - - I er _ I - "I; - . - I. - ' - : ' i- 1 I r t on I III
. 4n int r oduct ion t o t he Finit e El ement Met hod I 33?
I. I. ei. ' iII. ' I. I- i. IIII. i
I- IIr . ||IgI- - II iI- I I- II- I. - - iiI- Ii- _ Ii- |- |I- II- . |. - II|- |iII M
Figur e 1 3 5 4 Ref ined mesh. { Fr om MATLAB. Wit h p er mission. )
- I' Il ' Il l iI:l IHiII' IIIl IIiI' iI. HIl ' IiIl IIIl II! iI"Il ' IIiIiIl :ii _ _ _ -
l "l t :~ | * :~ | s- =- . . ~ =I~ o. <- 1 - . ! - Ia. - I- III|EI. |- - I- - IF I ' Is
l - . I I . I II J I I I
Ii- ' . I I l | I - I- l l . 1 : - I II I- I I 1 - I
- I II
"l '
i' I
"I'
I
iI' l '
II
I'
- I
1 ' IIIciI- IIII- I- . iiI:I, II- :II' - ]IiII:II L' IIIIil It ' l IiII' _ i:IhII' IIIi
Figur e 1 3 5 5 Cont our p l ot oit he t emp er at ur e el d. { Fr nm t vIiIt Tt . IIB ' l l ' l l l II1 p er
mission ) { See col or inser t . )
338 I Numer ical sndsnsr t icsiMet hds wit h MATLAE
F1 - :IIh1 :I: F' r 1 :|n- r |I' h- ' . |. . l I|=- Fr i- r F' |I:|l sh' l e
: I
_ gr "* 5 " =* * ' "=- =* ' "- ="* - ' - =' "
II- ' ; - 1 - r imr
- 1 - . |r n- wr |' I- II ' l ' l . |:r I- P ' - I
EEl ' el ' l :|"r r |- :- |:l r |' |- :- sl ' I- ' ! :q:n! nH:|. - |- |! |; |- nl uig - . -
[ "I- I- I- III I! - Dt il l 1 - 1 1 :- uu1 . r - u I- I # -
|:|F' l |:l ! I|:- :- ' |' |jI|:l ' ; ' 3 "' H' :' ""5 " EIII E' F' 1 I:t :- |:|- l . . l J- |:|' |- sl . . l . IJ|' r |I- :- I, r
|:""1 s- W. . . ~ =- =+ =- - - = 5 ; . . . 4'
L1
Figur e 1 3. 5 5 Pl ut sel eet iun windnw t n add 5 C t n t he sel ut iens shewn in Figur e
1 3. 6 5 . { Fr nm MATLAH. Wit h p er mission. )
1 | I- :r I! |I| - H. Iu. - u- ' . - - nu- I E
{ I - ; r |:|' Il LI|l |- I- Ir l r IbI|i' , l . ; IhI1 r i' ul - |i' _ - :|. j' r |:r I|II_
f "' I| 1 - ":~ |s:|s 1 - 1 ! ~ ~ - ! - s- IQ- . i* ' ""* ' "" "" * "'
FIl ' l I. I
r - '
T
I
|' I'
I . 1 .
1 . . -
I"l I
J .
|' r
IT
- . . |. |
|. | - . - ' I- I ' :- | . |:. |. | 1 |1 .
Hr : i- |- 1 |r I|' I- nI' l , Ir II' p Ir l I' r IIl I|' |i! ' Il ' I- I' l l "r I' l :l ' uI1 I| | t iI
Figur e 1 3. 5 ? Ennt uur p l ut uit he t emp er at ur e f iel d af t er adding 5 "IE t u t he snl u-
t iuns shnwn in Figur e 1 3. 6 5 . { Fr nm HATLAH. Wit h p er |nissinn. ] { See cnl nr inser t . ]
An t nt r nduct ion t o t he Finit e Eiemer t t Met hod I 339
P
i1 i_ l 1 .
~ t . ""s s' - . * ~ . _ " ~ . i "~ .
it
Figur e F1 3. 1 G eomet r y oia cant il ever ed heam f or Pr oject 1 3. 1 .
Pr oject s
Pr oject 1 s. t
Ft eant il et r et eciheam is suhject et it t a unit ot m p r essur e on t he t up sut l - ace as shown in
Figur e P1 5 - . l - E =EDD (Il ia, it =i' . l - ? 1 - , t hiel - t ness =[ Ll n1 . P =1 U, { l l J{ l i"~ i. I' m3-
Il a} iii. =H. 2 2 3 m and h =l J. I m, cal cul at e t he masimum nor mal st r ess, G 1 . at t he
sup p or t ancl dei' l ec. t ion. v, at t he cent er oiit he l ir ee en- cl , and comp ar e t he nit e
el ement r esul t wit h t he sol ut ion f r om t he st r engt h of mat er ial s.
{ l a} it L =1 m and h =[ 1 . 1 m. cal cul at e t he mat - t imum nor mal st r ess. U5 . at t he sup -
p ut t an- cl t he deect ion, t r . at t he cent er t sl r t he Fr ee en- cl at p oint Ft , and comp ar e
t h l l "- :l Fl l il . |. ' - l ' f - Ei1 ' :"T]' 1 E|' |l : 1 ' 1 ; ' |. I. l . |. ' "h' |. ' i' l i:l i' l . ' l . ' l - l . f _ " i' i' l i:|:l . |. ||. ' i' l i]' l i- . l . F1 ' [ ]' "' | I. ' l ]1 :' st r engt h l l l l f |T1 i:|. |. ' 1 ; "|' il . 3l l 5 .
Pr oject 1 3. 2
. - ' 3. cant il et - er ed heam has a semicir cl e wit h a r adius ol iU' . Ll 1 t n on t he t op ancl
bot t om cent er as shown in Figur e P1 33. Ther e is a st r ess concent r at ion near
t he hol e. Det er mine t he masimum nor mal st r ess near t he hol e when it is suh-
ject et it o l 1 _ l l - t . I"- l i"n1 oi: dist r ibut ed ioat ias shown in t he f igur e. Cut np ar e t he
nit e el ement r esul t wit h t he nne nht aine- t iFr t im st r engt h nf mat et ial s using t he
1 1 1 ' I- t i"- l . "m
1 r . .
{ LE5 m Ij
Figur e F1 31 G eomet r y of a cant il ever ed heam f or Pr oject 1 3. 2 . { See col or
inser t . i
\ \ $ . . \ \
[ l l . 1 n' i
341 1 ' I Humer icaiancinnaiy t icaiMet hods wit h MATLAB
Th, TE Tit , T. ,
T- . 5 cm eh? t r ? TH =j1 |[ _ :|- [ }|' |[ '
(ii- t A=l . 5 cm
y |
l it . r . _ . _ I it , r _ . , ,
1 5 ent st
a-
Figur e P1 3. 3 G eomet r y oia cant il ever ed heam f or Pr oject 1 3. 3.
l "|l I' 1 - - El ":- l l - i- l i, :l i' l |l ' |1 ' , :1 ' , ' . "l . - ||"l . - i. :l II' l I1 Il |' | ' FFI1 :l , ' - [ Ir H l [ i' i[ |' E' 5 - l l ; 1 . ' il ' l i' l . l i, :l , f |' ". ' r :5 | l , ' il l ' il |_ . l FEt t ; [ t ' ! |1 ' H Ear l hf Fl ' l , 1 ]_ l . - Lil 1 i|' t ]_ l . :||"
st r engt h oFmat er ial s r e:- t t hool t i.
Pr oject 1 s. s
Find t he t et np er at ut e dist r ibut ion ihr a p l at e subject t o a t emp er at ur e oi' T _ on t he
t ight edge and having convect ion on al l ot her edges as shown in Figur e l "1 - 5 . 3.
wher e amhient t emp er at ur e ' l _ _ _ _ _ =1 1 ]"' L' . . =. . ' i[ ii]' 1 "i. i. heat t r ansf er ceief hcient h =
l hiir iml - E, and t her mal cnnduct ivit y l - t =5 35 iil iiim- [ 1 .
Pr oject 1 3. 4
Find t he t emp er at ur e dist r iht t t ir m Far a p l at e st t hject t o a t emp er at ur e oFT on t he
r ight edge and having convect ion on al l ot her edges as shown in Figur e F1 3. - "ii.
1 ""-
f f
it
1 5 cm E- T" 1 ' ? 3t Jem
TH
v
r l q
. . .
Ecm
e - - il e-
Figur e P1 3. 4 G eomet r y of a cant il ever ed heam ior Pr oject 1 3. 4.
. 4n int r oduct ion t o t he Finit e Eiement Met hod I 341
wher e ar nhient t emp er at ur e TE =EDG E, Tw =l iiiz, heat t r ansf er t :oeFFt cient
h =ii] Wimi- C, and t her mal cont l t t ct ivir y l t =35 6 Wim- C.
Ref er ences
I. Timoshcnl so. 5 . P. and G oodiet , I"~ l . , Theses g. FEht st iciij|- ' . r d ed. , l ' v' l cG r aw- Hil l , It - l cw
"t ' or l - t , 1 * JFEl .
. 3, Ligut al , Pt - [ 1 and Fensr er , Ft . l ' ~ ' i. , . ~ 1 t t ' t . o1 r e. =r ' . ' i. n"e. e_ gr . ir . er i. st ' . 4p p ir ' r r il ' F. En' . t t it * iij|i, 4t h et 1 . ,
Pr ent ice Hal l , Up p er Saddl e I- l iver , l - . l _ |, l f if r .
El . . | l . 1 ' . - * 1 Ii' . i_ . - ' - iiiil Per iiniDn- ' er ir i' . r i' . E1 y uat i' en l eat her t it er } Eir iit t e, ' l he Mat hwor l es, inc- ,
hl at icl t , l "vi. h, EDG E.
4. Heddy , I - i. , . Fini. r e Eil r nt ent Met hod, f ir cl ccl . , i' vicG r aw- Hil l , I"~ l ew Tor i- t . 31 1 1 1 1 3.
5 . Eool t , H. I1 , ivial i- t us. [ IL 5 . . and Feisha, Ivl . E. , C' or iee, t ir r t r it e . - Lt :- p iir iit iar r r qf ' Fir r it e
. Eil t "J1 l ' I|E' . F. i! I . el ir ir { y r i_ r , f l - r d cd. , john "Wil ey t ie Sons. New "t ' or i- t . 1 95 9' .
t i. Fl ienl t iewiet , U. G . and Tay l or , R. I. . . r Finit e Eir i- it or r Mi- t it r e . Fniamr i, t heir
F. - t - r ir t aiar ien end Linear Fr aiair ir r r . 4t h ed. , ivl cl iir aw- Hil l Int er nat ional , Ul ii, H1 5 1 4.
Chap t er 1 4
Cont r ol Sy st ems
Or en Masor y
1 4. 1 Int r oduct ion
Ft . t y p ical hl ocl t diagr am oiia cont r ol sy st em i. s shown in Figur e l 4. ]. The p l ant .
which can he a device sueh as a mot or or a p r ocess such as heat t r eat ment . is ied
wit h an inp ut , r r ir }. which ai' i_ ect s it s out p - ut . _ y [ _ t _ ]. iiioncur r ent iy . t he p l ant is esp osed
t o r imevar y ing unl - t nown l oads. r il l - 1 * ], which event ual l y al ' Fect t he p l ant is out p ut .
_ _ ' ||- ' [ . l ":l - TFIE [ ' il L|]' |' l |iiIl ' i- L ' [ 1 ' F' l . ' l ' l L l :' l iil l ' l l . ' I' |i' il l l i' _ "[ ' ihil il il l ' l . - "El . T' l |- ' i. ' l . ' l IL" il ' l . [ ' il Ll . i' H1 ' l il ' l l ' _ " ]. ' . l l . HI' l l . ' in l ' iL|l :l . ' l i:l . "|. |- "H1 . "
t hat t he p l ant ' s out p ut wil l Fol l ow t he r eqt iir et l r et qer en- ce, t it }, in t he p r esence - oi
t he unl t newn l oads. l n a simp l e singl e inp ut singl e ot t t p t l t { $ 1 5 1 1 3 sy st em a sensing
device is used t o nht ain t he val ue oi' t he p l ant is out p ut . The cont r ol l er act s on t he
er r or . r ir _ ]. which is t he dit ier enee het ween t he r eier ence. r [ _ . - :1 ]. and t he measur ed
|Ll l l . l i. ' |. ' J' 1 . l ' l I l Il ' ]|- " ' l Il . ' 1 ' |L 5 il L' |' l l 1 ' i' [ JI' .
i"t simp l e csar np l e For such a sy st em is a cr uise cont r ol sy st cr n shown in
Figur e l - 1 - 1 . In t his case, t he r et p t ir ed sp eed, i' { r ]l , is set hy t he user : _ y l [ t } is t he
act ual vehicl es sp eed. a nd in or der t o det er mine t he er r or . el [ r ' }, t he vel iit ' l e' s sp eed is
ohr ained Fr om a sensor l ocat ed inside t he t r ansmission- The er r or is heing used hy
t he cont r ol l er t o det er mine t he t ct ]t t i|' - ed amot mt t i- l - l 1 l _ l t :' l , . t t i, . r , i. needed t o maint ain
t he r equir ed sp eed under unesp ect ed l oads. . ~ :. t I[ i_ }. eser t ed l ay t he var y ing sl op e oi' t he
r oad and t he wind. t or examp l e.
[ iener al l y t her e ar e t wo t y p es oi- cont r ol sy st cr ns. r egul at or and ser vo. l n a r egu-
l 3. t ' [ 1 1 ' hi; ! . "' l ' i- ' l . ' |iL' [ ' |' l 1 l ihl : Fl i. ' Fl i_ ' I' |L' I' l 1 ' _ ' l _ ' . , i"l :. l i:l - | l . l ' iii] Ii_ ' l Fl l I' l i:i|IiEl . |' l l l l - . |' T|. j, ; { ]' 1 . il ' l Ll . - l ' _ "I' Li=' l . |' I' l l Pl |i. ' F[ ]' I' l ' i- ' l . 1 L' l ' 1 El . l ' i- 1 |- ' i' i[ l I' ]' 1 ' 1 Il . l ' i
an sir condit ioning t her most at t hat nt ainr air is a const ant r oom r er np er at t t r e, in
sp it e oFr he var y ing l nat l caused hy a change in t he numher oip eop l e in t he r oom.
var y ing esp osut e ol ' windows t o t he sun. var y ing out side t ent p et at t ir e. and ot her
343
344 I Numer ical enol Anal y t ical Met hods wit h MATLAB
Load
iiiiil
1 ' - t ot e r ence Er r gr |nP_ uj_ Uut p ut
Sensor
l vl casu r eel
out p ut
Figur e 1 4. 1 A t y p ical st r uct ur e of cont r ol sy st em.
Load
t t r n
Ref er ence |- ' uq_ - | _
vel ocit y 5 " inp ut Fhml f i
r 1 . t , I Fm H [ t ] _ El - "_ T
T Fl ! l :. l 1 ' l . l l . 5 - 1 : T F! l :' t ' l l I' Ie . ]"l F}
F G ont r ol l t - r it Tr ansmission
t i- p eed
Meas ur ed Scnmr
sp eed
Figur e 1 4. 3 Cr uise cont r ol bl oel t diagr am.
changes. l n a ser vo sy st em t he r eFer ence var ies wit h t ime; a good esamp l e For st t ch
a sy st em is an ant iair cr al it gun wher e t he cont r ol l er shoul d cont inuousl y modif y t he
angul ar p osit ion of t he gun in or der t o t r acl t t he moving t ar get . The design oibot h
sy st ems is ver y simil ar and invol ves t wo major st ep s: [ l l devel op ment of a p l ant
r nodel ; and { ' 1 ' } design oi: a cont r ol l er t hat wil l sat isi- y one or r nor e r et |uir en- t ent s
1 ' E' l El . ' l IE' l i, . l l . ' 1 l | l . ' l l ' 1 H |I. j_ ' ! |- "I' l El , 1 ' 1 ' l Tl iI l . ' H; "l l ' l l E. ' l |- "l I]' l I|' I ' l . ' l ' I- E ], ' . l l |' l TT! i{ ]' l , l l . ' Fl LIl . ' in ' l , ' l ' IE P|' - E' I' i- E' ]' l CE ' [ ]FCl ' l iEIT1 gE' l ' i- i
t he r eier ence ant l in t he l oads. The dy namic r esp onse of a t y p ical sy st em t o unit
st ep inp ut is shown in Figur e 1 4. 3. Ft ny or a combinat ion oil t he p ar amet er s. shown
in t his l igur e. such as Rise T' ime or l vl ait imum Cl ver shoot . can be used as design
cr it er ia f or t he cont r ol l er .
Design cr it er ia ar e not al way s r el at ed t o t he sy st er nis r esp onse in t he t ime domain.
TIT 5 El l I. ' 1 ' 1 - l ' _ " l i_ ' E. H1 _ ' l ' i- il . ' l ' l . l ' _ l ' i:|- "1 ' it 1 ' _ "I' |' l |l ' i. 1 ' l ' _ l ' i- F|' 1 . l l F1 1 ' it ' _ ' TIT l . ' l ' l E F|' l ' _ "|i. ||. I. C|' l l i' _ ' :|. "' - l L' l l L' l l Fl l ' 1 i. 1 ' 1 T5 Tl l ' Il L' . ' l I' II iI' |' IPUl l ' l . ' H. I' Il I
because it p r ovi- t l es an indicat ion oFt he cap abil it y o- Ft he sy st em t o t r acl - t a t ime- vat y ing
r ef er ence. For esamp l e. a p en p l ot t er is used t o dr aw a cir cl e oFr adius ii and t he p en
Cont r ol Sy st ems I 345
cl il l
Mait imur n
Unit st ep inp ut m. , _ . r , , ]. m m_ .
ins- . . _ . . . _ . . . . _ _ _ _ _
i- r :ir ie - ""- ~
asis - - - - - - - - - - - - - - - - - - - -
use
r it es dy - st ar e
, er t or
it it - - It
_ -
nhl idh
F.
L' l . . . t - ILI - - - D6 1 5 . . .
t ime
l
l L' l . it Il
[
- J t - - 1 - _ . . _ . . . . - . , ; . _ _ . .
I
l I- il se t ime mu
j_ _ _ _ _ _ 5 - eL|' . l ing p t
t ime
Figur e 1 4. 3 Ty p ical sy st em' s r esp onse t o unit st ep inp ut .
moves al ong t he cir cl e wit h s sp eed l ' as shown in Figur e l - 4. 4. The r el er ences t o t he
hiant l ' 1 p l ot t er is ases ar e given h- y I. - ' j, . =- l f r ir r t t or iand l j=i r "esI[ u1 i]. wher e t n =l f iii .
Thus. t he cont r ol l er designer is mor e int er est ed in t he sy st em l r equency r esp onse
{ r esp onse t o a i' t ec|uency r ef er ence} t han it s t ime r esp onse.
F 1 _ . - ' l ei},
- it
I
l . |Il |F '
- I
A K
ii
Figur e 1 4. 4 Pl ol l ing a cir cl e.
345 I Nomer ical andnnaiy t icaiMet hods wit h M. 4Ti_ . 4t i
l ' v1 . 4|. T' l _ . - ' 5 l t EF' p r t :- vides f u nct ions hy which t he t ime and f r et p aency r esp onse t :- F
t he sy st em can he det er mined- in at l t l ir ion, gr ap hical t ool s t hat assist in t he design
{ IFf l ' IE' 1 :l i. il ' |' |' f [ ' I]' il . l i, "l |' | SH- l :l l ' l 3. 5 El l i' l l |l , ijE - f , il i=5 |g|' E|]' I' l l ' i|, - F"' il I:|- "l i, ]|. |T. i' i|' [ l ||f ]' l , ' ? ' i, HTILT |Tl l ' [ ' l F |f 1 Ii, l l i|. . "iFl |f ' l l . ' l ' i{ SEE
Sect ions 1 4. 3 and 1 4. 3 f or a descr ip t ion of H- ode diagr ams, l - l y =qt t ist p l ot s, and
Hoot Locus p l ot s}. ar e avail abl e. For t he design of most SISU sy st ems t hese t ool s
ar e sul hcient .
1 4. 2 Rep r esent at ion of Sy st ems in MATLAB
ignor ing t he l oad dist ur bance. n' { r _ . i, t he r el at ionship bet ween t he p l ant is inp ut . r r f r jl ,
and it s out p ut , _ y [ r :}, in t he case of l inear sy st ems can he r ep r esent ed hy a l inear t ime-
invar iant or dinar y t l it hr r ent ial et juat ion of t he f or m
ar e do l I dr ier g y r l il '
on # 5 :}- I- . - 1 | I * l - "* - l ' - r . 1 ' u_ ; |. ' f E- jl =||l ir il h_ |_ # - l - . t i"i_ _ 1 ' - l - ' "- l ' - ' t . i' f Ij|
t it ' _ t it air t it
{ I41 }
wher e it E t o and t he coeii- icient s r t , and t i; ar e const ant r eal number s.
For a l inear cont r ol l er , t he r el at ionship het ween t he cont r ol l er inp ut , ef r j, and it s
out p ut , r r f t ], can he descr ihed in t he same way .
Using ivl hTi. hf i. t hese inp ut ot |t p t t t r el at ionship s can be r ep r esent ed in t hr ee
diFf er ent way s:
1 . Tr ansf er f unct ion r ep r esent at ion { t f l
ii. Ier t s- Fol eef iain r ep r esent at ion { Ip l t l
ii- - ii- r at e sp ace r ep r esent at ion [ ss]l
To demonst r at e t he dil f er ent r ep r esent at ion met hods. t he coup l ed t ar t l t s sy st em
shown in Figur e 1 4. 5 wil l be used as an esamp l e.
Pr r r np win
it , it , I R1
a
4' 1
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . gt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Figur e 1 4. 5 Coup l ed t anl t s.
Cont r ol Sy st ems I 34?
The change in t he vol ume of l l uid in each t anl t . t i, and I- I2 ; is given by
shit _
g _ qr : f r
g: (1 4. 2 1
=' if ]_ "if , ' - 3
1 Ft he cr oss- sect ion ar eas of t he r anl t s ar e . 4] and . 41 , r esp ect iy el y , t hen
e-
_ l l
A1 it Tl F- F1
Al g: _ _ { 1 4- 3}
; # 1 ; TIL TF1
t osimp l if y t he p r ocess. we wil l assume t hat t he How t hr ough t he val ve is p r o-
p or t ional t o t he p r essur e dr op acr oss t he val ve { see Figur e 1 4. 5 }- Fur t her mor e, For a
sl ow iiow, we can negl ect t he l t ir iet ic ener gy of t he l l uid and t al se t he p r essur e at t he
ent r ance and esit of t he val ve t o he what woul d er t ist in a st at ic l l u id [ p =Th} { wher e
T is t he sp ecic weight of t he t l uid and iiis t he dep t h bel ow t he l l uid- f r ee sur f ace].
Ut us. How t hr ough t he val ve is given by
r e r . - r . =t il - 1 . - isl (1 4. 4)
t il l
e =gil t , i, l (1 4. 5 )
wher e f has heen al asor hed in t he p r op or t ional it y const ant 1 . - ". Fi' - Thus, t he Fl ows
t hr ot t gh t he val ves ar e given by
_ ii Jig
p g (1 4. 6 1
- r . =
Subst it ut ing Equat ion [ I- iii} int o Equat ion i[ 1 ~ ' l . E' . ". - I1 wil l p r oduce t he dy namic equa-
t ions f or t he sy st em:
i_ L is ' is
gt A1 st . RI
as, _ 1 s, - s, s, i
as . a, ii, r t ,
1 4. ? )
343 I Nomer icaiandsinaiy t icaiMet hods wit h M. 4Ti_ . 4i3
1 4. 2 . 1 ' Tr ansf er Funct ion Rep r esent at ion
Tr ansf er f unct ion is t he Lap l ace Tr ansf or ms of t he out p ut divided by t he Lap l ace
Tr ansf or ms of t he inp ut . assuming aer o init ial condit ions. This p r esent at ion is ver y
simp l e and int uit ive. Ref er r ing t o Equat ion (1 4. 1 ). t he t r ansf er f unct ion of t his
equat ion is given by
H Jr =y r . ) = hms + . f r m_ 1 s ' _ ' + - - - + t - U
iII -
t it s} t ins - l - r t |r _ l + - - - + . =t Lr + an il igl
wher ei: 2 or and an t i : t i.
Ft p p l y ing Lap l ace Tr ansf or m t o Equat ion { 1 4. 3} y iel ds
, Hf I{ _ r j[ _ r _ [ 1 |1 { { ]}] =ijgy g H; l r igH; f sl ]
_ (1 4. 5 1 )
I H, isih' . isI1 h . is}
H, ir i[ s- i, ii1 A[ R - g j
wher e Hdr l =. f f ; r { i:, { r ]l . Fil l s] =Jif iiizl r l l , and Q, , l . t 1 =iil [ iy , , I[ r ]]. Wit h aer o init ial con-
dit ions. iil l f l l =Jil l [ U] =f l . and some al gebr aic manip ul at ion of Equat ion I[ 1 4. . l } can
be r educed t o
i' r "]- [ . t ]|:. t + I 1 - Q F}+ L* m
al e, al ap e,
it + a er a UTAH)
_ Hf 1 |:_ |; ' :| , + 1 i1 em
- j a, a, a, j a, . e,
l t is cl ear t hat t he inp ut t o t he sy st em is an. However . f r om l ool t ing at
Figur e 1 4. 5 it is not so cl ear what t he out p ut is. Real izing t hat hi- c ir | and t hat
over f l ow has t o be avoided, it becomes cl ear t hat t he out p ut of t he sy st em is
ht - Sol ving Equat ion { 1 =' i. l 1 ]' ]l t he t r ansf er f unct ion of t he sy st em, . H][ r }i' Q, _ , [ r ]I, is
obt ained and is given by
r ein _ . t 2 a, . e, . + t a, + al l _
our . ) . v l , i. - El 1 . iif 1 Fii:_ r i+ f f :l . |. it "]+ . - i3. t ' ~ i2 + _ / i. |. |it "1 :J_ - r - I- l iii- l
l n ivi. ~ ' t TL. l ' t 1 3, t he t r ansf er f unct ion is r ep r esent ed l ay t wo vect or s t hat cont ain
t he cnef hcient s of t he nt t mer at or and t he denominat or p ol y nomial s of t he t r ansf er
f unct ion. The number of coeihcient s indicat es t he degr ee of t he p ol y nomial . The
Cont r oiSy st ems I 349
. =- . (3 qjr .
is
5
Figur e 1 4. - B Fl ow t hr ough a val ve.
iir t l l t r w' ingf snr r ian gener at es t he above t r ansf er f unct ion using t he f ol l owing val ues:
# 1 , =S nt i. . * 1 ; =3 mi. ii , =l l iisimf . and Ry =f l - 5 simi[ 1 ].
t unct ion Piant TF=coup 1 edTanHsTF
E Def ine const ant s
A1 =5 ;
A3=3;
H1 =H. E;
HE=U. E;
1 Def ine t he numer at or of t he t r ansf er f unct ion
Hum=[ A2 * R1 * R2 iRl + R3iI;
s Def ine t he denominat or or t he t r ansf er t unet ion
EIEt i=jIIt 1 * I|. 2 * ]3' . 1 * ]i . 2 IjII. 1 * F' . i. + . It 2 * F. 2 + Ft L* RIE] 1 ];
Eal l che t f f unecion
Pl ant TF; cf iHum, Deni;
The f unct ion was saved under t he name t Tor r p f edTr r r r . l r sT. F. Ty p ing t he command
f Tt JHJl 3f f iFTHFI. l f ' iTFin t he command window { mal t e st t r e t hat t he cur r ent dir ect or y is
t he one wher e t his f il e r esides] t he f ol l owing wil l be disp l ay ed:
Tr ansf er f unct ion;
1 . ] E|- + 1 - 3
so* a+ as+ 1
As an SISU sy st em. l ' vl . - "t TL. r i. E p r ovides t he f acil it y t o det er mine t he r esp onse of
t he sy st em f or a unit st ep inp ut . in t he command window t y p e r r ep ihnp ier iiir r t ii- r il l - "1
[ 1 ]- The gr ap h shown in Figur e 1 4. ? wil l be disp l ay ed-
Have in mind t hat even t hough t his r esp onse seems l ogical and accep t ahl e, it is y our
r esp onsibil it y t o checl - r it out . In t his case t he esp l icit t r ansf er f unct ion is given by
Hl l r l 1 . 3. r + 1 . 3
Quit } T f og + f ' o+ 1 in- [ Fl
Because at st eady st at e al l der ivat ives ar e aer o. t he st eady st at e can be det e r mined by
subst it ut ing _ r =iiint o t he t r ansf er f unct ion. Thus f or a unit st ep inp ut l if t s] =it s
1 ' 1 ' 1 ' T|f S:l ' l Il ' H' I 1 ' iH: 3. { . ' |J|- "=' l ' i1 IH|. ' 1 ' :' ' l |"Hl l . l 1 ii' { IFF1 1 l :3. I' l ' 1 1 :. - |:|E' f 1 ' :"I' IT1 l . I' l ' l il ' f _ ' f I
ir _ , I[ =- =~ ]I=%I=- t l =l . f ' im { I- ' i. 1 5 l
This r esul t is t he same as t he one obt ained by t he simul at ion (see Figur e 1 45 ' }.
35 1 } I ivumer ieaianci. - snaiy t ieaiMet hods wit h MATLAE
r a::r s_ @ t s
Ht t r =5 5 . as gt
atis . . . - E mi mi ii! E El
K Hl l . ' I' ||l i
I ' 1 r 1 | 1 r r 1 1 -
1 "I' ' II' III' I' IP' III"IP' P' l I'
I1 I
1 _ .
l I|. El - I
E I1 5 - -
l il i - I
EIE -
|; | | J . 1 . i | |. i | .
t il 5 I' D 1 5 It 1 ' 5 1 | 1 "- 5 l t l 1 5
t ' i1 1 - |t |||- :1 1
Figur e 1 4. ? Sy st em r esp onse t o a st ep inp ut . { Fr om MATLAH. Wit h p er mission. )
when a l inear SISU sy st em [ r ef er t o Figur e l =i. l ]I is e:- ieit ed by an inp ut of t he
f or m :r [ t , i=. eieos[ t 1 ]t , ' l . t he out p ut of t he sy st em is given l ay _ y I[ ' t ]I =B. r os{ t t }I+ t |]I]I. wher e
f l and H ar e t he amp l it udes of t he inp ut and out p ut , r esp ect ivel y , and t it is a p hase
angl e, A Pi- t it l e p l ot p r ovit ies t he r at io H. - Eel , usual l y in deeihel s [ 3], as :- 1 Ft inet it in t 1 - F
t he l - l f I:' ! II|Ll t . t ! 1 |1 . I}" t i].
The l r et :|uent :y r esp onse oi t he sy st em, wl t ieh descr ibes t he way hy it ir esp onds t o
an inp ut given by sy n: siuI[ t |. ' |. t ]I. ean he obt ained by t y p ing in t he eommand window
haia e{ _ ILZ si:J, at ' est "s . ir r i. i. * s] It - ' 1 . The gr ap h shown in Figur e 1 4. 3 wil l disp l ay a E- ode p l ot [ =i].
1 4. 2 . 2 Z er oPoi' e- G ain For mat of Tr ansf er Funct ion
Rep r esent at ion
Anot her r ep r esent at ion o- Fa t r an:- al qer Ft l nt t inn is t he Ier o- Pol e- G ain For mat . Because
t he t r ansf er Ft inet ion. as t he one shnwr t in Equat ion - [ 1 - ILEII. is a r at ional p ol y nomial
iiunet ion. it s numer at or at t d denominat or can he iaet or ed; t hat is.
H _ H{ s- e1 ]{ seI]. . . { s' - em]
Hi op . it . - - s. i. . . t r ; . - , , i iii- ii
The p ol es, p p . and t he zer os. is, - . ean he r eal . imaginar y . or eomp l es nunt her s and t he
gain. . FL' . is a r eal p osit ive numher . The zer os. t he p ol es. and t he gain of t he t r ansf er
Figur e 1 4. 1 ! Bode p l ot s f or t he Coup l ed Tanl t s sy st em. [ Fr om MATLAB. was
p er mission. ]
Funct ion can be obt ained by t he p air , sens, and iicgniu commands. In t he command
window t y p e [ 5 - T]:
as p o1 et Eoup 1 edTankaTFi
Cont r ol Sy st ems I 35 1
The Fol l owing wil l he disp l ay ed in t he command window:
Hum
1 . 2 DDD 1 . 3DD
D5 1 1
E H 1
B. I' . |.
- 1 . 1 93?
D. 1 39E
as aer ot Bnup 1 edIankaTFi
Hum
1 . 2 000 1 . 3DU
Den
E
ana
- 1
B 1
EH33
35 2 I Humer ieaiand Anal y t ical Met hods wit h M. - =1 TLAB
or degeint Eoup 1 edTenkeTFi
|f ' I|. Jl ' |1 . =
1 . 2 U 1 . 3D
Den =
E E 1
ene =
1 . 3- CI- il l ]
The r esul t s show t hat t her e ar e t wo p ol es. one at - 1 - 1 ' ; i3? ' ant l t he ot her at
l ]. l 3 1 ' t ' i. a zer o at 1 . { IIt i33, and t he gain of t he sy st em is I3 [ which is conr med hy
t he st eady - st at e val ue oit il ; Found by Equat ion 1 4. 1 5 }.
The conver sion het ween t r ansf er f unct ion t o Z er o- Pol eG ain r ep r esent at ion is
sup p or t ed hy t he command ap iir [ E]. ' l he Fol l owing f unct ion p er f or ms t he conver -
sion and dr aws t he r esp onse For a unit st ep inp ut :
f unct ien Pl ent EPH=Eeup l edTenkeEPE
s sunning t he t r anst er t unet ion oojeot
Coup 1 edTenkeTF;
1 Finding t he p ol es
Pl ent Po1 ee=p ol et Eoup 1 edTenkeTF};
t Finding t he zer os
Pl ent aer os=eer ot Coup 1 edTenksTFi;
iFinding t he DC gain
Pl ent G ein=degeint Eoup 1 edTenkeTF|;
iFinding t he eer ep ol e- gain p r esent at ion
Pl aneaPH=ep st Pl ant aer os, Pl ant Po1 es. Pl ant eain];
s Pl ot t ing t he st ep r esp onse
et ep [ P1 ent EPHi;
Running t he p r ogr am y iel ds t he Fol l owing r esul t s and t he gr ap h shown in Figur e l * i. F.
Ty p ing in t he command window t _ i' aep ie 1 Tast ii=sFI' FFt ' disp l ay s t he Fol l owing:
I- Z er o. - ' p ol e! gain:
l ji[ s- i- l . l ]E3il
P T TT FT FT I T P TT I T P TI I- '
(s+ 1 - IEi- t i{ s. + t 1 I- l i' et t ' - Ii' }
I4. . ? . . 3 St at e Sp ace Rep r esent at ion
St at e sp ace model s ar e f ir st - or der coup l ed dif f er ent ial equat ions t hat descr ibe t he
sy st em in t he f ol l owing gener al For m:
sir } =. =i. t |[ r )+ Bat s}
y { r }=t ' T. v(r }+ Dot s} 1 1 1 . 1 5 }
wher e sf is t he sy st em st at e. at is t he inp ut t o t he sy st em, and _ y is t he sy st emis out -
p ut . F- nr l inear invar iant sy st ems t he mat r ices . . - "i, B, CT, and D ar e ct :- r ist ant s- This
Cont r ol Sy st ems I 35 3
St at e Sp ace p r esent at ion wil l he demonst r at ed using t he Coup l ed Tanl t s esamp l e.
Rewr it ing t he dy namic equat ion oFt he t anl - t s { Equat ion 1 1 - 1 5 ' },
as, _ 1 1 . , -
as . 1 , F 1 1 ,
bl J
1 . 2 sf ,
(I~ =i. ? ' ]'
. . - 1 sy _ 1 1 . , -
as . 1 , ea 1 1 1
|l |
Dene t he st at es. t he inp ut . and t he out p ut of t he sy st em by
. . . ] =s,
L
1 t , =1 5 :
H =, 3. r ial s}
s. =1 5 .
. 1 : =1 1 .
The st at e sp ace r ep r esent at ion is dir ect l y der ive- Ll Fr om Equat ion [ l i. F]I:
F 1 1
||| II
|ii- l :|= _ "hR| * ' hR1 [ It + . I Fl l it ]
. 1 , 1 1 1 . . . , t i
* * ia a
as, al e] al e, L
_ I _
_ { l =i. 1 ? ]'
1 * . _ [ 1 t i] I. Jr y a il :He]
y a [ I l 1 :1 Cl Fl D
The Fol l owing p r ogr am wil l dene t he st at e sp ace model in MATLAE [ E3]:
f unct ion Pl ant EE=Eoup 1 edTanks$ 5
1 Def ine t he const ant s
A1 :5 ;
A2 =3;
El =- E1
R2 =U. 5 ;
1 Def ine t he mat r ices A, E, E and D
a=[ - 1 t t s1 * st 1 1 t t s1 + s1 |. 1 t t aa* a1 1 - l It A2 * R1 l - l t t a2 * R2 ]l t
H=[ l f Al D1 0 U];
|I' =[ ]. Cl ; D 1 ];
l :l =[ ' [ l Cl ; Iii[ I];
1 Finding t he st at e sp ace r ep r esent at ion
Pl ant 5 5 =sst a, B, C, Di1
35 4 I Humer t cat and Anaiy t icaiMet hods wit h MATLAB
Eit ecut ing t he p r ogr am y iel ds
as eoup l odr ankass
I =
Jt l . 1 - [ 2
:1 U- E5 D- 2 5
1 1 :2 1 1 1 . 1 1 6 - ' 1 ' - 1 . - UB3
b =
ul ua
st ]. 0. 2 D
sea t l o
1 ; : =
I1 1 1 H2
f l - . |. U
f f l l
- d:
u1 u2
' y 1 ' l IIt II
y a B a
Cont inuous- t ime model .
In t he command window t y p e sr ep { Caap t e. a' Tan1 l r s5 Sl . The t ime r esp onse oF. E1 1
and 1 5 1 2 wil l be dr awn as shown in Figur e 1 4. 9. Hat e t hat since die inp ut :1 1 =I}, t he
cor r esp onding out p ut s ar e zer o.
Figur e 1 4. 9 Sy st em' s r esp onse t o unit st ep inp ut . { Fr om MATLAB. Wit l t |1 - emt issiona
Cont r oiSy st ems I 35 5
1 4. 3 Cl osed- Loop Sy st ems
Lip t o t his p oint diiFer ent r ep r esent at ions oFt he p l ant { see Figur e l =i. l , l wer e dis-
cussed- Hy nat ur e, t he p l ant it sel Fis an op en- l oop sy st em t hat r esp onds t o t he inp ut s
' |r \ I' l . |. ' l l ' 1 |. 1 l I' any iI' Il . ' i; . "1 ' |' l i1 l . t :l il l ' l ' |' l "l ' I:l . ' l . Cl F1 1 ' i- or ' [ , il I]F1 ' 1 P' l ' :' ]' 1 . "i- 3l , il - l l ' l l |' l l i. in H C|{ ]1 ' iECl . ' iI]' I]' P t :Iil ' I' 1 l il . ' { ]. l Ii- 1 |- "1 ' i- |. ' t ' ; . "II' l 5 ,
t he p l ant l s out p ut is measur ed by a sensor and it s signal is Fed hacl t and cor nv
p ar ed wit h t he desir ed p l ant is out p ut [ r eFer ence]' - The diiFer ence het ween t he t wo,
t he er r or , is Fed int o a cont r ol ier which in t ur n p r oduces t he inp ut t o t he p l ant .
Ubviousl y . at t his p oint t he cl osed- l oop r esp onse oFt he sy st em is oFit 1 t er est and t he
p r obl em is how t o design a cont r ol l er t hat wil l sat isFy a set oFr equir ement s r el at ed
t o t he dy namic behavior oFt he p l ant ' "s out p ut .
in t his sect ion sever al comt nonl y used design t ool s t hat ar e avail ahl e in M. 1 ' I' L. ~ 1 E
wil l he discussed and demonst r at ed. The design oFa simp l e cont r ol l er , which r egu-
l at es t he sp eed oFa F1 - 1 . mot or , wil l he used t o demonst r at e t hese t ool s-
1 4. 3. 1 oc Mot or Model ing
Two equat ions dominat e t he dy namic r esp onse oFa IJLI mot or : t he vol t age equa-
t ion, which descr ibes t he el ect r omagnet ic behavior oFt he mot or , and t he t or que
et t u at ion, which descr ibes t he el ect r omecha nical hehavinr t 1 Ft he mot or . The vol t age
equat ion is given hy
t it
L i+ R I E =U
I- n it , 1 1 1 m+ so
wher e
hm =r ot or induct ance [ Henr y ].
. FF"_ _ =r ot or r esist ance |, ' _ + hr ushesl { ohm}.
|:_ ' ::g""- 1 HF. "- l
=induced vol t age (vol t ).
=cur r ent { amp er e}.
=cont r ol Vol t age [ vol t ].
The induced vol t age is p r op or t ional t o t he angul ar vel ocit y oFt he r not or .
. - Em, =it ], t om, [ 1 1 i. l . . l ' l
wher e t r l , is t he r ot or angul ar vel ocit y [ r adt second] and Ft ; is t he mot or const ant
(Vol t ! [ r ad1 ' second]]I. Thus. t he vol t age equat ion is r educed t o
t it
L " + 1 ' t J. t JJ + . s' o1 m =U [ 1 . ; i_ 3t u
. . . Hg . .
The t or que equat ion is given hy
. . - 1
, 1 + so, + 1 ' ; =sl at , t i- t - - an
35 1 3 I ivumer icaiand Anal y t ical Met hods wit h MATLAB
wher e
j ==t ot al iner t ia r ef l ect ed t o t he t not or shaFt [ incl uding t he r ot or iner t iaiil t g ml }.
B =t ot al damp ing t or que r eect ed t o t he mot or shaFt { H mis).
I; =t ot al mechanical t or que act ing on t he mot or shaFt (H mi.
t |1 =magnet ic Fl us gener at ed by t he st at or .
For a p er manent magnet [ or const ant eit cit at ion Fieid] DE mot or , t l iis a con-
st ant . Fil el ining t he mot or const ant Hr =Hal l ), t he t or que. Tm, p r ocl t l t ied hy t he
mot or is given by
T. . . =- F. - . . [ l =' i- 2 ' . T! l
and t her eFor e Equat ion [ 1 - ' - ' . i. 2 1 ]| hecomes
ait 1 1
j? ""+ Bt . t 1 m+ i1 =it |_ i_ ? [ 1 433]
In most cases L. _ T=:- =- ' : l and 1 5 ' - =- is: 1 and t hus t he associat ed t er m in Equat ions [ 1 sl . 2 [ l _ l
and (1 - 4. 1 3} can be negl ect ed. The r educed model becomes
ii. - . . t K1 . - s- . . =U i; 1 s. . t s' 1
st il l }. . . -
I + T, =5 5 , ! Fl - ! i. 2 ' . i}
t it
Combining Equat ions [ I- ' 1 l . Z t i]I and (1 4. 2 5 ) gives
an Uit ' t |1
iT=_ g:' . 5 .
f gt . . Rm ness}
l n t he Lap l ace domain
U{ s]IWis}
o =it
{ F} t s + 1 { l 4' 3? )
wher e
FR1 1 1 '
1 =imot or t ime const ant (second)
it r it h
1 , 1 5 =I %l oad dist ur bance { vol t }
jg =Kimot or gain [ [ r adisecond]1 "vol t ]|
s
Cont r oif iy st ems I 35 ?
+
r it i r t }
+
1 H. 1 1 1 |.
Figur e 1 - =1 - . 1 - I] 1 1 samp l e hl ocl t diagr am.
1 4. 3. 2 Bl ock Diagr ams
Up t o now our bl ocl t diagr ams wer e used t o descr ibe t he connect ivit y bet ween t he
dif f er ent el ement s oFt he cont r ol sy st em. However . bl oel t diagr ams can al so be used
t o descr ibe t he dy namic behavior oFeach el ement by incl uding it s t r ansFer Funct ion.
. l . _ l ' H' _ ' l i]' l . l i. ' l l |l Il :' i' . - l L|. iEl . El ' HITl |' I' |i1 _ l ' l |- " l I' . H' i" U1 ' iL"F. l . IT] [ l . l ' _ l . ' l L' 1 ' F|' l l ii' ]. E ' l i|' I1 ' _ " - l :l . [ ]' hiL"l l ' . l . "l ' [ ]' [ ]], ' . l l t r ansFer Fl . 1 |' l EiIi[ ]l [ ' l { IF
t he sy st em. which in t ur n can he used t o det er mine t he st abil it y and t he t ime and
Fr equency r esp onse oFt he sy st em.
The diagr am shown i|1 Figur e 1 4. 1 1 ] wil l be used t o demonst r at e some oFt he
basic op er at ions and t o det er mine t he cl osed- l oop t r ansFer Funct ion Fisl iit isl . To
simp l iFy . t he sol ut ion Fol l ows t hese st ep s:
1 - The p ar al l el connect ed hl t t cl t s, t ' ]' l I[ s:1 and (F1 1 1 1 , ar e r educed t o 1 ' _ T. [ r ]l + t ' ; ' l =[ s]-
ii- The ser ial l y connect ed hl ocl t s, t - f air ] and IF1 ' , |=[ s]l , ar e r educed t t 1 t _ 1 ' 3I[ r l * I[ ir ' , , I[ _ t l .
31 - The t wo new hl ocl r s ar e connect ed in ser ial and can he r educed t o [ 7 , 1 1 1 +
FT: F|. . TI' 1 _ - ; I FT! - l _ - iiii.
These t hr ee st ep s wil l r educe t he hl ocl t diagr am t o t he one shown in Figur e 1 4. 1 1 .
' 1 he p r ocedur e by which t he sy st em' s t r ansFer Funct ion is det er mined Fol l ows.
The er r or . EI[ s], using t he Feedbacl t p at h oFt he diagr am. is given by
E' [ sl =1 "t l s1 H]I[ 1 ]. ' i"i. sl [ 1 . 1 i_ gg].
gr , - ]. t Eisl F1 5 1
ii; [ t + . o_ 1 1 t + , e_ 1 1 * o. o1 * o. . t o
Figur e 1 - =1 - . 1 1 Simp l ied hl ocl t diagr am of t he sy st em shown in Figur e 1 4. 3.
35 3 I Hunt er icaianddoaiy t ical Met hods wit i1 M1 ' - l 1 ' l ' _ . sl E
r t ,
- in
Fl :- l '
t i . . . _
1 E L 1 g _ 1 _ is. . .
. 1 ' F' ir :I' il ' l Fl l l ' . l t F- . 1 5
-
Figur e 1 4- I2 Bl ocl t diagr am of a DC mot or .
The out p ut , Fir ], using t he For war d at h F h d' p o t 1 - t agr am, is given by
Fl t ] =il ' iT1 ' l Fl ' 1 ' iit il it iT_ . ' i- Fl i' 5 T, l il l E[ - Fl |:1 . ii, _ , 1 \ _ f _ l ]|
Fiuhst it ut ing Equat ion { l - ' 1 - EH} int t 1 Equat ion [ 1 - - l IE1 } y it l t - is t ht - r - l os. d l - ' ' * ' . ' e - oop t r ansFer
Funct ion
t o [ =1 - 1 1 . 1 + - snot - t - "_ . t . 1 * - 2 1 . 1 . 1
so_ 1 + io. n1 + o, o1 i* G _ . o1 * is. n1 n. n1 iii- iii ?
The bl oel t diagr am t hat descr ibes t he D1 : model given by Equat ions F1 - 1 - il l l l l and
iil t l l diis shown in Figur e V1 . 1 2 .
1 4. 5 ' . 2 MAT! - AB Toois f or Def ining t he Cl osed- l oop Sy st em
it s we have seen in many cases. sy st ems { in p ar t icul ar 5 1 5 1 . 1 sy st ems} ar e descr ibed
by bl ocl - t diagr ams- M1 "' |. TL1 "1 E1 p r ovides t ool s hv which a cl o d l . . _ ' ' se oop t r ansFer Func-
t ion can easil y he det er mined- . - it s an e1 - t amp l e, t he sy st em shown in Figur e Id- l il
l l h wie used t o demonst r at e some nFl vl h. Tl . . - 1 1 1 - s Funct ions. The Fol l owing t r ansFer
Funct ions wil l be used:
- l
l it =i
Fm s+ 1
. l
Iii=i
FFIJ , - 1 + 2
ii"- i- 5 1 1 '
G ab]: l s- i- l
s + . 7 1 + l
l
G 1 =
Il l 1 + 5
- 1 '
. Ht 1 =
I s+ l
Cont r ol Sy st ems I 35 3
The Fol l owing p r ogr am simp l ies t he bl ocl t diagr am shown in Figur e 1 4. 1 1 ] and
det er mines t he cl osed- l oop t r ansFer Funct ion Fol l owing t he st ep s in Sect ion 1 4. 3
[ l l ]' l . . ' - 1 ].
t unot ion e1 ant TF=e1 ose_ l oop TF
1 Def init ions of t he bl ocks of t he t r ansf er f unct ions
HumG 1 =i1 ]; DenG 1 =l 1 1 |1
G l TF=t f iHumG 1 . DenG 1 1 1
HumG 2 =i1 ]: DenG 2 =[ l 2 1 ;
G 2 TF=t f iHumG 2 , DenG 2 1 ;
l I' 1 L1 Il ' l . ' l ' S- 2 =i1 1 ]; E1 Et 1 ' |2 i- :l =[ 1 ' 2 ' 1 ];
G 1 TF=t f t HumG 3. DenG 3};
HumE4=i1 ]: DenG e=[ l 5 1 1
oaTF=t It HuoG s, Denos1 ;
WumH1 =[ 1 U]; DenH1 =[ 1 1 ];
H1 TF=t f [ HumH1 , DenH1 };
1 Connect ing G 1 and G 2 in p ar al l el
o1 oaTF=p ar al 1 el iG 1 TF. oaTF1 1
s Connect ing G 3 and ot in ser ial
ososTs=aer ieat osTF, saTsl ;
1 Connect ing G 1 G 2 and G 3G a in ser ial
G l G 2 G 3G 4TF=EIiEsiG l G 2 TF, G JG dTFl ;
1 Cl osing t he l oop wit h H1 :
Pl ant TF=t eedhecht o1 oae3G aTF. H1 TF}1
Ty p ing C' ia1 e_ ioap TFin t he command window y iel ds t he cl osed- l oop t r ansFer
Funct ion oFt he sy st em:
Tr ansf er t unot ion:
2 s2 3 + 1 s 1 + E e + 3
s2 5 + 1 5 5 &5 + ES sd + 2 1 3 sF3 + 2 2 5 s2 2 + l e + l
The bl oel t diagr am oFt he DE mot or shown in Figur e 1 - 1 . 1 2 wil l be used as a
second e1 t an1 p l e- l "' - l egl ect ing t he l oad, 2 ; , and using t he Fol l owing const ant s, t he
r esp onse oFt he mot or t o a unit st ep inp ut , Fig: I, wil l be det er mined-
i' t ' , _ =1 1 . 1 1 2 - ' - 1 { vol t i' [ r ad1 ' second]1 . it ' _ , =F- 2 5 1 [ l b in. i1 1 1
Rm =1 1 . - * 1 ] { Fl } _ , F=[ I- 1 5 1 { l b in. sil l
Ln, =1 1 . 1 31 1 5 { H} ii =1 1 . 1 1 1 1 2 { l b in. second}
t unot ion PLeot TF=DE_ e1 ose_ Loop TF
Rm=- a1 ;
Lm=. DD5 ;
Hh=. 5 2 1 r
Ht =? . 2 31
s=o. oo2 ;
a=o- 1 s;
1 DeEine t he el ect r ical bl ock
HumE=[ Ht ];
DenE=[ Lm Rm];
35 1 1 I it - iumer icaiand Anaiy t icaiMet hods wit h M. il . Ti- 1 1 . 1 5
E1 ect r ical TF=t t HunE. DenE1 1
t ef ine t he mechanical bl ock
1 1 t un1 t =t 1 ] , -
DenH=[ J E]:
Hechanical TF=t t t HumH. DeuH1 1
t oef ine t he f eedback bl ock
I' 1 ' t . 1 J1 ' l F' E= , 1
DenFE=l 1 ];
FeedbackTF=t t t HunFB. DenFB1 1
t connece t he el ect r ical and mechanical hl oche in eer iee
El ee_ HechTF=aer ieot Mcchanice1 TF, E1 eet eica1 TFl 1
il oeing t he l oop
DC_ C1 ose_ Loop TF=f sedhack{ El ec_ HechTF, FsedhackTFl
t P1 ot t he t ime r esp onse t o a unit st ep
eeep [ Dc_ cl oee_ Loop TF1
Eit ecut ing t he p r ogr am y iel ds t he Fol l owing t r ansFer Funct ion, and t he t ime
r esp onse p l ot is shown in Figur e 1 - 1 - 1 5 .
Tr anef er l unct ien:
1 . 2 9
. DD95 s 2 + D- D7 7 5 1 e + E- DUE
Figur e 1 4. 1 3 St ep r esp onse For t he model shown in Figur e 1 4. 1 1 1 . { Fr om l H1 1 T1 - 1 1 I1 .
l il iit h p er mission. )
Cont r ol Sy s t er ns I 35 1
1 4. 4 MATLAB Tool s f or t he Per f or mance
Anal y sis of Cl osed- Loop Sy st ems
Up t o t his p oint t wo l vl i- 1 ' l ' Lh. I:1 Funct ions wer e used t o det er mine t he sy s-
t em behavior in t ime and Fr equency domains, t hat is, t he st ep and 1 iio. deFuncF
t inns. Two ot her Funct ions, r ior t t s and r iy t y oisr , ar e discussed in t he Fol l owing
sect ions.
1 4. 4. 1 Root l ocus Pl ot s
1 ' 1 simp l e SISU cl osed- l oop sy st em is shown in Figur e 1 4. 1 4. it - l ot ice t hat t he
gain oFt he For war d p at h, FF, was sep ar at ed Fr om t he For war d t r ansFer Funct ion,
1 7 1 , 1 1 .
The cl osed- l oop t r ansFer Funct ion is given by
l "' [ sl _ 1 ' iFFFI[ s]I
R1 1 ] 1 + R' t T|[ s]H[ 1 ]| l l il l gl l
The sy st em char act er ist ic equat ion. which is t he denominat or oFt he cl osed- l oop
t r ansFer Funct ion. is given by
l + if t S(1 }H|[ 1 1 =[ 1 1 1 4. 5 1 31
This simp l e SISU sy st em wil l be st abl e as l ong as t he r oot s oFt he char act er ist ic
equat ion r eside on t he l eFt - hand side oFt he comp l es: p l ane- The r oot l ocus is a gr ap h
showing t he l ocat ion oFt he r oot s oFt he char act er ist ic equat ion as a Funct ion oFt he
gain. Ft . Thus. using t he l ocus. t he designer can det er mine t he r ange oFt he gain.
Ft . t hat wil l ensur e t he st abil it y oFt he sy st em. The Funct ion r ioco- t uses a sl ight l y
dil ier ent bl oel t diagr am st r uct ur e. shown in Figur e 1 4. 1 5 . t hat p r oduces t he same
char act er ist ic equat ion.
TFIC l . :l l ' _ ' l l . l l l I]"' 1 - l . I' l I' l H p r t r gr ann l ' _ l . l _ iFl . |' IiIl ' iH l l Il [ ]' 1 ' il ' _ "l l ' _ l . "|l l - ' l l - [ JP l . ' l . ' H. |' l ! 1 il :iIF IF- l Ll |' l l l ' _ ' l . ' l . l i. ' l l ' |' | EH41 l l ' _ ' H. l l . 1 ' il . ' l IT. l ' _ "
r iocsr s Funct ion- The r oot l ocus p l ot is shown in Figur e 1 4- 1 |- S. Fr om t he p l ot it is
cl ear t hat For a r ange oFgain val ues some r oot s ar e l ocat ed o|1 t he r ight - hand side oF
t he comp l es p l ane. The designer shoul d avoid t his r ange in or der t o maint ain t he
st abil it y oFt he sy st em.
1 cet ine t he cl osed- Loop cr anst er t unct ion
n=[ 1 1 a];
c=[ 1 s s s s];
Cl csed_ Loop TF=t f t H, Dl ;
1 cal l t he r l ooos t unet ion
r 1 neun[ C1 osed"Loop TF];
35 2 I ivur ner icaiand Anaiy t icaiMet hods wit h M. 41 "i- . 45
Et a}
F1 - t i+ 1 "1 41 '
1 1 1
Figur e 1 4. 1 4 1 1 simp l e cl osed- l oop sy st em.
1 "
Fit } + . . . C. ' l ' os- et :l ' 1 F. o- ogr Fl
Fit - T ' 1 "r 1 sr 1 s, |I"er . 1 - ' 1 1 1 1 et i. t 1 - 1 1
Figur e 1 4. 1 5 Sy st em bl oel t diagr am denit ion For r ioeus Funct ion.
Figur e 1 4. 1 5 l t oot l ocus p l ot of t he above cl osed- l oop t r ansf er f unct ion. t Fr om
MATLAB. Wit h p er mission. ) [ See col or inser t f ol l owing p age 334. }
Coot r ol Sy st ems I 35 3
l iecause t he 1 ap l ace var t ibl e. 1 , is a cor np l es var iabl e t hat can be eit p r essed by 1 =
1 4. 4. 2 Ny qoist Pint s
. 1
' , , , . t he t er t n 1 1 1 1 ' ] oFa cl osed- l oop sy st em wit h a char act er ist ic equat ion given by
1 + it s] =t 1 can be esp r essed by it s magnit ude. 1 1 1 1 ' . and it s angl e 1 1 1 :
M =|i. I[ y ' t o1 |
1 4. 34
{ P I gum t 1
The bl y quist p l ot is a 1 ' | i' - t it p l ot as t o changes Fr om t er o t o inF1 nit y . The p l ot is
Fundament al l y used t o det er mine t he st abil it y oFa sy st em. The l ~ l y quist ' s st abil it y
cr it er ia st at e t hat t he sy st em is st abl e iFand onl y iFt he l ' - l y quist p l ot oFL1 1 1
1 . Does not encir cl e t he p oint [ 1 . [ l l when t he number oFp ol es oFit s} on t he
r ight ehand side oFt he s p l ane is r et o-
2 - Encir cl es t he p oint { - l . l T]I count er cl ocl t wise r s t imes, wher e r s is t he number t 1 F
p ol es t 1 F. i"- . 1 , - t _ ' ] wit h p osit ive r eal p ar t s,
. h. s an esamp l e. consider t he cl osed- l oop sy st em shown in Figur e 1 4. 1 2 . The
t r ansFer Funct ion oFt he cl osed- l oop sy st em shown in Figur e 1 4. 1 ? is given by
1 1 . F F4 |~ t :
- - 1 4.
os 1 + e. . :. . iii
and t hus,
5
L "' 4-
l jl 1 1 1 + 1 1 1 1 + 2 1 Il l Fil l
The Fol l owing p r ogr am wil l p r oduce t he l - l y quist p l ot , shown in Figur e l 4. l l i' - ,
and t he cl osed- l oop sy st em r esp onse t o a unit st ep , shown in Figur e 1 4- 1 1 1 -
IT"- _ - 1 3- 5 1 I1 t - ' t - ' |. _ . . I
ef ine t he t r ansf er f unct ion L
=IE- 1 1
_ =5 1 :1 a I1 l . -
F=t f [ H_ L, D_ Ll ;
EH1 + qr 1 l id
DA _
1
Ls+ 2 }
Figur e 1 4- 1 1 ' Cl osed- l oop sy st em-
35 4 I Numer ical and Anaiy t ieaiMet ht icl s wit h MATLAB
Fnt msuaaasat auaasa- isp ar euar t as -
EG G S a aaet sse DE IE- I
|' |' i""- l l I"%' I' |' l
"- . i- I' . ' I I ' ' 1 ' 1 . | 1 - ' | r
i
3] _ _
i
3] _
l -
s U _ _ _ _
is ,
45 -
; . _
_ _ , |||:| . _ . . .
iw I I I I I I I I
4 . ss - 1 as . 1 . 1 s - 1 as t t as
r uuaan
Figur e 1 4. 1 3 Hy quist p l at of Ms] dened by Equat ien (1 4. 35 ). { Fr nm MATLAH.
Wit h p er missin- n. ]
1 Cal l t he r l ncua f unct ien
ny qui5 t f L_ TFi;
p ause;
iDef ine t he el aaedl nnp t r ansf er f unet ann L
n_ c; =[ 1 2 ];
E_ CL=[ 1 3 E 5 ]:
CL_ TF=cf iH_ CL. D_ ELi;
ecep [ cL TF3:
i"- l t it e t hat t he p l et is sy mmet r ical al at iut t he t eal azt is cl ue t e=t he cenjugat e snl u-
iiII. Iil ' ]' ]. ' [ ]' F' l Il ' l iI l ' Cl I. l l II5 . ' l l . _ }|' I:I:|- ' UTIH [ if ' l ' II1 L ETHFIITH iiiI' |IIl _ "dL"l I' . I. ' F|' IIIIE - L"' |. "3. |' l l H' IIi- [ ]. l "I [ IFi. ' l . ' . l . E 3l I' . Il l l I. ' l "|. "ii
cr it er ia.
The scal es in t his p int wer e sel ect ed at it t mt at icail jr he l ' r IF' t TLAH. The gr ap h
t hat was p t nt ineet l t l id net p t cnr it l e a gnnel view near t he { - 1 . 1 1 1 } p aint . Te visual ize
t he geer t net r y c- Ft he p l at in t he nat innhnnt l e- F(- 1 . 1 1 ), l ef t cl icl t an t he K seal e and
change t he I"- L Iir nit s t n - 1 ant l [ L5 anel t he "1 l imit s t a - 0. 5 and 0. 5 . As a r esul t . t he
|:|- int shnwn in Figur e l ==I- l f l was p r at l ucet l - Fr nm t his gr ap h it is cl eat t hat t he 1 - ; _ }' 1 - il ' |I_ II1
is st ahl e hecat ise t he p t sit it II- I Ii] is t int encit el et l -
The r esp ense t n t he unit st ep is shnwn in Figur e I4. 2 ii. Fis shnwn, t he r esp ense
is ver y n- scil l at nt jr . indicat iit g t hat t he . ' i}- SI- l . ". ' . i i1 is cl - use t n inst abil it y . Incr easing t he
gain Fr nm "' 5 t n ID wil l cause t he sgr st er n t n hecnme unst abl e. The cnt r esp nncl ing
Cent r e! Sy st ems I 3&5
Figur e 1 4. 1 9 Mut l ied Hy quist p int uiLia}. { Fr nm MATIAH. ' r ' r ' it I1 p er mission. )
1 1 FFiiii
El iiil It :$ . ' 5 . @ iE|[ J ID
II r - - ' - vi1 r - i' -
UJ' _ 1
nu _
U- ' 5 ' - I
{ MiI
t a - '
I I
U2 - '
I
. H J
in an In ne- an t ut at
Figur e 1 4. 1 1 1 Unit st ep r esp ense t nf t he sy st em given in Equat ien (1 4. 35 ). (Fr nm
MATLAB. Wit h p er mission. )
35 5 I Numer ical ent i. 4r |si_ 1 r t ica. |' Met hds wit h MATLAB
|' |gur e1 l l - Tl :
Fh[ |i' Il l InII' u=It T- t |l l |-
Digii.
3if jimiE
mi
95 - I 1 r
il l -
IIJ- -
U1
iG 1
E "' *
- D1 -
- l il i- " ' -
- EIJ -
Jil l -
. g5 . - . I I
- 2 I5 1 - I1 5 II II! -
HIRE
iii)
Hl [ II:' l l I|l ' t |! i' ! ' I- l t i- Il l t |iIIt 1 ! |' Il ||l ' |t It I|' ||' Il II 1
cut est : a aans at DE - cu
Hana I iI||=' l IIII1 ~ II
1 - ' - t
t
t iit t ; \
et aaaaaaaaaa
KIHI)
[ bi
Figur e 1 4. 2 1 t a) Hy quisl p l et at t t s) dened by Equat ien (1 4. 35 ) wit h gain =1 1 ]
t h) Unit st ep r esp ense of t he sy st em given in Equat ien (1 4. 35 ) wit h gain = III)
{ Fr nm MATLAE. Wit h p er missien. )
Cnnt r niSy st ems I 35 ?
l - l y qt t ist p l et is shnwn in Figur e 1 - 1 ' i. 2 Ia. This l igur e shnws t hat t he p l et encir t . |es
t he p eint I[ 1 . i]) and t her eihr e t he sy st ent is nut st abl e. Figur e 1 4- l ib shnws t he
r esp ense er f t he cl used- l eep sy st em t n a unit st ep inp ut and it is cl ear t hat t he sy st em
is nut st abl e.
1 4. 5 MATLAB s SISOt t t ul
]"It i Ii5 LT' I_ . . - ' 5 ' t 1 . l :i| p r - nt ' i- des a gr ap hical t t set int er ihce { G LTI:|' t hat al l nws t he t l set t n t iesigr t
an 5 1 5 ' - U sy st em. The G l iip r nvit l es a Few sel ect ahl e cnnt r nl schemes given by t heir
bl t t cl r . diagr ams. The cnnt r el l er is p r ugr ant nt ahl e wit hin t he G UI and it s gain car t
he adjust ed en t he Hy using t he design r eel s ment iened abeve.
It - 4. 5 . 1 Eir amp ie t n Be Used wit h St nni
Tn der nnnst r at e t he cap abil it ies t t F. ' it . "iUt nst t he sy st em shnwn in Figur e 1 4. 1 2 wil l
be t t sed. In t his sy st ent a Fer r nt nagnet ic mass. t t t , is susp ended nu a sp r ing. ii . and a
damp er . c. Fin el ect r umagnet ic f er ce. is ap p l ied t n t he t nass. which is p r ep nr t icut al
t n t he cur r ent . i. Huwing t hr nugh t he ii. L cir cuit . The cir cuit is eacit ed by t he vul t -
age. r . r y _ m_ which is p r up nt t it mal t u t he cnnt t t t l signai. r ain. The p et sit iun nf t he mass is
measur ed hy a l inear p t ]- t ent inmct et nil engt h st and is et t cit ed hy hip nl at r eier ence
"t - "[ ' l l |' l , ' gE' ' _ ' l :Ii' . - ' . The - [ Iii- |' il ' l , ' [ ' i. "Il . l I. "; i' |' TH Fd "t it - "il , ' i' I I' I' ]l i, ' iE' |' [ ' { iII' , E , End. :5 Il i; t I, II' i; . l . iI' l _ gil _ ' l |- " PTIII- d. ' I, ]. t :EE I. ' l ' 1 E'
cnnt r nl signal . r im.
t it s a Fir st st ep t he sy st em has t n he r l ecnmp nset l t n st t hsy st em wher e t he inp ut
and eut p ut nil each subsy st em ar e cl ear l y est abl ished. as sht t wn in Figur e l 4. EFi.
It - l ut e t hat t he diagr ant dees nut incl ude t he et t p l icit nt udel nieach subsy st et n.
it
r .
- y
g in
+ 1 . 1
) + t er v- - E.
Cnir t r uiier m Amp . ' L ,
9- I- 9 - I t
R
Figur e 1 4. 2 2 Examp l e f ur St it net .
35 3 I isiumer icaianct t naiy t icaiMet hnt is wit h MATLAB
r . . t a I F
| - - it
- f r F "E A R- L E. ut r ent - Fur ee Mass- Ep r t l t g
Himum I Eir e uit Ct t m' et sic|n Damp er
t
F
Pet e nt inmet er
Figur e 1 4. 1 3 Schemat ic bl t t cl t diagr am uit he sy st em shnwn in Figur e 1 4. 2 2 .
At t his p nint t he t r ansl qer Funct inn nieach hl ncl t has t n he t iet er nt inet i
Ennt r niier
iit r iI I[ int egr at nr ) cnnt t t il ier wil l he uset l :
l "w{ s) _ icy
Eh") _ ' - '
wher e K] is t he cnnt t t :- il er gain.
Amp iit ier
The amp l ier is a p ur e gain. . |i' . I' r _ ; :
LIIIIHHII
[ l * 5 i. ; ? - T"l l '
i". - . . t n = F. it - asst
R- L Cir cuit
The cur r ent equat inn [ ct r t he RL cir cuit is given by
at
am =. is+ r us. - sst
aii
wl t er e iiis t he r esist ance and L is t he induct ance nit he cnil . The t r ansf er Funct ien
t isit l iiy ut isiis given by
ir is) I
l - t ' m=[ _ t ) it + Ls EITAD}
Eiect r nmagnet ic Fnr ce
The el ect r - n- magnet ic Fnt ce. F, is p r np nr t innal t n t he cur r ent 1 ":
Fir )
i: y f _
gm y r . 1 4. - 1 i]_ )
wher e is p r np t t r t iur t al it y cnnst ant .
Cnnt r ciiSy st ent s I 35 1 1 )
i' viass~ 5 p r ing- Damp er
The t r ansier l ' unct i- an Jt ' i_ i)t Fi_ i_ ) is given by
Xii] I
Fit ) T nu; + r . ' - ' + 1 i' IIIELTE}
Linear Pnt ent inr net er
The p nt ent ir unet er p r t wides a Feedhacl t signal t hat is p r np nr t innait n t he disp l ace-
nt cnt . hi. and it dep ends nu it s st r nl - r e and e:- t cit at inn. It has a gain given by
Tm - EV t a 43
J- r t . ) at i i
inp ut Fit t er
l - l t t t ice t hat t he r eier ence inp ut . iiit as t n he t nndit ied in nr der t - r t mat ch t he t t n it s at
t he summat iun junct inn by mul t ip l y ing i by t he Iieedhacl - t device gain.
The cnmp l et e bl ct cl t diagr am er f t he sy st em is shnwn in Figur e 1 4. 2 - t iand can be
simp l ied t u t he f nr m shnwn in Figur e 1 4. 2 5 .
F E. ir l r Lu- nt _ I.
at r * if , 1 ' ' 1 I
F . t il it R+ . [ 5 |- |- |_ I; - |- |f ' 5 - |- , i; '
"P at - t
it
Figur e 1 4. 2 4 Bl t t cl t diagr am t t f t he sy st em shnwn in Figur e 1 4. 2 2 .
. - ' l - :' PH" . r
- l l ' . |. F KI Hr l ggj iii.
n ' i' s { R + . [ s]I{ r r r sE + cs + it ]
j ' 1 at - '
r t
Figur e 1 4. 2 5 Mndif iet ibl ncl t diagr am nil he sy st em shnwn in Figur e 1 4. 2 2 .
3? ! )
I isiumer icaiant f . - Pt naiy t icaiMet hcit t s wit h MATLAB
I- 4. 5 . 2 St t aniMain Feat ur es
Tn st ar t t he 5 I5 Ut nal t y p e in t he cemmand windnw t it et uet . The it - l l nwing win-
dnw shewn in Figur e 1 4. 2 6 wil l be disp l ay ed. Ther e ar e many ep t iens avail abl e in
t his t eal and in t he f el l ewing t he mest imp ur t ant ene wil l be discussed { t he r eader
shnul d ap en t he t eal in er der t a i' e- l l aw t hese shar t descr ip t ians):
Cent r ais- * ir chit e|r t r r r e. ' r it l l - ct ws t he user l Il . ' )- sel ect ut t e r iFt he ar chit ect ur es p r u-
vit l ed. st t ch as change signs at t he summat inn junct inn. and change name t i- F
bl ecl t and signal s.
Sy st em Di- . r . t a' : r ir l l ews t he user t a sp ecif y t he t r ansiier Funct ien. wr it t en ahead
cf t ime. Far each bl acl t .
r l f er np r er at er Er t ir er : A t eal hy which t he t r ansFer f unct inns e:Ft he cemr ul l er
and t he inp ut Fil t er can he sp ecif ied-
G r ap hics Tuning r it l l c- ws t he user t a sel ect t he diiier ent p l at s t n he disp l ay ed.
init ial l y t he Hur st Lucus. and t i- p en and cl nse- cl sy st em Br ide diagr ams ar e
disp l ay ed as shnwn in Figt t t e 1 4. 1 1 7 . Using t hese p int s t he user can mndiiy t he
cc- nt r el l er int er act ivel y .
einahist s Pint s. r it il aw t he user t n p l at t he t ime r esp ense t a a st ep inp ut . an
imp ul se inp ut . and et her p l at s needed Fer anal y sis.
t 1 ' t nt |r t ' - t . t :1 ' . . 1 i=-
FE E- I: III]:-
ea - - - -
"! "' |"l ' ~ ' l i""F" - ' I l i|' l l - IIE|1 I I' cr r ier t r t l l at - Eir e - Er - ||il 1 |t . |It r |' |r q t in- |Iy l |l ' H:r t l t r t - t t nt uel t - . |It |' ||.
sl jst sz- nu; - r m ' '
"" m=' 5 ' |* F"' H5 ' ="l ' l :I. |I' |:r l . l ||t ' Ji:I|:|. |' I|:
- IIII' l Il ' II- I' Ii2 l ' I. It III|I- II. - F' IaiI"|' - l I' |2 l ' IIIl Il IIiIII_ . IIII:l =IIII|' I|IIIIl . I=l I' i.
1 En' IH|. r |- ||:HI:r |' |i* ha:- at t l r r et st r r r l r l r i- al t r h- l ||' t .
1 hp t r t dl ul el t at l er r eit al iel dl r ul t l s- |- mi- t r t .
I I:|' l I' Il |t |"I|- l I' nl l l =I' I|It I' I|"IIt i|' nI' -
l l
' 1 '
l . t |. |r l |||u||- r t :- t
Figur e 1 4. 2 5 The St t aet windew. [ Fr nm MATLAE. Wit h p er missiem. )
Cnr t t r niSy st ems I 32 1
s' l ' Il ! l It i- i' ||' |' I' |d|:|- It - vl - l :l :t
' i"? |' i' l '
Ht t :t LveusE- :Il t r 1 ar t JIst ehLean1 [ t ; - 1 . 1 ] l it t il t l t - Lt l t l t l t l - t l - IE=l ! ' l t r l it IiIl |t I- l t l l t l - t t l it il il
as
:3
wiiiiii
|
I
1 I I I 1 I I I I_ I- I- ITI I I$ ? FFF
[ I5 -
H5 -
|:| _
[ |-
U5 -
I - U5 -
; ant - nr
' 1 Fr a- t | Didi
- 1 - 1 1 . 5 U I1 5 l E H hm:
Et a- |:ieE|t Ier t 1 sr r It an|t IIIL|:- et |=s1 t t IL1 | _ . |
D I I I
1 - - - - - - - - - - - - - -
' 5 ' n. s- -
- t l il n
I
D { I5 -
Pi- 1 . : - iil il ehsq
i 1 Fr i:- t t IJ r d- t l hnc
1 a" t a t a : t r l " use r e t a
Fr e=:|ue|' t cv t r a- t t t sac] Fr et . p r n|1 :y t r - s- :l |' se1 I:)
|il I"I- CiZ l It l 1 l i' l l |t iZ I1 t IIt I t H' t I' II:l =|t ' l t IIIiIiI' II.
Figur e 1 4. 2 2 Fl at s init ial l y disp l ay ed by Siit uni. { Fr nm MATLAB. Wit h
p er missir m. )
1 4. 5 . 3 Using St $ t 2 t anit a Design t he Cnnt r aiier
f ar Esamp ie at Beginning at This Sect inn
The design ait he cent r al l er l iar t he abeve ezt amp l e wil l be esp l ained st ep by st ep :
1
2
The camman cal l f ar S1 5 1 :- ' I' t ael is siser aeiit f i. - f . H. ii), wher e CF. C. H. and F
ar e t r ansf er Funct iuns descr ibing t he Piant . LT- ant r el l er . Feedhacl t device. and
Inp ut Fil t er . r esp ect ivel y . These t r ansf er Funct inns ar e est abl ished using t he 1 5 ";
ay t r ir , nr . t . t Funct inns t hat wer e est p l ainet l in Sect inn 1 4- 1 .
The Iial l nwing val ues wil l he t t sed:
=I1 1 l t g =5 (1 )] Him c =l iil "~ h"I[ mis)
=5 nhm =' l ]- ' i)I H
=5 V =1 1 . 1 m
=5 =IU l ' il i' ii' t Hp : l W' s
. - ii- ar ea ~ . ia. t s~
32 2 I Numer icaiant iAnal y t ical Met heds wit h MATLAB
The t r ansf er f unct inns ar e given by
5 1 ]
{ T . ,
{ 5 } l ). [ )i)l s' l + 1 - 5 : + 5 1 2 5 s + 2 5 i][ ) (1 4 44}
can =l { t eas}
I
Ht s): 5 ! ] t i- i- - =it ' :' i' )
. FI[ r ) =5 i) (1 4. 4? )
5 The l hl l awit t g l ' vi. F' t TLr ' - "t l 5 Funct ien del ines t hese t r ansf er f unct inns:
I The f unct ien is in t he f il e G TF- m
f uuet inn P1 ant TF=G TF
E Def init ions ef t he Pl ant e t r ansf er f unet iens
HumG =[ 5 ]; DenG =[ . UD1 1 . 5 5 5 5 2 5 G B];
e1 ant TF=ct t HumG . DenG );
t The f unct ien is in t he t il e cTF. m
f unct ien Eent r el l er TF=ETF
E Def init inns nf t he Eent r el l er ' s t r ansf er f unct inns
E- ]un' |' 2 =[ 1 ] ; EHar 1 ' =2 =l 1 I2 ] . :
Cent r al l er TF=t f |Humc. Deuc|;
t The f unct ien is in t he t il e HTF. m
f unct ien FeedhaehTF=HTF
E Def init ions nf t he Eent r el l er ' s t r ansf er f unct inns
HumH=[ 5 ); DenH=[ 1 i;
FeedhaehTF=t f [ HumH. DenHt ;
t The f unct ien is in t he f il e FTF. m
f unct ien Inp ut Fil t er TF=FTF
t Def init iens ef t he Cent r el 1 er ' s t r ansf er f unet iens
HumF=l 5 ]; DenF=[ 1 i;
Inp ut Fil t er TP=t f [ HumF. DenF];
in t he cemmand windnw t y p e sisamei{ t TECTt 5 ' . HT. F]. FTF). wher e Cr - ' TF.
ETTII- ' . F. iTF, FTFar e t he t r ansFer f unct ien t i- hject s est abl ished in t he p r egr am
aht ive. Twe windews ar e disp l ay ed: The l ir st is t he same as in Figt t r e 1 4. 2 6
and t he secend. shnwr t in Figur e 1 4. 2 5 . is t he same as in Figur e 1 - 1 1 . 2 ? bt t t
t he p l at s cer r esp t md t n t he sy st em in t his esamp l e. Hat e t hat t he G ain
l vl ar gin { G T1 - . 1 =5 1 1 . 5 db) and t he Phase l vl ar gin { . Fr ' 1 i"=2 3. 3 degr ees) ar e dis-
p l ay ed en t he Bede gr ap h and t he r er es and p al es ar e disp l ay ed an t he Heat
l ucus p l ct t - The val ues Far t he PM and EM indicat e t hat t he sy st em is st ahl e-
Hewever . t hey du nnt p r nvide any indicat inn r egar ding t he t ime r esp ense t i- F
t he sy st em.
Ta see t he r esp ense cf t he cl ased- l eep sy st em t n a unit st ep inp ut cl icl t an
Anal y sis Fl at s and l l t he f er m as shewn in Figur e l - * - i. 2 ' :' i. The st ep r esp ense
Cent r e! Sy st ems I 32 3
FF
:3
wi
iiiiin 5 :
t t It |l ' I"I|' |' t |! I. ' nv|' II2
it s- at Lac- us Er l cv t ar ct eer t L- asp t [ IIILt j| cap er s- Lena- Bevie Eul er r er Iiqaen Lse|a' l t - I1 1 ;
35 1 1 ' r t |' 1 W - -
t ea: - a_ - _ . _ -
i
I5 1 1 : " HI I
r t IIII _ 1 m_
f t l il l l
- I5 1 1 - t 3l |l : 5 1 1 5 1 5
Fr et s 4t )t l r u:l Ise|:
|; | . . . . . . . . . . . . . . . . _ sl al seeqr
- 2 1 1 ! )
. 5 1 ] - Z
. 5 1 1 ] _
- inn _ . s. - . .
- F5 - III
- . j_ ' ]|' . .
- 1 1 33; -
I HI. "2 3. 3 t he
I Fr l t t 1 . 2 . 5 1 1 r l t t t l - II;
- ; - 5 . |jy j| |. i 1 : . - . . ssa.
- seas - at an - t r it e I. ) r at e r at e ms wt , g= wt
F' i"' 5 """""5 Fr equuscy t r at aecy
Hen- eiat ml t ep iaal wmeaat aiwqwu-
Figur e 1 4. 2 3 Fl at s init ial l y disp l ay ed by 5 t 5 t Jt neif er t he examp l e. iFr em
iv' I. 4. Tl . . It 3. Wit h p er missi- t in. )
p l et . shnwn in Figur e 1 4. 5 3. wil l be disp l ay ed. t s shnwn. t he r esp ense is
st abl e. St eady st at e is r eached ait er ap p r asimat el y - =i. 5 secends wit h a aer a
st eady - s t at e er r ar .
5 . The gr ap h shnwn in Figur e 1 4. 2 3 is a design t at :- I by which t he [ EM and t it l e
nr t he ep en- l nnp sy st eml s gain can he mndihed-
Using t he Bade G r ap h Tani
Tn madiiy G M and i M p ut t he cur ser t a t he y el l nw dat an t he Bade amp l it ude
diagr am (t he cur ser wil l change t n a hand). r ight cl icl t and dr ag t he p aint up ct r
dewn. decr easing and incr easing t he KM. r esp ect ivel y . Simul t anenusl y . t he p int t :- F
t ime r esp nnse t n a unit st ep wil l change. . - it s t he - ET. |"v. l ' incr eases t he r esp - nnse becnmes
32 4 I Numer ical Ecl Anal y t ical Met hct - cl s wit h MATLAE
|' . |I|' |Il u l Il |. I l :| Il Il |. . |Il - ' . |l Iu|' aI:| t l . l |. :||' ||. ' |:|i; t I l ::_ I?
F' i- IiIiiI|' -
EEI I
"""""' * ' |"' i"- 5 ' |l |r r . I- 1 - l r . ! I. |I I1 :|I|I|; Ir r |- l |:I' I' . :H. |. |' II. ' ||' q:I' I. cI' I|r I- q I' l l i"I' l Il ' l I|"I5 ' l l I l r |. InI' |||! t :IdIu' I- qt
- i5 _ ]s|s- r - I. ' I' |I; r t r - 4
+ [ |. :' _ . l II|I|q1 l I' iI||l t l - ||
if - t I' |' FI5 ' =' Il IIl . ' l
Fht l IFH2 I=' I:l Il I' Hi FH5 H1 3
HFITHIIEI Fl l l il ' I|' HIT! " ' l ' HIITIEI ' I|' FIT! ' 1 ' Fl l l Fl IIl ' Il '
- Ia- I"- I. - r t - ' . s at |"l e|. - |
:I
I
_ .
l ' l
' |
I- J
|_ -
I- I
F
' I' I' I'
|- 1
_
P
h
I
' 1
E- . ISt ' . IE - Iii- Ivt l t l l l .
Figur e 1 4. 2 3 Anal y sis Fl at s sel ect inn. (Fr nm MATLAB. Wit h p er missien. )
r ieeaewt nar - vi- et p
El l i - ' - il ' 5 l E
_ I:- "
II "||'
a|sFiT[ s|s]u| n " ""
r =_ - _ ' r r . . . . ' ; . . . . . . .
E _ |' _ l :l l :l l . :Iq:|| l 1 :Iu
[ E t ut :- it ' . ' - :1 1 - ' - I. "- ' - Iv
1 : I' Il ||' ! iIn|' :l |III' |I' II|'
F i- |:h' |i. :|i- -
|_ : l ir - 1 :1 - r r r l - It l I' I' I1
E _ Pr - r l iI. ~ r l "
|:_ l "l a1 . I- I.
|_ ; E- I|:|' Iet |I- H
I |l ||:I:Il t |' I; |:l ' r ||I||. . ! |l ' I|:I|I|I. |l ||I' - y - . I' H ]
]:hr - - - t r r |- |r - . - t =. n- at - r m- n1 Hr - Ir ]
gl ! IIB=HH"|=! ' - II
1 | | |
[ I3
33-
er -
es-
3
ges-
t u-
l J. ' 2 I
[ I2 -
IJ1
III
If I I I
| | | _ | - I
f f
If
. - ""'
- i
- I
t
T
I
- t
' 1
- i-
J I I I I i
C I2 5 I 1 5 2 2 5 J 3. 5 - II
Tl r t e [ l ee]
. |I|
it
45
Figur e 1 4. 31 ) Time r esp ense t a a unit st ep . [ Fr nm MATLAB. Wit h p er missinn )
Cent r al Sy st ems I 32 5
t ahduvil - l t r b Fl a an nnt t n- sl at e mr iy w t eat s
it . - . ? i- _ . i. . 3- 3 1 . 3 . 5 3. 3. 3
F! ent Lnt ::|. |s Et l cr t ar t it p en Laer p t [ I1 1 ] t ip - u' |- Lacp cel et cl t l It : Et p er t t aeet - 1 t - |1 1 , t
2 5 1 1 1 |' 1 ' |' 1 I 5 1 2 - - - -
EH1 1 " - I
t st n - gut _
IIIIII - gm
5 - III -
- 1 5 3- ' l 3l H' 2 Il . 5 |I
' I"r |t |t | II- t I3r nt l i! l =l - I:
a - _ 5 1 1 |l :l et t l 4|t I
, 1 . I
- El )
- 5 1 1 2
- t en _ . _ . ; , , ; , i- - i - _ - _ . _ -
- ist n -
- am
- % . .
: r iv|_ - 31 ". l "t Ig
1 Fr l q 32 5 I1 Il t !
- 1 - 5 |; |; | 331 ) _ | _
' IIII' - E' 1 II' |il - T III IIJIII 2 ' EIl I| "J" 1 H Hg 1 :1
F FF Fr ee|t . |u' |:y t i- a- int e)
C# ' r |:l ' t I1 g|d |=t |I. 5 E
Ii- Isial t l znt zhl n- r r nt n - - - - - - .
Figur e 1 4. 31 l iede diagr am at t he sy st em af t er mudiiicat iun at t he G M. (Fr nm
HATLA3. Wit h p er missiun. )
f ast er but nsciil at c- r y . Unce t he G r id is p esit ive. t he sy st em becnmes unst abl e.
Figur e 1 4. 31 shews t he Bade diagr am at G M=5 3. 5 db and l t l l - it =- 5 2 . 2 degr ees and
Figur e I- ' - i- 1 ' 1 2 shews t he cur r esp unding unit st ep t ime r esp ense cf t he cl esedIc~ ap
5 ]i"l ' iI. ' I, . ' I' I' I. I- . I. - . l ' It :" IFF- Il FE1 ' :"[ l . l l :I' IH. I' IEE l I' I El l 2 l I' I' E' 5 P[ ]I' . II' _ ' Il ' i' l "l l - 1 | H. EITIJFIEE in I. ' I' l I, ' l [ l ' PI' : I' I"I[ Il l l ]P EHIIT
nf t he sy st em- Fiecause nnl y t he ct mt r nl Ier s gain. it ]. can he adjt t st et l in t his sy st em.
t he design t eal indicat es t at t he bet t em l eit ef t he Iiiede p int windnw) t he cent r nl l er
gain ihr t hese val ues al l G Mand P. i' r l ' C gain changes t a 3. 5 1 3. "
Using t he ii. - nnt t ncus G r ap h Tent
F- . IFI' IE Ii- I- E' l l ' _ H; ' I|. |. l II. ' 5 - ' |:i1 iI' ; ". i[ l ' I:I. ' I' IE R. [ ]{ _ ]FI- l . ' ]' I:I. ' |I. ' 7 |- P' I' Il _ I' I: l . ' l . E. ' l |"- Iii! III- l l l l - Fl : Changed II ! t sl ' t j- l t el ' Ii I. ' l ' I' l I' IE' I' \ I"E' Fl . - l . E'
Iecat ien t r Ft he r eet s cl ase t n (3. 3). Right deubl e- cl icl t en nne t i- l l t he ar es t a ep en
32 5 I t v' umer ical ancl . 4nal y t ical l ' vt et hncl s wit h MATLAE
- r t L:r ' . s|' - 1 - t il . 1 |:s|gr | l ash. Z iil il iil
=l r set H- . - t - an- I |- en
l "iQ ' 5 - T1 5 1 IE1
Et ep t t usp t mae
"' I I I I I
I- - 1 .
1 _ |- "l l T" -
()1 I- 1 . - l F"I. _
"H. - . - =""'
3 1
- - I-
F; at . -
l Il I- I-
/.
/
I1 "Ii |' l - El - it III- E I II |- ' ' |II- El . .
It s- st l sei
* - T ""' =""' =' I- ' |Ft t ai- Tir e t r - an
Figur e 1 4. 32 Time r esp ense t n a unit st ep at t he t l eset l - l eep sy st em af t er medi-
iicat it m at t he EM. { Fr nm MATLAIEI. wit h p er missien. )
a new windnw in which t he scal es can be changed- Change t he scal es t n l l ] and
- - 1 1 1 nn t he imaginar y ast is and t n - l il l iand l l l l l nn t he r eal ar is [ see Figur e 1 4- 35 )-
It is cl ear t hat t he sy st em is st abl e becat t se t he r nnt s ar e an t he Ieiit - hand side t r - I
t he car np l e:- t p l ane. 1 * - l at e t hat t her e ar e t we addit ienal Lt er ns t hat ar e net shewn in
Figur e 1 4. 5 5 t hat ar e net sl t nwn in Figur e 1 4. 1 5 1 . The Iecat ien at t he r eet s at t he
char act er ist ic equat ien can be manip ul at ed by dr agging ene r ear al eng t he cur ve.
t he same way t hat t he t ' r ' . i' vl ' was manip ul at ed. 1 ""- l nt ice t hat
ia) t it s l ung as t he r nnt s l ie nt t t he Ieit ~ ha r id sit l e nFt he cnmp l est p l ane. t he sy st em is
st ahl e-
[ b) ii t he r eet s ar e l ecat ed an t he r eal asis. t he r esp e- nse al l t he sy st em t a a unit
st ep inp ut has na cver shaat .
ic) If t he r eet s ar e cnmp l es cenjugat e t he r esp ense at t he sy st em t a a unit st ep
inp ut is nscil l at nr y -
Fnr t l ent nnst r at it nt . t he r nnt s nil t he char act er ist ic et |t |at inn wer e r eincat ed as
shewn in Figur e 1 4. 5 3. it s esp ect ed. t he sy st em is st abl e and it s r esp ense t a a unit
st ep is c- sciil at er y . as shewn in Figur e 1 4. 34.
Cent r al Sy st ems I 2 2 2
esr gn l et 5 |"iit il Il esign Tar - I- t
FHEJII ' IHl ' r E' - l :siI1 ! i|Iil ' il I1 r iIsT- |t It Is1 II' l 1 - t I:l s* r HaI:
t y ne- i- %' ia. * i 1 i5 1 ~ t "I' It i'
IF- r . H. - t L- L- - ut E- bl ur I- . ' I Cs - I- t r Lt ' - . 1 |' - - I |I- - ' L1 | ' l ' |' . I- I:- ' - - I. |I- :. 1 - ' - El - t - an Eeit - L- | I- It II1 - l et I ' 1 ' . - | | I. I
' III 1 H | I 1
/ \ .
J I ' E4- 1 \ _ _
/ 1
- IIl | '
I' l l
3- H ar e an- sis- :5
Fr eq. - t a er asisr e
- . I I 5 1 5 1 44 IMP . 5
Il -
|_ l ]
- - t r - - - - - - .
1 _ | - "' 4.
"1 .
-
v.
' |.
\ -
I-
"-
4' ] ' ' =:|' |
. I \ \ "=.
: P st . r e e dag it
- Fr ee; asst r l l it sec * 5 - . - _ _
1 . 1 . - | _ . - . _ I - ' II' - 1 . 1 - - - _ . - - 1
c c_ ' : _ |
1 ' - ' - ' - ' - 1 - ' ' | 1 t | 1 || HI
FFT ' 1 "' 1 " - Fit - - |. - r t e || "I- . 1 I 1 - | -
H' I! - t I:I:Il 1 Il ' HFl Z |- 3TI! |t I' IIJI' I! IB 5 =IH\ I1 t I Il if r l
Figur e 1 4. 33 l t eet l et us at t he sy st em. { Fr nm I' vt . 4Tl . A3. wit h p er mission. )
1 4- 6 ap p l icat ien at Simul ink in Cent r el s
and Dy namic Sy st ems
l ' iIi' I l L|l l l l I- LE is a Fr iendl y . gr ap hical int er f ace hy which a cnnt r t il sy st em. nr any nt her
dy namic sy st em. is descr ibed by a bl ecl - r . diagr am much t he same as was descr ibed ir t
Fiect inn 1 4- 5 - 2 - it s such. t he p r ngr amming is int uit ive and easy . l vl nr enver . . 5 imul inIt
sup p nr t s p r egr amming el ement s. such as sat ur at inn. t hat ar e ver y dit iicul t t n imp l e-
ment in l ' vI. ' * t TLi"t I5 . Same ait he main f eat ur es nt l imt t l inl - t wil l be det uenst t at ed in
t he f el l ewing wit h sever al examp l es. it l se see Chap t er T.
1 4. 6 . 1 Examp l e at Cent r al at t he Fl uid l - evel in Ceup l er l Tanks
The gnal in t his examp l e is t n design a cnnt r nl l er t hat wil l t egt t l at e t he l evel nit he
l l uid. hy . in t he cet t p l ed t anl t s sy st et u shewn in Figur e 1 4. 5 . Ta mal t e t his examp l e
32 3 I Numer ical and . - "- ". t ' I' Et l _ ' |. - ' l l E al l It - ' l E' l l 1 t ' It Z l 5 wit h l vt - 4Ti_ . - 43
I- l a :dt it . - r ides- r ial s
DE ' 31 ' EI' . IE
_ $ 1 : Ft sssenaa
I- | | | |
1 1 1
IT; ' 1 . _
2 . . . 1 - I - \ . p g. ":. g. ~ :. J. . s. _ y . . - _ y . - - . _ - - . _ - - _ , . - , . - - . . _ _ _ - . - -
P 1
5 - ' t _ _
- I
In 1
- . J I I | |
t |- |. _ * _ 5 r 4 - 1 _ - .
IIHI l _ iH=l . ' i_ l
I- 7 ' """' i""* "5 ' E| FI' |I|It . Tr ' |1 - |l + l b' |- r l r ir
Figur e 1 4. 34 l iesp ense at t he sy st em in Figur e 1 4. 33 t e a unit st ep . [ Fr nm
ivIa. Tt . - Ms. wit h p er missian. )
mar e r eal ist ic. an addit ienal unl t newn Havv. r gy . wil l be added as dist ur bance t n t he
r st t anit . Tia t his end. t he cent r el scheme bl ncl t . shewn as t he bl ncl - r . diagr am in
Figur e I4- 5 5 . is p r np nsed-
The mndel ing nf t he whal e sy st em wil l he dnne bl ncl t by hl ncl t . which wil l ma I- t e
it easier ihr t he imp l ement at inn in Simt t l inl t .
=~ 4. :
l l " E c t - - It r = T I it + ent e er ur r t p + H p t . . . - . y is
|Ser t sar Fl
Figur e 1 4. 35 Fr np esed bl ecl t diagr am ier t he uid l evel cent r el sy st em.
Cent r al Sy st ems I 32 3
l ir l acl el ing t he Pl ant
Recal l ing Equat iens (1 4. 1 3) t hr nugh (1 4. 2 2 ) and adding t he addit ienal f l ew. r gy .
y iel ds
. e. t . i- . - + ' - Q"i l + Q" [ l + f l 1 l l
r t l l t l at . - =1 . . - 1 . . - t r .
t t t ast
it it ii~
H- t r ) . ~ + 1 + 1 _ l l
~ al sl ay - sis.
Using t l t e same c. anst ant s. 4, =5 ITI2 - |. ! l Tg: - iin1 . l i' | =' i]. 3 sl mi. and l i y =I. 1 . 5 sl m3t he
abeve t r ansf er f unet iens r educe t a
f l ' . i' i I. l - ii 1 .
. f 1 r ]{ _ ' f ::|: l :&uI:_ 1 ' _ :ImI:J |. Il :. I' ]I I mgl f l
U- 334 I1 4- 45 - ' 1
H m_ [ I sasr + 1 m
The bl ecl t diagr am ef t he p l ant . given by Equat ien { i4. 4 . I). is shewn in Figur e 1 4. 5 31
and it s Simul inl t equival ent is shat vn in Figur e I4. - 32 .
Using t he subsy st em ep t ien t he bl ecl - t diagr am cf t he p l ant is r educed t a ene
bl ecl - r . wit h t wn inp ut s. t y . _ . and r y g- . and nne nut p ut . l ir _ . . The names ef t he inp ut and
nut p ut p nr t s. l l )- l l l l ' "~ l 2 and UUTI. shnul d be changed sn t hey wil l ap p ear in t he
st l hsy st ent bl ncl t { see t ap r ight cu- r ner in Figt l t e I4- 5 ' :i)-
4- t + i
ii F
II- =33
. |. "I-
T
' 5 2 .
EF
4+ 1
ny 1 g
4s 1 - 1
east H
r ise:- t r + 1
Figur e 1 4. 33 Fl ant "s bl acl t diagr am.
3B I Humer ieeiandnnaiy t ieaiMet hods wit h MATLAB
Fl eEdi:' ut It 5 i' t t 1 at iu' |Ft r met Tc|t |t sI- hh
[ 1 . r =: J1 ; - F - ]~ - . _ ' ; It I|1 t |. n
II ~
Int

5
El
Int ? i
Q II
Duh
it HTHF1
Rude t t e- s nut s! - ;
Figur e 1 4. 3? Simul ink descr ip t ien t t f t he |1 l anL { Fr nm MATLAB. Wit h |1 er missit m. i
Mudeiing t he Pump
Ft eunst ant di! - :|:|- iaeer nent p ump dr iven by a DC mut ur is assumed. The p ump has
a - disp ia- eement uFFir . =[ ' i- i]' [ ]f im- hir ei- ' _ The r educed mt t deiHFa DI: mt :- t ur , given ht ]. - '
Eqt t at inn (I=' - 1 . 35 }, wil l he used and it s eenst ant s ar e . F; ' , , =Bil r p m. ' "' v' and 1 ={ 1 . 1
seeet t d. The met er is dr iven by an amp l ier wit h a gain uf R _ , = 1 ' 5 . The hie- . ; |~ ;
diagr am ef t he Amp l ier - Met et Pump e. em|:r inat ien is shewn in Figur e 1 4. 35 .
int ent ional l y , t he unit s e- f t he var iahl es wer e added in er der t e- emp hasize t hat t he
unit s at t he uut p ut uf t he iaiueit sheul d eur t esp und t u t he unit s ui- t he inp ut and t he
unit s t :|Ft he gain- The et t r r esp unding Simuiini- t diagr am is shnwn in Figur e 1 4. 5 - ; i' -
The 5 - imt t iinit mu- deiht - r t he p t t mp is aisn r et hl t ; - Et it n nne hit :- ei- t -
t t |' I|"t ' :- It ] 1 - H. - ' n1 t ] t a [ 1 ' |:|- t n| ql u [ mi- 5 ]
ii
[ l . ]s + I
Figur e 1 4. 31 ! The p ump unit hl t zt - t it t l iagr amt
Cent r e! Sy st ems I 331
l =|eEII:t l ' heIr EIr l . l t t inr |Ft eI|- ur t nzisl - l ei: I
IIIEHQ . - - . - - jr E ; I Il it t n |t t - t ime i- LEE
- "LM -
u _ . l il ' I' l in
"' - ' l ' |"' l III- Cut - l l - at
I' I||I|. |
' iIIH|Ii' I' |Il l |
l ! I=' |' l ' l II". l i e- El l i!
Figur e 1 4. 39 Simul inl t descr ip t ien p it he p ump unit . { Fr nm MATLAB. Wit h
p er nt issie- n. i
Model ing t he Sensur
The 1 - iensnr is t t device t hat meesu r es t he l evel nf t he l iuicl , hi, and p - r r wides a signal
p r er p u- r t ienait n t he measur ed height . Ft suit abl e senser has an er der - nF- magnit ude
f ast er r esp ense t han t he p r ncess var iabl e it is int ended t n measur e. Tl t er eibr e, it s
dy namic hehavinr is usual l y negl ect ed and it is censider ed as a p ur e gain. In t his
e:- t amp l e :1 sens- p r wit h a gain nf i =[ 1 . 5 Wm wil l be used. Her e t hat t he same gain
is used t n l t er t he inp ut r ef er ence, H, . as exp l ained in Sect inn 1 - ' - L3- .
Mndeiing t he Ennt r uiier
Fin int egr al cent r el l er wil l be added wit h t he t r ansf er Funct icin:
id - 5
H 1 | - i { 1 - i. 5 U_ }
s
wher e iii , is a t unabl e gain.
Ref er ence and Dist ur bance
Since t he cenr r p l l er is a r egul at nr , designed t n maint ain t he iiuid iet r el censt ant
in t he p r esence ct - Fdist ur bances, t he r eier ence r e t he sy st em is t he r equir ed height ,
H, r it ssuming t hat t he r equir ed height is ' 5 nt . t he r ef er et t ce is r ep r esent ed as a st ep -
iunct inn ef a val ue 5 .
Fnr a st ar t it is assumed t hat t her e is nu dist ur bance and t her ef p r e (Q: [ i.
332 I Numer ical and Anaiy t icaiMet hods wit h M. 4Tt AE
[ Tir out - l e_ 1 enh. s *
Fit Et it new F- t r ue- :|- :n Fnr r n- :|r T:|- 3- t |- l et : _
E . - I- EH5 H D It In- 1 ' Isms r . a". ie1 |1 |t l ' - Ii- El l i
III- :l
- :|
I. |r ||l ' Jr I1
$ 1
. . . _ l ' l . i | |
|- t e T_ "' - - - - - - r - - _ "' - - _ I It en T
- il h I1 5 - :2 1 - l Hl + _ Il il h u :. F ' - . 1 on ' :1 :
. _ - _ _ _ - ' - . - - _ _ _ - ' | if - IF .
' ; ' l ' . l " p ||. ! |_ T T H Ir - I- l gl it - at l "' |. |nl
F' - . - ' n|' -
. - _ ' _ _ _ - - - Z - l ! - % HS
"I|I1 |- . ' |
F5 ! - 1 Il ? |' l |. ! ' |. |' - ' i- it - l 1 II! |' !
Figur e 1 4. 4[ I Comp l et e Simul ink bl ock diagr am. { Fr om MATLAE. Wit h p er missiomi
Execut ing t he Simuiat ion
The comp l et e Simul inl t bl oel t diagr am is shown in Figur e l ei. - t il l , wit h it ; =I1 5 . The
simul at ion was ezt ecut cd f or t he dur at ion of l Ui_ iseconds and t he r esul t s ar e shown
in Figur e 1 * - i. - =i|-
Cont r ol ier - G ain Tuning
The cont r ol l er gain. H. . . is t he onl y adiust ahl e var iabl e in t his sj- r st em. Thus, t he
designer has t o sel ect it s val ue accor ding t o cer t ain cr it er ia and t o t he p l wsical con-
hit |' E|. il . 1 ' |. l I' :i- 1 ' _ ' |' l Iii' l ' l iI' iii}- ' 1 ' i|i' l i. ' ]' 1 ' 1 . | ' . ' . ' il _ ' |. i' _ ' il . ' 1 i:' |. ' :il i|' l l L' I' I' 1 idJ' [ Il . |"I' Il . l |' |' l il . l i. "' l r ' L i I. l . l ' |' J"|- it - ' l iI' l ' _ il . l :|' iIi:' l . iF1 ' i_ ' l i_ ' |"||- "l i. ' . l . ' il . :i. U"' r ' r ' EIl . ' 1 i' _ i.
t r t asimum ant icip at ed dist ur bance iiow.
|t iii"I=' |i. i] |:. |"t ' . =l I]F|- II |' . iI. ' ||= l jl
Figur e 1 4. 41 Simul at ion r esul t suir | l evel as f unct ion of t ime. { Fr om MATLAH.
Wit h p er mission. )
Cont r ol Sy st ems I 333
l nt uit ivel y , it shoul d be cl ear t hat as t he gain. . Ft ' , , is it t cr eased, t he l iast er t he
r esp onse wil l be wit h t he "p enal t y "oil incr eased over shoot . Figur e 1 4. 41 demon-
st r at es t his st at ement by showing t he r esp onse For l t ' , =il l , 1 1 . 3, 1 . 1 . 1 . Cl bviousl y an
over shoot of over 45 %[ For Hy : 1 ] is not accep t abl e because it means t hat a l ar ge
p or t ion of t he t anl t cap acit y cannot be used.
Phy sical Const r aint s
Up t o t his p oint it was assumed t hat t he sy st em is l it t ear , which is cor r ect For a
cer t ain r ange of op er at ion, f or examp l e, when t he demand f r om t he p ump unit is
wit hin it s cap abil it y . In r eal it y . t her e ar e p hy sical const r aint s t hat have t o be embed-
ded in t he simul at ion:
1 . The amp l ier out p ut cannot exceed a maximum nut p ut vol t age oF]1 t ' m, |.
Ther eibr e a sat ur at ion el et nent wit h t he l it nit s oiil t f m has t o be added t o t he
out p ut of t he amp l il ier .
2 . The p ump is unidir ect ional , which means it can p ump wat er onl y int o t he
t anl r but not f r om t he t anl t . ' 1 his means t hat an addit ional sat ur at ion el ement
has t o be used at t he p ump l s out p ut , which wil l l imit t he out p ut onl y t o a
p osit ive val ue wit h a maximum val ue of
Tmas : Hr mt at He HmK- d
l f t hc cont r ol l er out p ut signal , u, is l imit ed t o i' 3"Iv", t he maximum Fl ow r at e
of t he p ump is given by
. . y m_ =s xis xan xIIi. l JU5 =4. 5 mil s
3. Wit h cur r ent t echnol ogy t he cont r ol l er is imp l ement ed by a micr ocont r ol l er
' l ? Ii"l "l ' l iI1 ' l f l Il . ' 1 . l ' . C' l iJil ' il ' l Il ' l ' . l ' l 5 1 . gI' l . 1 . , . II, 1 . 5 PI' l l Jl iil . I. l C' l i. ' [ 1 . H. i' . ' l 1 . gl ' l . ' H. l "[ U"H. Fl . H. l . U' g l ' . iUl ' l "iI' l l I1 ' l Il l II'
I[ ' 1 :l ' l l t i, T. ]. l it t y p ical l :1 l l t l :' s out p ut var ies in t he r ange oi: il il i. Thus, anot her
sat t t r at ion el ement has t o be added t o t he cont r ol l er out p ut in nr der t n l imit
t he sigt t al it t o t hat r ange.
The changes t o t he p ump unit bl oel t diagr am ar e shown in Figur e 1 4. 42 . .
il he modied simul at ion was execut ed For t he same cont r ol l er s gains. Since t he
p ump - is iiow r at e is t he major p hy sical const r aint , it s t r ace was added t o t he scop e
using a r r t t r l r t jt r l ex' et ' . This way , bot h t he il u id l evel , hr , as wel l as t he How r at e, q,
can be obser ved on t he same t ime scal e. The r est t l t s oFt he simt t l at ions ar e shown in
Figur e 1 4. 43, wher e t he y el l ow l ine cor r esp onds t o t he l iuid l evel and t he r ed l ine
t o t he How r at e, r - y , , .
31 1 4 I l ' ~ l t r mer ical an- ::l . 4nal y t ical l vl et hool s wit h l ' vl . + 1 Tl _ r - 1 5
Ficoup |e_ 1 ar I- t sl Pump '
Fil e Er ie vuw smt l r it en Fix- met Tee- l s l ' H- I1 -
o esio u - i- o 1 - |1 =x. as- a xl ei- so
. . i ~ - Q ao . Tea , , - , ,
I 1 1 5 |_ - - - UEU3 - H ' 1 i
"_ |_ , "") _ T- l . . - "' I - T? W - "T. Ul l l is
- "J- . ||i' . . r r ||:is|' ||it |, q , |=g. . _ "_ P- . | It - . |:|
5 . r l u' . |' l i- :|r - ' I' IIl ' I1 iIJ' h. |r . :I:i:- it
ieep r
Fl ee- :l y no- r . oil - e- P3
Figur e 1 4. 42 Changes in t he p ump unit bl oel t diagr am. { Fr om MATLAB. Wit h
p er mission. )
t it s shown, For a l ow cont r ol l er gain, . |' ii' _ , =1 1 . 1 , t he iiow r at e . y , _ | st gm , and t het e- -
ihr e sat ur at ion does not occur and t he sy st et n is l inear - |"5 l |l ' it he cont r ol l er l s gain
incr eases sat ur at ion occur s and t he s' r . st em becomes nonl inear but st il l st abl e.
Up t o t his p oint in t he t l iscussion, no dist t t r hance was int r oduced i' r |t , )= l l ).
l 3ecause t he dist ur bance is not l t nown, but bounded by a l t nown val ue, a uniibr m
r andom number bounded by [ [ 1 , 1 ] is assumed. The r - t mr r ir ut bl oel t t hat p r oduces
iy g [ see Figur e 1 4- 41 1 1 wil l be r ep l aced by a r r r r if it t ' hr r r t nr il or t r r r r r ier her as sht nvn in
Figur e 1 4. 44. Fl he dist ur bance, r y , - , is r ecor ded as wel l . The simul at ion r esul t s ar e
shown in Figur e 1 4- 43 and Figur e 1 4. 4- ii- l l t s shown, in sp ir e of t he Fl t t ct t t ar ions in
t he dist t t t hance. t he cont r ol l er maint ains t he r equir ed l iuit l l evel For bot h t he l inear
and nonl inear cases di. scussed above.
t s , =1 1 . 1 ) is , =as) |js' , =1 j|
Figur e 1 4. 43 Simul at ion r esul t s of t he modif ied model . { Fr om MATLAB. Wit h
p er mission. ) { See col or inser t . )
t Tont r ol Sy st ems I E1 1 1 5
|. _ i1 - it eup - l . |_ l uit u'
Fl il : EL ! ' |' l I|r Ir 5 l |Il . I- l l |I. It | F|. Ir I' - :|- :I TI. It . h |' l It . ' I. I
I1 EH! I1 1 - :- I In Iv- 1 ; . l Eeii? iel I l il - Bil - i
il eor r it 1 - 1
l ' I- in- . . r 1 |||
r -
ii
TFl ' h l |r |- |- ; . I 1 :. l . |. |- I Fl ir - t :
I- 1 |- g. Dgq
_ - '
_ -
In
T - - . - . "- - . ""1 Tl -
E. - 1 | | T ' T H . | I I - J I - :- It
H
- _
-
I I|JI:l
- l 1 |F
cs _ . ||.
i:|l l _ - r 5 El ' J"4- - . . I. 1 I|Il ' i.
Figur e 1 4. 44 Simul at ion bl ocl t diagr am of t he modif ied model wit h dist ur bance.
{ Fr nm MATLAB. Wit h p er mission. )
Figur e 1 4. 45 Simul at ion r esul t s of t he modied model wit h dist ur bance l l t ' , =
1 1 . 1 1 . { Fr om MATLAE. Wit h p er mission. ) { See col or inser t . )
1 4. 6 . 2 Design of a Feed- For war d l oop
Using Op t imal it y Cr it er ia
Figur e 1 4. 4? il l t |st r a t es a cont r ol scheme t hat emp l oy s a 1 1 ' : IL' * t 1 - 1 "1 [ TI1 ' 1 . . ". - ' ; , l Ft , il oop wit h a
gain in addit ion t o an int egr al cont r ol l er ".
The sy st em t r ansf er iunet ior iis given by
. l |. "{ i
] iI. ' ||- s - 1 ' Ir
l "i. ~ ' 1
[ ' _ r ' 1 - |_ r
+ 31 !
1 1 4. 31 1
I- 1 1 1 5 I Nur t t er ical . 3l 1 t ' ie' 1 . l 1 1 iy l l t ' . ' s1 il vl et l t ot is wit h l ' vl . 4Tl _ r - 1 E
Figur e 1 4, 45 1 Simul at ion r esul l s uf l he mut l if ied mor l el wil 1 1 t ; l isl ; ur bant ' e { . l t ' |=
1 . 1 1 1 . { Fr om Ml 1 i. TL. - 4. 8. Wit h p er mission. ) { See col or inser t . )
1 1 ' l iil i' 1 t i1 ' 1 . 1 . l l ' _ ' l . 1 31 1 2 L' F1 ' 1 ' |, ' l l 1 "l l :1 . l ' i- 1 i|"iL Ii' _ 1 . 1 . ' 1 ' l i. 7 1 I' 1 . ' l ' l l i. ' 1 - l l i. 1 l L1 l l l ' 1 [ 1 l [ ' l L- 1 . 1 1 :' 1 Il i1 ' |I1 * ' l ' - i1 ' T' l . - ' I. "E1 Fl Ll 1 l il l l il l |' 1 l ' . l l l l Il I' . "iF1 1 1 1 ' f _ ' 1 "l i:1 l l ' l gL
t he char :u. ' t er ii. r ic. l :"I1 . 1 l . 1 i1 1 1 I[ ' l - I1 of t he sy st em and t her el l - or e it s st abil it y { wit l iout t he
ieet l - f o|' wa|' c1 l oop t he t r ansl ier f unct ion is t he sanie wl ier e =1 1 1 . For t his l inear
sy st em t he gains hi, and can be sel ect ed by diiier ent design t ool s such as r oot
l ocus and Bode gr ap hs.
However , one has t o r eal iec t hat in st p hy sical sy st em t he cont r ol signal , r r , is
l Il l 1 1 l . 1 [ ' 1 |' _ l l ' _ ' t ' _ 1 . i=1 . |' l l L1 . El l l 1 ' 1 ' 1 . 1 l . ' |' _ ' 1 ' l l ' l Hl ' i1 ' 1 1 1 1 1 1 ' : 1 . 1 l ' i- i_ ' f _ 1 - . "' l l . . l ' iEl . l l "l _ "f t iLl . 1 l . ' . , l . ' 1 ' 1 . Il _ . "i- 2 |- "1 ' il . ' f _ "I' 1 ' 1 1 1 5 1 ' l [ 1 l 1 ' l l 1 ' 1 l i_ ' i1 FEl . 1 ' 1 :y ' ITl l . 1 - 1 ' l i_ '
1 1 1 1 1 . 1 . 1 ' l ' 1 f r l i- l l 1 l i1 ' l . - ' - 1 ' : ' l "l ' 1 - E1 "1 ' 1 ' 1 i. "l l "1 IE' 1 i. 1 1 . ' l l 1 l i1 1 l ' i. Ii, l i- 1 . 1 ' 1 |' l [ 1 l |. ' 1 . ' l - E l . 1 . "il ' . "' l . 1 -
Ii
+
. 1 " e HI U H L I
_ - ; + is + l
+
Figur e 1 4. 4? . 4. cont r ol sy st em wit h a f eed- f or war d l oop .
Cont r ol Sy st ems I 31 1 7 "
Per f or mance l nol ices
Per f or mance indexis a measur e indicat ing how wel l t he cont r ol l er p er f or ms. In
most cases t hese indices ar e ap p l ied t o r egul at or s { const ant r ef er ence) wher e t he
sy st em r eaches a st eady st at e wit h zer o or const ant er r or . These indices can be det er -
mined anal y t ical l y , numer ical l y , or exp er iment al l y . Four commonl y used indices
ar e given in t he f ol l owing:
1 . int egr al absol ut e er r or [ l . l ' iE_ 1 :
, 1 =J |el t - 1 | at iissai
1 1 1
1 . Int egr al nf t ime mul t ip l ied by absol ut e er r or { 1 Tl 1 . F. ):
IE
l =I t l r iiil it s 1 1 4. 5 31
3. l nt egr al of squar ed er r or EISE1 :
, 1 =1 . - r i' [ i:1 . t it il - = i. ' . i41
1 1 '
4. int egr al of t ime mul t ip l ied by squar ed er r or I[ l TSF. ]:
y =1 . . . - iii") al t t isssi
The indices t hat invol ve t ime l l T. I' - 1 . F. and ITSF. ) p t t t emp hasis on t he er r or occur -
r ing l at e in t he r esp onse because t is smal l in t he ear l y st ages of t he r esp onse. Bot h
indic. es, 1 1 1 . 1 1 . and ISE, int end t o r educe t he er r or s at t he ear l y st ages of t he r esp onse
{ dur ing t he t r ansient } r egar dl ess of t he er r or sign. and t he 1 SE indexp ut s higher
emp hasis on l ar ge er r or s-
Sel ect ion of t he G ains s, and K,
The val ues of t he gains, . l i. , . and Ky wil l be det er mined by minimising t he ITSE
p er f or mance indexnumer ical l y . The simul at ion p r ogr am, shown in Figur e 1 4. 45 ,
wil l be cal l ed by l v1 l 1 . ' 1 ' Li' 1 . l 3 using t wo nest ed l oop s wher e t he gains wil l be var ied
in a cer t ain r ange. The gain combinat ion t hat minimizes t he ITSE indexis t he
op t imum sol ut ion-
3. 1 1 3 I Numer ical an. - zl nnal y t ical l vt et hods wit h l vt . 4Tl _ . 4B
' - :||:l I- t ' . | ' * - l l : r l l l l i
F W Hr h ' l ' |}|IHI| l ih- t - t aeei- .
E1 1 5 5 - I - il i- l l - - F' =' l l 5 l "I1 I"""I- II , ' - ' . ' , l E|! :! 1 El @ FEE"
II :|r I|Iol |t |II. |l
|. :l
_ |. |I|'
F. ||o1 ' l - |I||. |I- 1
IJIJIII
1 " 1 El i t il e l
I 1
- | H - , _ | 2 | I ". ' """"' l ' l . l r . l l ||nr l |t Il 1 . n:Il Il |Ii l '
I
5 "" cut - 1 - I- |. |
l il ' Il l -
"
I"iE
I1
E B hr - _ l l inl t ! - I Ti
l il il l l
I- I|II! l e l ' 5 l l "! ' L Hil - ' 1 5
Figur e 1 4. 41 1 Simul inl t p r ogr am f or t he sy st em in Figur e 1 4. 41 wit h ITSE. [ Fr om
MATLAB, wit h p er mission. )
l * ~ 1 ot e t he f ol l owing changes in t he simul at ion p r ogr am:
1 . l - l o numer ical val ues wer e assigned t o t he f eed- f or war d and t he cont r ol l er
gains. inst ead, t he names 1 ' ~ . 1 and ELFwer e inser t ed. ' 1 hese names wil l be used
by l vl l - "|. T' L. l l t 1 3 when t he simul at ion is being cal l ed.
l t l isat ur at ion hl ocl - t was added t o l imit t he maximuml minimt t m val ue of t he
cont r ol signal .
3. The val ue of t he p er l br t nance indexwil l be avail abl e t o l vl . - ' i. TL. h. El using t he out
bl oel t .
To t est t he simul at ion, t he gains wer e manual l y set t o it y =[ 1 . 5 and R1 , - =1 3. 3 and
t he inp ut r ef er ence was set t o a unit st ep st ar t ing at t =1 second- The r esul t s of t his
r t l n ar e shnwn in Figur e 1 4. 431 , The f ol l owing obser vat ions can be made:
1 . The cont r ol signal , ii, is sat ur at ed at t he ear l y st ages of t he r esp onse because
t he er r or , e, is l ar ge.
I1 . l il l l hil e t he cont r ol signal is sat ur at ed, t he out p ut , x. r emains const ant and t hus
t he er r or is const ant and t her ef or e t he val ue of t he p er f or mance indexincr eases
p ar abol ical l y .
3- . . l ' . ' l . . 1 ' i' l il ' 1 f I IT_ ! ' iPCl Tl 5 [ ' I' - E1 3. - 1 :1 1 - f I1 ' i1 ' il l f _ "H- |l ' . l . :|- " 5 ' l Il . ' f . ' wit h |' l ' [ ] t I|' TIil I' 1 Il ' If I "iI"3l l . l f I [ IF' l il ' |l if Pl ' i 1 "1 Ti1 - I. "'
mance indexr emains const ant . This is t he val ue t hat wil l be used f or det er -
minat ion of op t imal it y .
Cont r ol Sy st ems I 339
1 1 1 . 1 [ 1 1 1 1 * ? )
Figur e 1 4. 41 1 Simul at ion r esul t s: t a) 1 1 , ; t b) u; 1 c) ITSE. { Fr om HATLAB. Wit h
p er mission. )
Mul t ip l e Runs of Simul inl t Model via MATLAB
To cal l a Simul inl t p r ogr am f r om l ' vl . l l . T1 - il t l f l t he sir ir f t t nct ion is t t sed [ 1 3]- Since
t he const ar t t s in t he Sir nnl ir t l imodel ar e gl obal var iahl e, t hey can he changed by
l vl t - ' 1 . TL. 4 1 3. The f ol l owing p r ogr am changes t he val ues of R , and if f y using doubl e-
nest ed l oop s, cal l s t he Simul inl t model , and p r int s out t he val ues of t it ; and . r l ' . ", . - and
t he cor r esp onding val ue of t he p er f or mance index-
E Fil e name: Ieed_ [ or wat d. m
E Cal l a nimul inh model r eed_ t or wor d_ t eat
a r et r ieve t he vect or y whieh is t he nucp or r 1 concainl hg t he val oa or
1 ene p er f or mance index
:6 ! KI_ U. 1 :U- l :U. 3;
[ or EF=U- :U. l :G . 5 ;
[ t , x, y 1 =oio| t eed_ t or waed_ t eot t t i
E Ext r act ing t he maximum val ue of t he p er f or mance index
[ TSE_ max- maxiy );
Ep r ioL [ HF=t 1 U. EE HI=h1 E. 2 IT5 E=t l . 3E
sn' , HF, aI, ITeE max);
end
end
- 1 - 1 1 1 ; ] I' E' l l 1 1 _ ' . l i- [ ' l ' l ' Tl ' l ' 1 I1 _ * |Il 1 ' 1 l ' 1 g1 ' ; , - 1 F1 ' 1 1 - ]I' t , " iil ' l ' [ ' l "|. ' l |- ' 1 ' ) l ' 1 1 I; ' ! 1 t 1 I' l |- ' l , I' !
1 - 1 1 5 : 1 1 . 1 1 . 31 E' 1 1 ' = ' l ' J. 1 I. ' l ' l "TFi' F1 = ' l . Ii! ' ! . ' i'
HE- 3. 1 5 HI- . 1 E l T5 E- U- Et b
HF 3. E HI- D. 1 C IT5 E- G - BET
HF- . 4U HI_ . 3 IT5 E- U- E1 5
RF . 5 E . KI= G - 33 ITSE= 1 . 35 3
' 1 he r esul t s wer e r ear r anged in Tabl e 1 4. 1 - . =1 . s shown, t he minimum val ue of t he
p er f or mance indexoccur s when it f y =' 1 1 - 1 and . f f F=l l - . 1 . These val ues can be adop t ed
as t he op t imal sol ut ion or t he same p r ocess can he used t o r ef ine t hese val ues-
391 1 I Numer ical aodeinal y t ical Met hods wit h l vl . - 4Tl . . 4B
Tabl e 1 4. 1 ITSE Val ues f or Dif f er ent Combinat ions of l l , ant l It ,
1 "- ' 1
1 1 . 1 [ 1 . 2 [ 1 . 3
1 1 . 1 1 1 1 5 1 . 391 1 1 , 91 5 5
1 . 2 32 1 1 . EiIE|- Er [ 1 - 5 32
s.
1 1 . 31 1 2 1 1 . 31 31 3 [ l . 3IEi9
1 1 . 5 95 [ L5 5 1 [ l . 5 [ l 9
2 . 1 1 1 1 9 1 . 1 1 33 1 1 . 1 32 5
2 . 1 1 2 1 1 1 . 91 31 1 . 35 2
1 n t his case, Ky wil l be changed f r om 1 1 . 1 t o 1 1 . 3 in incr ement s of [ 1 - 1 1 5 and it ; wil l
be changed f r om 1 3. 1 t o I3- , 3 wit h t he same incr ement s. The r esul t s of t his r un ar e
shnwn in Tabl e 1 4- 2 ,
The op t imal val ue of t he 1 T5 E index, as shown in Tabl e 1 4. 2 , is 1 1 . 31 5 5 and
t he cor r esp onding op t imal val ues of t he gains ar e 1 1 ' ; =1 1 . 2 5 and H, - =1 1 . 2 . Set t ing
t hese val ues in t he Simul inl t model and execut ing t he p r ogr am wil l y iel d t he r esul t s
shown in Figur e 1 4. 5 1 - 1 .
. 1 3 comp ar ison of t he simul at ion' s r esul t s shown ir t Figur es 1 4. 45 1 and 1 4. 5 1 3
y iel ds t he f ol l owing:
1 - The val ue of t he p er f or mance indexdr op p ed f r om 1 1 - 5 1 t o 1 3. 31 5 .
2 . The maximum over shoot of t he out p t t t , 31 ' , dr op p ed f r om 2 1 1 91 1 t o 1 5 %.
3. The t ime dur ing which t he cont r ol l er is in sat ur at ion dr op p ed f r om 5 seconds
t o about [ 1 . 5 seconds, which means t hat t he act uat ion el ement of t he sy st em
is not st r essed t o p er f or m at it s l imit , t her eby ext ending it s usef ul l if e.
Tabl e 1 4. 2 ITSE l l al ues f or Rened Val ues of it } and It ,
_ - ' 5 ' - ' - ' .
[ 1 . 1 [ 1 . 1 5 1 1 . 2 1 1 . 2 5 1 1 . 3
1 . 1 . 1 1 . 2 3? 1 . 1 . 1 1 2 5 [ 1 . bb- 1 :1 1 . 1 . 5 1 1 3 1 1 . 5 . 3?
1 1 . 1 5
it , =
1 1 - E1 2 5 [ 1 - - 5 1 9 1 1 . 41 32 1 1 - 435 1 1 - 41 9
1 1 - 2 1 1 - 31 1 - F 1 3- 35 9 1 1 - 35 - t i 1 1 1 . 31 35 1 1 . 31 39
1 1 . 2 5 [ 1 1 . 3 2 ' 5 1 1 . 31 - "1 5 [ L31 9- 4 1 1 . 391 1 1 392
1 1 . 3 [ 1 . b9b [ l . 5 9t t 1 1 . 5 5 ' 1 [ 1 . 5 2 5 1 1 . 5 1 1 9
Cnr 1 ir ni. ' - Iy st ent s I 35 1 1
l a] Iibil l t :|'
Figur e 1 4. 5 0 El l p t imum r esp nnse: |[ a]| I; [ hiu; |[ e]= ITSE. [ Fr nm MATLAB. Wit h
p er mission. )
1 4. 6 . 3 Aeve Susp ension
Figur e i- if t l iiiust r st t es 2 simp l e r n- t 1 - t _ l eit t Fsusp ensit t n t t f t sne wheel t :- t is vehiel e. The
]Tl . i- ]. . "i- . i, ? ", i"|l ' , , TIEPTESHHIS - [ ' l |' IE' IILII- |l ' l ' l i, ! l i' l I]' il . ' \ I' l ' il l ' :' . ' ||. ' |' , il i' l ' l l Iil 1 ijl ' |Ti|i3l . f - i5 I- ' l . |' i|l l , il l . El ]- l l l l - 1 "il l - If l ' il _ l E' ' |i l El . ' l Tl Fl - l ; "l ' 1 - Il _ H ' l .
t he sp r ing t It . H1 . 5 - E- Ll l ' |[ 5 - . The vt t r it t hie 1 :, r ep r esent s t he t iisp l t t eet nent nf t he veit ieie t el n-
t ive in t he mad ant it he vur it t hie . v| r ep r esent s t he t . l i. 5 |. . l - l ; l 1 . It iI' I it i' l 1 [ nl t he at - t it iir el at ive
t n t he r nad. The vehicl e is t r avel ing t t t t he sp ee- t iI- * ' nvet ' r t hL|1 np , vvl t iel t is inp t it t n
t he susp ensinn. wit h - . 1 given gent t t et t v.
' ihe gnver ning equat inn hf t he sheave r ne- el eiis given l J]. t
1 v:' . i. ' i: + t ' I[ . 1 i"|_ if ] + i' t * I[ . t :_ _ :e|_ ]l =Ii] |:|4_ , , 5 ].
' ihe inp ut hump . . t ' _ . and it s Ii. l IEI' i1 r ' . &l l i1 - ' I3. ir . t l ep eneicm t he vehicl e' s sp eed sneit he
geewmet t v t :- i: t he hump . in t his ease t his inp ut ean he gener at ed as t he summnt inn ni-
inur THJHP inp ut s vvit nse sinp es ant ist ar t ing t imes ar e Ll - L' i' i1 Iil L l ' . iin Tst hie 1 4- 3:- .
-\ . - r
_ ! II. -
t it
E . 1
Figur e 1 4. 5 1 A mnt l el er f t he susp ension nf st singl e wheel .
_ l _
392 I Nuoier icaiar ict r t r iaijr t t eot Met hods wit h JHATLAE
Tahl e 1 4. 3 G ener at ion of s,
St r r r t Time St r ip e
Ramp - 1 1 I1 . - MN]
Rar np l I + nt v - ht ' t ' t :l t v i
Ramp it 1 + r l . |"' ' + IN hf i_ t l . ~ "v' 1
Ramp - 1 1 + 1 el . ""v"* h""v'
ht ' iIt . l N]
The iiimul inl c ir np l ement at it in hump is shnwn in Figur e l - 1 - 5 1 t int V: ~ 1 5 i- t mh,
It =[ 1 - 1 m, r 1 i=[ ' ]- . 7 . i' iin1 , an- t iii=1 . 5 t n. The Eimuiinl - t imp l ement at ion nf t he mnt iel is
shown in Figur e 1 - =' i. ' i; 1 . The r esul t s For t he vehicie t iisp iacent ent at icl ver t ical accel er -
at ion ar e shown in Figur e 1 - 4. 5 4. These r esul t s wer e oht ainet il hr a l isecisusp ension
wit h t he Fol l owing p ar amet er s: nr =E1 5 l t g. e=Z ED I* ~ l . I' mi"s, and t i =iit iil t ii' - h r n.
iihe r esuit s shown in Figur e 1 4. 5 - iiint l icat e
1 - The vehicie r esp onse is vet ]; 1 ! - il l l i- l l - t 1 t ' ]|. ' , , which means t hat t he vehicl e ho- Lt nce:- .
1 1 1 1 1 1 1 ]! t imes - aiit er p assit ig t he hump wit h masimunt at np iit t nl e oi t 1 . t ' 1 Ii . it n.
E. The occup ant s oi t he vehicl e esp er ience p eal t ijl t ; - l . J' l . . ' it E' l ' ; 1 t it L1 l 1 ' IIl ' ihi il ' |' |i5 :, which
in not cor t it hr t ahl e.
To inip r er ve t he |Il t _ ' I' i' - t JII' II1 . El l ' 1 t _ ' t i. ' of t he susp ension. a cont t ol ier . which wil l modif y
t he Ll amp ing ct ieil icient h]; changing t he siat e t iFt he or iiiee in t he t l amp er , is at . l t _ l et . i
t n t he sgsr eiii. The ct int r nil et is a p r op or t it it iait i- er ivar ive { PIT} ct int t t iiier wit h a
t t ansiiet iiunct ion given h- v
His} F I, _
WI"- F+ - ' i' ~ , , r # i1 ==' i. ' . 5 ? ' i
1 l - II |- I |- I - I
. - II- I- I It ; I | I- I- I- I.
""2 |-
I- I- l l |J
_ . T _
T
I' - 7
|. ' | - . : HI
|| ' , _
i- . 7
is} - Ihi it ]
Figur e 1 4. 5 2 Bump simul at ion: t a] Simul ink model ; t h} 1 , ; t r ] air . { Fr om MATLAH.
Wit h p er mission. )
Cnt it r oiy st et t is I 341 91
El e Eel ! l it es- . ' E- |1 1 . I- :I' . - :- I1 Fgt v- :|- E Icl zl s ab
] EH5 H 2 I" if M- W- i l l gt et l iiit - "iiHEM? -
F?
- t - h = t i
. t ' |. II. l ' . - ! l . ' r o' . ' l ' . l |' -

' - Ti- - - I. |:1

Q
l l ~ It E
| ar t = i:_ i:<_ ' f 1
l l
it
iI:3Ii' ||. l l "
1 .
I _ . _ Il l
1
Pi h Tl ' . ' I. 1 . l
: . 1
4 +
I. i - I
Hl a- :. "; . ' ! l I. 1 Ll ' ! ' i|- r |:he|- 5
Figur e 1 4. 5 3 Simul ink imp l ement at ion oit he susp ension model . [ Fr or r l t l l i- "l J' l t Tl _ |' 5 |. B.
Wit h p er mission. )
Il ia II I; h ]
Figur e 1 4. 5 4 Simul at ion r esul t s: t a} disp l acement ; l ib} accel er at ion. [ Fr om
MATLAB. Wit h p er mission. J
394 I ivumer ical andnat y t ical Met hods wit h M. 4Tt _ . 4E
5 - 1 . - t 5 - :l - . 1 . - |- . |I- _ - . - t It o. |j' I. 1
F WEE 1 ' " - ' I "' - l l - I- - - =' ; , l gi' 1 ! Hl l 1 l - ' I- El i- I
. 41
El T :_ T? - - : :. i
* "" . 1 . 4- l g . t . ; . 3_ - ; . ~ l i t :. ". . t . t .
- _ _ I ' -
- T:- _ _ _ } - - II- I- n' :::
In- - _ '
. _ . 7 |- I- I- JIII
|, . l l _ l
.
|||' J_ - ||'
_ Ic :- |- |- r l l t - ' 1
- a- . |-
III
' i- l - l ' - II|l -
I - :1 1
?
l g: 1
1 g - c
T; - _ - Iql i. : ; . 2 - _ - III
- - ar e - l - mt
EI:|:- l r |r 1 - It - 1
l _ .
Eh l T
I
T L . - I
ndv l J. l "I|- o. |- Ha
Figur e 1 4. 5 5 Cont r ol l er imp l ement at ion. { Fr om MATLAB. Wit h p er mission. )
The cont r ol l er dr ives a smal l act uat or wit h a t ime const ant 1 1 =1 1 . 1 1 1 seconds and
gain of one. The init ial val ue of t he damp er is coet l icient is 3' 5 1 ] l ' \ l . ~ ' |n. "s.
Figur e 1 4. 5 5 il l ust r at es t he imp l ement at ion of t he cont r ol scheme in Simul inl t
and Figur e 1 4. 5 5 shows t he disp l acement of t he car wher e t he cont r ol l er ' s gains
wer e E; =1 1 1 and KP =F5 . . - it s seen, t he Ina:- t imum magnit ude oi: t he disp l ace-
ment was r educet l t o 1 1 - 1 1 1 1 m comp at ecl wit h 1 1 . 1 1 5 5 m For t he Fit t ed susp ension case-
l l owever . t he comiht t oFt he occup ant s is comp r omise- cl as shown in Figur e 1 4. 5 1 ;
t he masimum val ue oil t he vehicl eis accel er at ion r eaches 5 g.
The r eader shoul d r eal ise t hat an act ual act ive susp ension sy st em is hy f ar mor e
comp l icat ed and out side t he cont est of t his hool t . l he ahove discussion is just an
l l I}l ' . H. l ' [ 1 Pl l _ ' |i' l J El . l ' _ "1 ' I1 l ' _ ' l I]5 ' l :I' H. ' l I1 ' _ ' t hat PH. 1 . ' H. ]' |' l 1 iIt L"1 ' 1 ' i' [ ]il ' - 3 1 ' i:|- "1 ' iHf ' 1 . ' I1 [ EH bl : 1 ' _ ' l ' _ ' ||' 1 l I1 "[ l l l l . l ' _ "- III. H5 "|. ' |- "- |L' l . ]-
I- 4. 6 . 4 Samp l ed Dat a Cont r ol Sy st em
l vl ost cont r ol l er s t oday ar e imp l ement ed hy soiiwar e using micr op r ocessor s or
micr ocont r ol l er s. A t y p ical hl ocl c diagr am of a samp l ed dat a cont r ol sy st em is
shown in Figur e 1 4. 5 3. iihis sy st em Funct ions as Fol l ows:
Cont r ol ! - l y st enis I 3' 45
P
Figur e 1 4. 5 1 1 1 . "ehicl e' s disp l acement . l Fr om MATLAB. Wit h p er mission. ) { See
col or in- ser t . l
1 . ' 1 1 t e r el er ence I- [ 1 - 2 1 ' ") is gener at ed hy a p r ogr am wher e 1 "is t he samp l ing t ime
and . 1 : is an incl ez- t st ar t ing at acr e { when t =il l and incr et nent s ever y 1 "s- ec-
oncl s- Thus. r . 1 i"r cp r esent s t ime and as 1 "' . I~ 1 1 ' . r r 1 "' %t t .
B- The Feedh:- icl c signal i- t o- t n t he sensor is samp l ed ever y T sect mt l s { sy mhol -
iit et l hy t he s1 . vit |. ' . h t hat cl oses at t he i' r et |ue|u' . y l . "' T}. 1 1 " t he Feet l l t t t cl t signal
is anal og, an anal og- t o- t l igit al conver t er 1 . 41 1 1 1 1 is heing used t o nht ain t he
numer ical val ue oit he signal .
_ - t i. Unce t he r ei- er ence. r { t r 1 "l ' . at icl t he t he numer ical val ue oi t he ieedhacl - . signal
ar e l t novvn. t he er r or . ei_ t r 1 "' _ 1 . can he cal cul at ed-
[ :5 5 ] . - T- . =3' . - - ' 3' l l iit E ' 1 . - ' - "E . |
Figur e 1 4. 5 ? "v' ehicl e"s accel er at ion. { Fr om MATLAB. Wit h p er mission. )
3' 5 H . iI ivomer ical aodr anal y t ical Met hods wit h MATLAE
Load
. :t ' [ r ||
| Comp ut er l nip l emenl ut ion |
Er r or Inp ut
Ref er ence et t r Tt t - |inT1
r t u TI-
T
Cont r ol
+ Al gor it hr n
np ut
Hm Hut p ut
f t it i
+
Pl ant
E
_ _ _ :_
Reosor
=
east t r er t
out p ut
Figur e 1 4. 5 1 1 l il ocl t diagr am oia samp l ed dat a cont r ol sy st em.
4
5
t i
Using t he er r or signal . a cont r ol al gor it hm is used in or der t o det er mine t he
cont r ol signal u[ oT).
if t he cont r ol signal needs t o he an anal og one. t he comp ut ed val ue of t he
cont r ol signal is conver t ed t o an anal og signal using a DRE-
The signal p r odt t t et ihy t he l ' l ' I. "5 t l ' . ' l , ut t l , is l t ep t const ant dur ing t he p er iod T
and wil l change in t he nest it er at ion.
The design of a samp l ed dat a cont r ol sy st em r equir es addit ional consider at ions:
1
E
3
4
Conver sit iniioFa cont inuous cont r ol l er t o an al gor it hm- l n t his case t he con-
t r ol l er is designed as a cont inuous one using a var iet y o- Favail ahl e t est ecl t ool s,
t hen it is cor t ver t ed t o an al gor it hm hy dit ier ent numer ical met hods l int int e-
gr at ion at t d diit er ent iat ion Il r ep l acing Us and . r in t he Lap l ace Tr ansiior t n).
Sel ect ing ap p r op r iat e samp l ing t ime T. t i. simp l e r ul e t il - J1 - t l t l - l 1 1 t l ; I:I" is t o sel ect
a samp l ing t ir e- quency , 1 1 "T, t hr ee t o t ive t imes higher t han t he highest Fr e-
quency of int er est .
Sel ect ing ap p r op r iat e . n. 1 _ 1 ' - ' . ' _ l and 1 J. r i. t - I. ii - ot h conver t er s come in diit er ent vol t -
age r anges of op er at ion: - 5 - V t o + 5 1 - Q 1 1 1 1 - " t o + "v", and ot her s. 1 n case oi- Ft l jl t :
t he anal og signal is conver t ed t o a hinar y numher p r op or t ional t o t he inp ut
vol t age. Cl o t he ot her hand. a WAC is Fed wit h a hinar y nt t mher and it p r o-
duces a vol t age p r op or t ional t o t he val ue of t hat numher . 1 1 ' - ot h conver t er s ar e
avail ahl e in dil il er ent l engt hs ot it he hit t ar y t t umher { numher oiihit s}, which
det er mines t he r esol ut ion of t he conver t er . For es. ar np 1 e. a 1 1 1 - hit DRE wit h t he
r ange oi"' _ i- "I. "t o + 5 "v has a r esol ut ion o1 ' [ 1 . t ]t ]' . T1 44 v' . ' 1 his means t hat an incr ease
in it s inp ut numher hy 1 wil l incr ease t he out p ut vol t age hy U. F1 U1 44V-
5 - el ect ing a suit ahl e p r ocessor - The p r ocessor shoul d he ahl e t o cal cul at e t he
r ef er ence and t he c. ont r oial gor it hm and t o acquir e t he Feedioacl t signal { and
ot her t asl - t s] wit hin one samp l ing p er iod I Thus, a p r ocessor wit h ap p r op r iat e
comp ut at ional cap ahil it ies has t o he chosen.
Cont r ol y st ems I 35 1 ' ?
1 4. 6 . 5 imp l ement at ion of ADC and D. - 4C in Simul ink
imp l ement at ion of - . 4[ JC
Figur e 1 4. 5 5 1 demonst r at es t he imp l ement at ion of . 41 Jt _ I in Simul inl c ' 1 he imp l e-
ment at ion consist s of t hr ee el ement s:
1 . t i. sat ur at ion el ement t hat hinds t he inp ut anal og signal t o t he op er at ing r ange
of t he conver t er l ie- g. . - 5 1 . 4 t o + 5 v' ).
l i- ' . . - ii. zer o- or der hol d [ . 1 - i' _ ' l H} t hat samp l es t he signal at t he r equir ed Fr equency ,
III and l - t eep s it const ant dur ing t he dur at ion oFt he samp l ing t ime I
f t - r l t n ADE t hat conver t s t he anal og signal t o t he cor r esp onding hinar y numher -
' l he model shown in Figur e 1 4. 5 5 1 was eaecut ed wher e t he inp ut anal og signal is
l ="=l . TsinLl 1 Tt l - The r esul t s wher e T=1 ]- 1 second and a l i]"' r "t o + l ' l 1 "v' - l l - hit conver t er
was used ar e shown in Figur e 1 4- 1 5 1 1 - The Fol l owing comment s shoul d he made:
1 . - ' i. s can he seen in Figur e 1 4. 1 5 1 1 . p ar t of t he inf or mat ion cont ained in t he sig-
nal was l ost i1 [ l v - It "v' - It 1 - i" v and 1 Ii v' - =: v - It 1 i- 1 "v"]- due t o t he Fact t hat t he
op er at ing r ange oFt he conver t er I[ l l 1 l v"t o + l t l "v":| did not cover t he Ful l r ange
oFt he signal . Anot her conver t er has t o he used, or t he signal has t o he at t enu-
at ed t o t he conver t er op er at ing r ange.
2 . t it s cat t he seen in Figur e 1 4. 1 31 1 . t he sel ect ed samp l ing l r equency is t oo l ow
hecause t he samp l ed signal did not r eser nhl e t he or iginal anal og one and a l ot
of inzior r nat ion was l ost . - 4. higher samp l ing r at e is needed.
H- r t t t t v- t o seat - mor ons: t a:- I- r Ht I|t
[ HERE - it - "t i- i"i- * 1 . l ' l ; "Jl l " - |s l t t ow - 1 E
Et r igint t l t sl gn- El l Cil hit ied Bl gnt l l Eamp l l it t l signal
I - $ - E
El t r t e Wt l vsl + t El ' v' l t | + t EI' t - ' Ier o- Ur der _ eonvar t ao signal
gur ag U" Hum Ideal - t t er l i1 ' - DIS quar t l l t r er
[ set t ings Et - h=t |:- . t r |vt |* t t r
st r ut - 1 E|, 1 - "t r im: 1 |1 )
H- E- t |Iil ' |' l t t os. , 1 :- set s _ . =. =
Figur e 1 4. 5 5 Anal og- t o- digit al conver t er imp l ement at ion. [ Fr om MATLAB.
Wit h Per mission. )
Iit it t I Nooier ieal aodr anaiy t icaiMet hods wit h MATLAE
l ot . - 1 - i=. E=Ta ot ar a o a s ' " .
t a]
- . . . - " my
En . i' 1 ' iE"1 . r ' 5 > ot . it ' a' o' ii1 s . |
[ I2 - |
, a =s" . s . a; s' a a a"' - s". - r e "T
[ cl

id]
Figur e 1 4- . 1 5 1 ] t a) The or iginal anal og signal ; { hit he cl ip p ed anal og signal ; [ cl t he sam
p l ed and hel d signal ; - [ d1 t he conver sion r esul t s. [ Fr om MATLAB. Wit h p er mission. )
Cont r ol Sy st ems I 399
5 . Wit h an ii- l 1 it 1 :t i|t a1 ' y numher , nut t t her s can p r esent in t he r ange Ll t o 2 5 5 . In
t his case a hip ol ar conver t er was sel ect ed; t he r ange 1 . 1 t o E5 5 was sp l it such
t hat t he numher 1 2 ? r ep r esent s l [ l v' and1 E? ' r ep r esent s 1 l ]' v' . This is shown
in Figur e 1 - r . - so. - 1 . which il l ust r at es t he nal r esul t s of t he conver sion.
l mp l ement at ion of DAC
Figur e 1 4. - I31 demonst r at es t he imp l ement at ion of L1 . - "t t _ I in iiimuiinl t . l he imp l e-
ment at ion consist s oFl ive el ement s:
l . t it sat t t r at iot t el er ner t t t hat hinds t he inp ut anal og signal t o t he op er at ing r ange
ol it he conver t er I[ e. g. . - 5 1 - 1 t o + 5 1 41 .
E. . - ii. gain t hat conver t s t he val ue of t he signal t o a r eal numher r ep r esent ing t he
cor r esp onding inp ut numher t o he conver t ed.
5 . . 4. r ounding Funct ion t hat r ounds t he r eal numher t o t he cl osest int eger . which
is t he act ual inp ut t o t he conver t er .
4- . h. El i- Il l - l t hat samp l es t he signal at t he r equir ed Fr equency , 1 1 ' 5 "; and l t eep s it
const ant dur ing t he dur at ion - oi: t he samp l ing t ime Ti
5 . il l gain t hat conver t s t he int eger numher t o vol t age. This gain is det er mined
hy t he op er at ing r ange oi t he ADC and t he nut nher of hit s ol t he int eger
numher it t p ut .
Tl he model shown in Figur e 1 4. 1 5 1 was er - t eeut ed wher e t he inp ut anal og signal
was 1 - ": t 5 r r ' r r [ E1 ' t t ]- The r esul t s wer e T: t i- [ 1 5 second and a ' 5 i"r "t o + 5 - "v" l l - hit con-
ver t er was used. The r esul t s ar e shown in Figur e 1 4, 1 5 1 - The Fol l owing comment s
shoul d he made:
' ; ' ; . r - t
E|t r |. 1 . |ht n Fu- I- it Tt r t it I- it - |s Fl i- Er I:' |r ii- n- '
EiiiIt . - . - 2 - l - - l il =- - =- - - noon- s I- El l
~ 1 5 ] - 1 ? E E
4"
t ' |r - 1 |- nal ' 5 l |; |n. =|- l - I. - l l :- r t - t l H I IT. - t :|r r |' |t r uor t ' | - |' t t r t nl r st nn Samnl t - r l
l oFl l l l ol nl l p t ir $ l l 1 . i|l
- . . . :
l - i- l |' IIl - ||' I|I I' l il - El l - ' l l 1 + ! |' - ' I5 - I' l - II- il l |f l Il ' - l 1 - IIl l l Il |Il ' TIT El i- i|, I|' |i|]
E_ n_ |. |i|u|- | l l ' . ' |I' Il 1 - Il l :l I' l l ' l |' s|- I- t i- I- I Hjd 1 :)- . Ir ||j E?
Il Z I' 5 ' sl ' l l Il l 5 ' l |" - ' _ T |I' |' :|I' ' l |"
' l . iIl Il ' |E|' ||Il : 1 1 - l ; Il |l :l - I' l l :
is gt
- ' l . |I|l "- It . - :|- t l - It ' l l
Figur e 1 - I- 5 1 Digit al - l o- anal og conver t er imp l ement at ion. [ Fr om MATLAB. wit h
p er mission. )
- t t l t iI Nonier icaiand Anal y t ical Met hods wit h it - 1 . - 4 T1 - - 41 5 1
l l "- 1 1 1 1 31 1
Figur e I- t . t i- 2 l a) The or iginal anal og signal ; t h) t he conver sion r esul t s. { Fr om
MATLAB. Wit h p er mission. )
1 . Far t oiit he inior mat ion cont ained in t he signal was l ost [ 5 1 - i- - : v - c El i and
t i"v - =2 v - ii5 v' ) due t o t he f act t hat t he op er at ing r ange oFt he conver t er [ - 5 1 - i
t o + 5 "v"il does not cover t he Ful l r ange oFt he signal . il t not her conver t er has t o
l ' il |L' l _ ' l . 1 ' il IIi. l . , , Cl ' ]' Tl i' l ' l . i' . "i- igl i' l . H. l I' l l - El . l ' il . ' - [ l l TH. i=' l . i. ' l . ' EFl LIEl . l ' t . il ' . l l it } l . ' l i' H_ l ICl T' l . ' |s' l i. ' Tl . "l _ "1 ' t . il ' |' i|' l L' l ' i. - ' l l . ' l l ' l g 1 1 1 1 1 5 1 1 .
2 , I- . l - l ' l t . " . "i- i; "l Il . f - L1 l . ' Il ; 1 - III 1 5 . ]- 1 |Tl ]_ ' l ' l l |' l g l ' - l i' l . f ! t i_ ' |_ l . ]Il ' |' il l i. ' . _ ' l , - ' 1 - it f ' |' l 1 H1 . "- il _ Il i' Fil :l t . f l ' l ' l :. Tl - l ' il ' l r "t . "Il . f "|- "l i; l l i' . . For 5 , ] FE; - 1 |
ap p l icat ion it shoul d he det er mit t ed hy t he dy t t ant ics oi t he ap p l icat ion { see
Figur e 1 4. l 5 Ii. h).
5 . . 4. 1 2 . - hit hinar y numher wit h t he r ange of t ] t o 41 . 1 41 5 p r ovides a r esol ut ion oi- '
l . ' I- Ll l . l . 1 44 v' For t his op er at ing r ange.
Posit ion Cont r ol of a Hy dr aul ic Pist on
To demonst r at e t he cap ahil it ies oF. F- . im||l ir |l t in t he design o- Fsamp l ed dat - . 1 cont r ol
sy st ems t he esamp l e shown in Figt t t e 1 4. 1 ? - - 1 wil l he t t sed.
The model ol each p hy sical comp onent has t o he det er mined heior e t he imp l e-
r nent at ion of t he cont r ol l er :
. ' l ' r ' r ' t - ' o r r n. ' it r e: The ser vo val ve p r ovides a Fl ow r at e p r op or t ional t o it s vol t age. l - "1 ,
eit cit at ion. and it s t ime r esp onse. which can he descr ihed hy a r st - or der l ag
wit h a t ime const ant TI:
Cont r ol Sy st ems I - =1 - [ I1
I1 1 1
l vl ier oeont r ol l er
t _ - t _ |1 _ t |_ 1 ' eL| r "LE' l I1 . l . 1 l
P' os. il _ jt _ |- r t Posit ion
F En""DI 5 - er vo l iy d t aul ic
t ir l t l gor il - hm - E, - ; Jh. E, p |g|_ , ; _ . n
I 1 ' - ost t ion
' Eiet t sor
J
Figur e 1 4. 1 5 3 Bl och diagr am oia p osit ion samp l ed dat a cont r ol sy st em.
II- I- 1 1 1 1 .
|
7 ' : |
| t I t t t t I t | | t | | | | | t
Qt - "1 _ ii,
l - "t r l 1 Ir + l l TT' TE T
wher e is t he gain given in cuhic met er s p er second p er vol t .
i ir r on. - The p ist on sp eed is given hy - 5 :- t r - 1 . wl t er e . 4 is t he cr oss- sect ion oit he
p ist on. in t his eaamp l e a douhl e- act ing douhl e- r od p ist on is assumed and
t her eFor e t he p ist on cr osseat ea is t he sar ne in For war d or hacl - t war d mot ion.
5 - ince t he hy dr aul ic l iquid is incomp r essihl e. t he disp l acement o- Ft he p ist on.
p g, is given hy
Pgir l 1
i= 4. 5
Q1 1 ] l r Tl Ti
. F' o- r it inn ser t r r r r : The p osit ion sensor is a l inear device wit h a vol t age nut p ut , r ig.
p r op or t ional t o t he disp l acement ie. g. . l inear p ot ent iomet er }. Thus. it s gain
is del ined hy
V t r l
- Z =y e
gm . t r - r ain
To p r oceed wit h t his er t amp l e t he t hl l owing val ues wil l he used:
1 . Val ve gain: if l , =l _ l . l . l [ l l . l t - 1 1
. inp ut vol t age t o t he val ve: =1 l Il 1 it o + 1 [ l v'
:- . _ ]' 5 * - :. t ' t - Ii:- . ' ; . . t . ' - t - . ; |
t - J- =. . - t - q
"v"a1 ve t ime const ant : =Ci- 1 - 1 . 1 1 - t
- Fist onis cr oss- sect ion ar ea: =l il . t l ' il i1 "_ 5 t n:
Fisr ot t is masir num st r ol - t e: =1 1 . 5 er
. Sensor gain: it ; =Eil g
Sensor is out p ut : 1 - 4 =El t ol l l l vi
- 41 1 3 I Nomer ical andanal y t ical Met hods wit h l vl ' . 4Ti_ . 4B
1 "- il icr ocont r ol l er
r ii
gig Cont r ol - il l - _ l * 3"' * T n- oonot Q t F - _
it Al gor it hm Egl l t ]_ r j|g_ ; . . 1 l _ t , { |||]|t ]|5 . s
av - . - r ev I-
l a- t - it
. l ' - . l ' 1 C
It :
- 1
' - I
1 :
In"! - I
Figur e 1 4. 5 4 l il ocl t diagr am oia p osit ion samp l ed dat a cont r ol sy st em.
Sel ect ion of Conver t er s
. 4. l _ l |' l . T. l . _ l onver t er : r l t n il t l _ ' . ' l l . - T wit h a r ange oFil t o l l l vol t s wil l he st 1 l ' l i- cient since t he
mar t imt t m st r ol t e oit he p ist on is 1 1 . 5 m and wit h a sensor gain oil t l il l nt t he
mat - t it nut n out p ut wil l he 1 1 - 1 )- ". The r equir ed r esol ut ion on t he ADC dep ends
on t he needed p osit ion accur acy . iian 3- hit ADC is t o he used. ever y incr e-
ment in t he ADC out p ut { hinar y numher ) r ep r esent s a change in p osit ion
oF[ 1 . 1 - l ' { l . ' im l [ l ]. 5 iE. 5 5 }. 1 Fa l l - l - hit . - l t l l l l l l is used. t his p osit ion incr ement is
it - 1 1 1 1 1 1 1 1 31 m. in t his case t he l at t er is sel ect ed-
Fl - l t l : Ct t nver t er : r l t 1 - )- 41 5 wit h a r ange - nil l l t o 1 1 1 vol t s wil l mat ch t he inp ut
r ange ol ir he val ve. However . one l t as t o r eal ize t hat t he signal p r oduced hy t he
1 1 . 4. 1 3 cannot sup p l y t he p ower needed t o dr ive t he val ve. ii. p ower amp l il ier .
in t his case wit h a gain oione. is needed. The r esol ut ion oit he l Jr i. C shoul d
mat ch t he r esol ut ion oit he . F' t l _ il ' l L. ot her wise t he Ful l cap - ahil it y oit he ADE is
not used. Thus. a l l ! - hit 1 1 5 . 1 : is sel ect ed-
The hl ocl t diagr am shown it t Figur e 1 4. 5 4 summar ises t he discussion up t o t his
p oint .
Eir nol inl - t imp l ement at ion
The imp l ement at ion. in Fiimul inl - t . oFt he sy st em shown in Figur e 1 4. 1 5 4. wher e t he
cont r ol l er is just a p r op or t ional cont r ol l et . is shown in Figur e 1 4. 5 5 . Fat ect t t ing t he
p r ogr am wit h a cont r ol l er gain ol it 1 . t l [ l 5 y iel ds t he r esul t s shown it t Figur e 1 4. 5 5 . it s
shown. t he p ist on r eacl t es t he r equir ed p osit ion al t er i seconds. dur it t g which t he
p osit ion er r or dr op s t o zer o. iil so. it shoul d he not iced t hat t he val ve is in sat ur at ion
f or a shor t t ime.
l ncr easing t he cont r ol l er ' s gain t o l ]. I[ l 5 y iel ds t he r esul t s shown in Figur e 1 4. 5 ? -
l n t his case t he r esp onse is Fast er . hut wit h a smal l over shoot . and t he val ve is sat u-
1 ' 3. l . ' ii' Cl . Fiiil 1 ' 3 it - l l l i' l gt ; ' Fl . ' l . |Tl E-
Cont r ol Sy st ems I 41 1 3
- t o t r - I ' - ; n- E- r - . - I- no- I Fr - l l ' _ - . 1 . ear -
Fl iqi P l ' I it - - - H d@ ' a|E=iiI- I- El l - F
mg. :1 t PU
p r l r l l jr l |' l . l |- ' |. I\ |
It - t - -
" n' r 1 n' . "n "_ - a- |. |) ' |- F |. Hnenr . "_ - . . | - Ii' l "' - "1 - III1 . ' ip =1 1 n "- . . |. t r - . . Tl 1 - |. - l l -
- ' - L _ - c :- 2 - :- 1 . - . _ .
E1 - H. - ' _ - T . |. . D' I iI
! ' i|. al |:_ | l "|u|. |. - ' . ' I. ||l I||' - . ' |; |1 |- _ - l ul l . ' P T ' 5 ' ' I"
"- II - l - It |_ I- |- |||' _ _ n:
l l . - I' -
l |. 1 ' I ' I5
1 | . i
III - ' l ; ' - 1 ]- r
I- r nt r r
1 :- It l III- II
l E. l :
I; 1 . IIIl |' h nl hl l l .
Figur e 1 4. 5 5 Simul inl t imp l ement at ion oit he p osit ion cont r ol sy st em t hat is
shown in Figur e 1 4. 5 3. { Fr om MATLAH. Wit h p er mission. )
l n t his eat amp l e. t he sp eed oFt he p ist on is not cont r ol l ed and t her eFor e t he er r or
is ver y l ar ge For a l ong t ime causing t he sat ur at ior t oit he val ve even For a smal l
cont r ol l er gain. . 4 c- ar eiiul eaaminat inn oFt he r esp onse r eveal s r l t ar t he p ist onis p osi-
t ion incr eases l inear l y hecause t he val ve is sat ur at ed and t he l l ow t o t he p ist on is
const ant . equal t o t he maaimum How r ar e.
l n t he case wher e t he vel ocit y oit he p ist on has t o he cont r ol l ed. t he r eier ence
has t o he changed t o a r amp wher e t he sl op e cor r esp onds t o t he r equir ed sp eed. l n
t he Fol l owing eir amp l - e t he r et |t t ir ed vel ocit y was set t o l l - l ml s. t est r l r ing in t he Final
p osit ion t t it l . 4 r n. To gener at e t he desir ed p osit ion r amp l Figu r e l 4. t ii' l c) t wn r amp
inp ut s ishown in Figur e 1 4. 5 il a. 1 i) wer e added t oget her t o p r oduce t he p osit ion
r at np shown in Figur e 1 4. 5 l ic.
[ a l l ' . l I|- ] [ _ t - ' ]
Figur e 1 4. 5 5 Simul at ion r esul t s [ f or a cont r ol l er gain oi1 1 . 1 1 1 1 5 and T =[ I- 1 1 1 sec-
ond): t a) p ist on p osit ion; t h) il ow r at e t hr ough t he val ve; [ cl p osit ion er r or . [ Fr om
MATLAB. Wit h p er mission. )
41 ]- 4 I l "- it r r ner ical . 3t 1 t 1 l . - 4. t 1 ; ]l y ' 1 l t Tt 3l l ' vl - E' l l 1 t ' JEl 5 wit h l vl - 4Tl _ . 4 i- '
ial l h) [ cl
Figur e 1 4. 5 ? Simul at ion r esul t s t ior a cont r ol l er gain oi1 . 1 . 1 1 1 and T =1 1 . 1 1 1 sec-
ond): l a) p ist on p osit ion; { hif l ow r at e t hr ough t he val ve; l ic) p osit ion er r or . [ Fr om
MATLAB. Wit h p er mission. )
1 "
1 . 1 . 1
1
B +
us - - - - - - - - - - - - - - - - - - - - - - -
- 1 1 . 1
$ 1 1
' 1 ' im|- [ secondj
E I 1 "' osit ion|m| I I
L
[ 1 - 4 - - - - - - - - - -
| - p iTimr l ser ondl |
| t - il l
Figur e 1 4. - 5 1 1 Ref er ence gener at ion f or sp eed oi1 1 . 1 ml s and iinal p osit ion oi1 1 . 4 m.
Cont r ol Sy st ems I 41 1 5
t a] [ l o] l cl
Figur e 1 4. 5 5 Simul at ion r esul t s f or dit ier ent cont r ol l er gains |[ T=1 I. I]1 second):
t a) gain =1 1 . 1 1 1 ; t h) gain =1 1 . 1 1 5 ; t c) gain =1 1 . 1 . { Fr om MATLAH. Wit h p er mission. )
1 See col or inser t . )
The simul at ion r esul t s For diiier ent gains ar e shown in Figur e 1 4. 1 5 5 - . ""t s shown.
l . ' l ' l 1 ' :" i' i' _ ' l ' i. ]. ' l t i' t [ ' l l ' iIl :" l 5 . I. - ' 1 - * . 1 ' :y ' Sl l l ggl hh FHFH I"iFil ' il i- il l gain l ' it IE[ . I. F1 . l . |. ! 5 t l ' l ' l i; " "|. "$ Il "t "t . ; . ":Il ' i|' ES. ]_ ' . l Ct l ' l S. t . . 5 . 1 1 1 1 1 . - "I. "-
l t t al - t es ahot t t 5 sec. onds t o r eacl t t he r equir ed st eady - st at e iiow For t he given vel oc-
it y . it s a r esul t . t he act ual p osit ion oil t he p ist on l ags t he r eiier ence hy a l ar ge dis-
t ance. For ap p l icat ions wher e onl y a singl e p ist on is used. t he ment ioned l ag is not
imp or t ant . However . in a mul t ip ist on sy st em wher e t heir mot ions ar e coor dinat ed
in or der t o Fol l ow a p r eser ihed t r aject or y . t hese l ags might cause deviat ions Fr om
t he t r aject or y -
1 4. 7 Simul iok' s Dat a Acquisit ion Tool boa
Simul inl - t p r ovides a [ )at a. - l t cquisit iot iTooil :- os t hat nr al r es it p ossihl e t op r ogr am a dat a
acquisit ion sy st em inst al l ed on y our comp ut er . 1 Ft he har dwar e and t he sup p or t ing
soFt war e ar e inst al l ed cor r ect l y . l iimul inl - t wil l ident iFy y our sy st em aut omat ical l y -
Sel eet ing t he Fl l at a . "' t cquisit ion Tool hos Fr om t he Fiimul inl - t main menu { see
Figur e 1 4- F1 1 ) wil l show t he sis sup p or t ed Funct ions t hat wil l he e:- t p l ained in t he
Fol l owit t g sect ions.
45 5 I isiumer ical and . - anal y t ical Met hods wit h l l - l . 4Ti_ . - iii
I
-
S|I' I. |l |' |- l t |. l l l t ' IIy I- |' n|' t I' _ _
FIE- I:". I' Ir |l - it - I
he- _ - = an- t a
Lnr l r nl t . n' I- |' . I- t - |. t |I. :eul - - ||' l |t - t l - ||:- t I
- 5 - |
|- - t at - t ' l ' It t - l l . - t . l - l - I' l l - l et :
i- 4! - I- r - t I' s- I- I El """""""
:' C_ l . 1 l Il ' q' I|IIIIII
iT_ ' UT' "' " I |||. ||I I I igiggl ing 1 , _ , _ . . . l - l ||- |- . - 1 |i- It - | i- I- I |
i - l l il il - I- El l i !
il l il i- Il l l ' I' 5 l iIl - II E - t . r |, _ ni. = t ; q_ , h|, _ - |
"W1 5 } - EH1 5
"E1 1 - ' t ' l ' l . I' E. t l
- |' :|' n|s:su|- 5 ; . - I. I' ||| { :", "::. . I- It - l l - a I- II- IIt l ' iIIl ' |i' l Il ' t - I- II- on
. - s||r I' - I- I- . l :|It ' |- |. o' =|
i- 5 |- |- P- oil :- |' I1 ||
5 . 1 "' _ , ' IIH- El si- I- I- Hr - I- - I
it al - t r - l il t l l - |- i=t ' t r \ - r t - I- t l t in
. 5 1 - ant e- ol - it - t - nne- t o T"""""' ="""""
it - - ' - t I' =I|n|- o|t ' l t It l - It - t i
- l - It s- ' =- - t - we- ' - r l wr t r nt
t bhhiihl - BIC.
E1 1 1 1 - I S- l l - r ho- r Ln - l ' |
- Iil . - I- 5 - l ' IhI- |. t ' it ' t ' [ l
- - - t - in- t - it - r t or t n r t :
t i]:- I- st ar - - It t t - 1 |- u
5 |- - t ension- t r et r evs
. l ' I- t :t - Ian 1 - I . |:r r | . r s||:
Ii- p A|:n||I|h:n' I|- I- Incl
It l ul - u- r ut et t el - t t ' It - r m- as l
. l . Lr . l - il l u- i. |. h_ i. I- |- |. l . i. |- I. ' l . r . i. I_ ' -
Ami- p I||iI:. ieq- i|l :et al Iuvann. Iul - r im- qot iol l uol l l - t o- l nnoniu
' I' l ' _ ' I"# ' ||_ t "' l - 1 ' - F
l - l ' I- I' I- I- =_ - g- l l t t l l l - l - r r |gIt i' I"l ' i- r t - I' I' |iI:I- t Il :I:I1
Figur e 1 4. 1 1 } Dat a Acquisit ion f unct ions. [ Fr om MATLAB. Wit h p er mission. )
1 4. 1 1 Anal og inp ut
Douhl e- cl icl r ing on t he anal og inp ut hl ocl r wil l op en t he window shown in
Figur e 1 4. ) ). il l s shown. t he dat a acquisit ion { H. 41 1 } device and t he Fl ' v' l l :1 - 1 2 1 1 - SFS
hoar d wer e r ecognized hy Simul inl - t and aut omat ical l y set up t he avail ahl e channel s.
t he mode oiop er at ion { singl e ended or diil er ent ial ). and r ange oFop er at ion (3El v'
t o + . i1 l Tl i"). and al l owed t he user t o inp ut t he samp l ing r ar e. This hl ocl t is usual l y
used t o samp l e a cont inuous signal at a cer t ain r at e. The acquir ed dat a can he p r o-
cessed in r eal t ime or st or ed For oil - l ine p r ocessing.
Anal og in, - our { Singl e}
The diiier ence het ween t his hl oel t l see Figur e 1 4. ? ! ) and t he p r evious one is t hat in
t his case a singl e samp l e is heing acquir ed. Thus. t his hl ocl t is usual l y used as p ar t
Cont r ol Sy st ems I 41 )?
iSout t e Bl t t l t t t F"t |l ' t |mt :t t :r t :
FT- I- or - r e
acq. iehhdt nt dIIt |' unn. t t i:1 eIHop d1 I|' |et t nt l dl h|:q. t il mt ht t t e
t - v:|1 |' I' t t . 1 at I|t ||t t in- t st ep t .
Fl r mit l r l
. l . r nH|:it |' t t ut t i!
II . I|. |y t ' t t l t r t |mt . i- l r il il t el 1 l ' t el t s1 . i1 l o|' t vr 1 ' t et t it ||. ht il ' t s1 :l ' "I. Tt nit uit il t
' - r t . |' l t ' t ' t l - t r Il :l s. l t t :|t . r - |t l I1 t n=|FI=t t l :t . r H' I' .
- I
l g sy r ' el Iu' o|- n- ast u d' ear ' iqt es1 at eed1 t i' nt st ep . t et uu1 snut
t imt ct r t l nnmt l it hnil t ul l d.
' so- =2 . - ==es- asset El
|- l ea- eesur uer aueeet el seu- air ir t ir it 1
I t l r et nl t t ibel l l t ol l il qt hl p or l eeoul .
uut l oot r it l z
1 1 :I. t t ' . l aI' |Je:iI3it ' |' ut r |l ial E|
sh- - =' == i - l is- as- sail
. - - =
i" - It ' l l t o - I- 3t l ' l l '
E1 t . - . t |- 4|- - t a
L=' i - an t o + at v , 1 ,
| I - Il l t t l + 2 l l 1 ' l i' - 1 ;
. - as aw - ' - - = t
t l - II
l ' t . t t 1 :t a' ~ t r F|JII1 a- =l l l it y al _ _ l ' t at t it t ' r r . Ie|t l st IIt el s| I
5 l t r Hl ' o' |t e= |5 ar t t :Ii:- haaet i E]
l l use- t we: l ar osr
T
I
t _ 1 EL. . . - =- - - _ . _ - _ JL_ - - . . . _ . :
Figur e 1 4. 7 1 Anal og Inp ut hl ocl r p ar amet er s. { Fr om l ' vl ATl . A. l i. Wit h p er mission. )
oFa samp l ed dat a cont r ol sy st em or a monit or ing sy st em wher e a sensor t or mol ip l e
sensor s) is heing samp l ed at a r el at ivel y l ow r at e-
I4. FE. 2 Anal og Uot p ut
Anal og Ct ut p ur (Singl e)
The diil er ence het ween t his hl ocl t [ see Figur e 1 45 1 2 ) and t he p r evious one is t hat in
t his case a singl e anal og ot t t p t t t wil l he gener t at ed For each it er at ion oFt he p r ogr am.
41 1 8 I Humer icaiandanaiy t icait vt et heds wit h MATLAB
E5 - uiur ee- Bin- cl t Par - amet er t t il nal ogl np ut il np l el
l nl l el r uanit t l ul eil nr il ei
I l c|; . l ' ei' sI|t i1 Inl l ihI|i|; |t i|I|! hef ar h| na:q. HHt l 1 r hvl :e
esH! l r si1 t t i||int |t i||:sI:n-
Fl nset l n
t inn: 5 Lr nccl ]=! Il _ ' J- IIES}
HE
_ l amt - sp a '
:1 1 - ma;
I it - iI|isI' l t Il ' |iI' i! |iit - t au iI|' |:n. it l I' . l 1 qI _
- Il l ? t n + 1 1 1 1 ! 3*
- III! In + 2 6 - Ii 3 '
an t n + ai- I
_ _ _ _ I _ _ * Il ' i|"il l l - + 1 3- ' ||l " l _ \ v- "It
Ht n! :|et ef ; p nr l :: il f ml hr dssr edil ihsh _ _
ieiii Fil l
1 |1 -
1 1 -
A
I. ||_ Isa I
Figur e 1 4- J2 Anal og Inp ut 5 ingl e Samp l e l :il t icit "s p ar amet er s. { Fr t im MATL- Mi.
Wit h p er mission. )
Thus, t his hit icit is usuail y used as p a r t at a samp l ed dat a CEl l 1 l . ' i"Disy st em wher e t he
cent r el signal is gener at ed ent ice F- at each it er at ian ef t he ccint r cr l l er .
1 4. at 3 Digit al Inp ut
The FMD- IEDHFE hcr at d has eight discr et e Inp ut iut p ut iines t hat can he cnn-
Ft gur ed as inp ut cit nut p ut iines- when l ines ar e cungur ed as inp ut , t he user can
det ect t he st at e niianf nil isensar s such as l imit swit ches t it p r t mit nit jr swit ches. Ht it e
t hat an int er f ace might he needed het ween t he senscir and t he inp ut l ine in - er der t t :
mal t e sur e t hat t he signal is at Tr ansist - at - Tr ansist ar Lagic { TTL} l evel . The p ar am-
et er s an t he Digit al inp ut hl er cl - t ar e shewn in Figur e l - i. ? "i.
I4. 1 - It Digit al Ciut p ut
Sir niiat l y t t he Phr ' i1 ' 3s1 ' 2 i]f iF5 discr et e |ines can he ceniigt t t ed as nut p ut iines.
In t his case, t he user can use each l ine t a t ur n an er t ur n ciia discr et e device
Cont r ol Sy st ems I 41 1 9
iiir l t t - ot t PIInet er s:l - nal ngDt |t |:r . |t
l l l il l il l it l l t l
* ial aut hhcl ief dl h 1 nn. H:i|sn|l t - |; d' sII||l seFl |Is=l l ||t o. iit iu1 |:l eH|t e
nuviml l l mt ir l l t qa.
Fil l et s:
\ Ih. :. \ . r l . ' I- ht l e
I hnsdvwmn- Hnudswuahier wdnr eiminl l hsshr u.
1 hesin. l sIu|1 r msnI' l e- t l |iat seut |:sit * unaFl ' t 1 ! ~ ht il o* .
- 5 5 e|' I:l ' l s|nuus - t r il l l essl l l ievt sut haihl t l ur l el t l iinhil sssl us
1 I' III. l l Iu|1 nIr nt t II1 I1 l r un- uu1 l Il dl l aIsI- sIIl -
oeeet y seenir so- :. a=e=si E]
%hIl mmnr l h : 1 UI
Ait t ual nt enil iel l l il il nul uoer oeosl .
es"- * =
ee-
@ _ t r u+ 1 . assv ac
E 1 o+ s. t asv e-
i' il |' h:IoFp n|' I:r - :l 1 l i:nl is:|r - t hsat et i' B' Isei El
$ if ' _ ' s. =- i' i' _ '
Figur e 1 =' l - J3 Anal og Cl ut p ut bl oel t . l Fr om MATLAB. Wit h p er mission- l
such as a sol enoid or an el ect r ic mot or . Not e t hat an el ect r onic int er f ace shoul d
he used het ween t he hoar d out p ut and t he cont r ol device in or der t o p r ovide
t he r equir ed p ower needed t o dr ive t he device [ t he hoar d p r ovides a cont r ol
signal wit h no p ower ]- The p ar amet er s on t he Digit al Cl ur p ut hl t icl t ar e shown
in Figur e 1 4. ? t i.
E:=t amp l e$ amp h' ng an Anal og Signal f r om an Accel er omet er
l n t his eit ar np l e t he signal Fr or n an accel er omet er . Cr oosl il ow CHLDELF5 . wil l he
samp l ed at t he r at e of IDDIEI Hz. As shown in Figur e 1 = :i. T- F . a simp l e Simul ink
p r ogr am, in which t he samp l ed signal is f eel t o a scop e, was wr it t en. Execut ing t he
p r ogr am y iel ds t he signal t r ace shown in Figur e 1 4. 37 5 ,
41 1 ] I ivumer icaiandanal y r icaiMet hods wit h MATLAB
it - ' i|' il t EIl ocl :PIs' =||' r set er st . l u1 l l n- g, i
. In|hno. |o- isr sl sr - cut ie)
t Ii|I. ' |:|. |t |i uqt ht oml t ht h Il iiqdil nehol iadal l l :s|. it |i:n1 :isr h
e' ||' l I"1 |' i! |! |. il ' l . ' iI' l l ' |' I! I! |II- .
Il "IIr |et II
is- Nel s}
l _ e1 - . . . a I.
H|r dvr |i' eCl 1 o|' r |e| Hume Dut |:|ut F. an; :
it s s. H
E: t - - an- i. easv Q
Q . l ' l il 1 ' i' l l ' l J' l :iIiI l l il l 1 - l ' II' - Il ' II"dl l I I- I:l ' iI' I' II ' -
_ _ wl f iw2 %I'
Figu r e 1 - 1 . ? =l Anal og ' [ ]' ul p ut 5 ingl e Out p ut l :il ocl t ' s p ar amet er . { Fr om MATLAIL
Wit h p er mission. )
5 oi. r t oeHocl It FaIar i1 - e' |er ::D
- l - it il f l l l l l
aet |. iel nl :st s:t nf vzi. |:s' sl 1 l l ii; 1 i=t l 5 It al l r esnf at l l s|
aeo. |isl l it ndevt t e.
F5 I' I' II' l I' I
El
es- e
Iil r t hl ar e HIt IIie|' e H - -
_ _ H:|r t l l J l _ . ' neII. ' I _ l
|
Ir I I 1

II]
PI- l l - I
l l - I- |_
asiair ar p - aa=[ "i' r s- iii- eie- l ass- as' '
L=- sail - . . Ha: J
Figur e 1 - l . ? 5 Digit al Out p ut hl ocl t ' s p ar amet er . { Fr om MATLILE. Wit h p er mission. )
QSinl e El t oel t F"- I' I' t "|il t ' ! Ii: Bl igil ii' l Ju' |:p |. r l
l iiut al cl shsit
EHI|n. it l l it oFvl i. |l l t ol l l =l l l i|il Isaf l t hh|eq. t il u1 dui:|.
F' I' I' l l ' Il ' I-
Cont r oi. ' p st ems I 41 1
Device: int e D t o- o- 1 . ' oo' s)
es
. . . El
l l - t It :i|IIeFl r t t l J It - at - il aueuat t il nimi
l l l l l l l
oooo t . s_ l I- J- I- ID
- n
I I
I I
I I
T
is- in- ir vr i- ir ei|iii- r aisins- min- =i
El
aw .
Figur e 1 - =l . ? E Digit al ut p ut l 1 l ocl t "s p ar amet er . { Fr om MATH- t il . Wit h p er mission. )
l ' ||e - t l - it Ut en- i- |mus|. |t |- t |- |1 Fo1 1 ' n. |t Tool s Hel p
Eiiii=' =L~ ! + - - z. - r :. . =- - :||+ - |1 nt = It em ; |, g5 [ }_ "|$ - - . i||
i * l - I1 5 ' _ ' ' | ' iil - iiI' 5 " ' =
Figur e 1 4. 5 ? Simul inl t p r ogr am t o acquir e dat a f r om a sensor . [ Fr om MATLAB.
Wit h p er mission. )
41 1 ! I i' - . ' unt or t caianr . l . i' t t r . 1 i' }r t ic. 1 i. ' 1 af iaihor i s t vt t h i vt a' t TLil E
gees
|- sea Et aa it aae -
I. . J
Figur e t i- ). i' t ~ Resul t s of t he p r ogr am shown in Figur e 1 4. ? F. { Fr om MATLAB.
Wit h p er mission. ) { See col or inser t . )
Pr oject s
Pr oject 1 4. 1
l ior t he sjr st ena shown in Figur e l - "l =l . l .
:1 - Fint l t he cl o- seil - l imp t t ansl qer t )1 |i|; t int i.
h. For Fi' =. 1 dr aw t he Bode p l ot s and det er niine t he out p ut t il t he s_ vst et n l ot an
inp ut givet ' | by - . s' { t ) =Esinl it )+ _ isin{ _ 1 it ).
c. Ur aw t he [ "~ l ; . - quist p l ot and det er t nit ie t he r ange ol ". |' iiI' l ot v- . - ' hicl t t he i5 }' 5 l . t . ' I1 ' t is
st ahl e-
d- For . F' i' =iisimul at e t he r esp onse ol qt he sy st em t o a ur iit st ep inp ut .
e- l _ l l e 1 ' |: t ' I' i)l |' l e' t he r nasimunival ue t il "iii so t hat t he over shoot of t he out p ut hit a
unit st ep inp ut wil l not csc- r ed l ' i - F- 1 |.
Cont r ol Sy st ems I 41 3
R"|_ ' . - t ]I g E' [ s_ ) 1 1 1 "]- s)
1 * i
. T[ { l . l . ' i+ 1 ' ; H [ [ )- E. t + 1 ] |
Figur e P1 4- . 1 Bl ocl t t l iagr am t or Pr oject 1 4. 1 .
Pr oject 1 4. 2
The op en- l oop t t a ns:Fer Funct ion ol a t nechan ism t hat r ot at es an ant enna. used t o
t r acl t a sat el l it e. is given hy
El l r ) _ 5 l ][ )
l . - "I[ s) . Fl . r + I' l l )
Ft . p hase- l ag cont r ol l er wit h t he f ol l owing t r ansf er Funct ion is
t he sy st em:
Hit ) or - t - I
- act :
El t ) * r + 1
l :l 1 l i' l iIFl ' 1 ' 1 l I' l Il ; l . ' l ' l f _ l - ' El . l l . IEI1 ' il l f t l l l L' |IIl I' l l Il ' l l )- l l { I1 ' t IIIt l ' 1 1 ' i[ H]' 1 l I1 ' i, . t Ii' El ]' l [ l il l , EU l ' l ' ]i1 l . '
a. The masimum over shoot For unit st ep wil l he l ess t han 5 ! ' ii
h. ' l he maximum r ise t ime wil l he l ess t han 1 . ). E second.
Pr oject 1 4. 3
The t r ansf er Funct ions oFt he sy st em shown in Figur e Pl 1 i- ' ; ) ar e
. t + l
r I+ r + E
' G :]l l - il l _
, 1
' * ci=. . ~ :- .
. _ - ; ; q. [ , - ]=i
r + i
1
l jil l j T r + E5
. r + l
ii - m:. r + t t t
Har t =s
used t o cont r ol
41 4 I Nut ner t cat l and At r al y t icait vf et hot il s wit h MATi . - 4E
| . |. -
-
Figur e P1 4. 3 El ocl t diagr am f or Pr oject 1 4. 3.
a. Liet er mine t he t r ansf er Funct ion 1 "t [ r )i". |l t |[ r ) For I- 1 ; = 1 -
h- l iimul at e t he sy st em and Find it s r esp onse t o a unit st ep l - or . |ii' . ' = l -
c- Dr aw t he Bode p l ot For t he sy st em { t int . FL = 1 )-
t l - l _ )t - aw t he l il o- ot l . ocus t il - I t he sy st em and det er niine t he val ues oi Fl ir t which
t he sy st em is st ahl e-
Pr oject 1 4- 4
For t he sy st em shown in Figur e l "1 ~ - i- 4 assume t hat t he st eady - st at e l evel of a, is gr eat er
t han H. Use hiir nul inl - t . t o model t he sy st em using t he l iol l os- 1 ving p ar amet er s:
- r i1 = _ im3. . =l =3m* ' - . |' t |=1 - i- 3 sr "m* - R; =IEI. S simi. r ii. =i]. L3- iiisi' m~ , H=5 - m
a. Det er mine, hy simul at ion, what is t he st eady - st at e val ue ol ihl iF|' Ijf |_ - | is a st ep
f unct ion ol d m- his
Pt t t r r y : _
\ t it -
H _ . . . _ _ _
l R1 t il : "31
T:
j l
5 1 $
EJ
Figur e PI4. 4 Schemat ic of t he t anl t s f or Pr oject 1 4. 4.
Cont r ol Sy st ems I 41 5
R- [ s_ l _ Et a) Km; - E l Cl - It ] - F
F+ 1 - l :t oh. s + t it - 5
Figur e P1 4- . 5 a El ocl t t l iagr am of t he cl osed- l oop DE t l r ive.
h- The l oop is cl osed wit h a l evel sensor wit h a gain of l ' v' i' r r t - The p u mp wit h it s
dr ive mechanism has t he f ol l owing t r at t sf et f unct ion:
ot i' }_ so j. - sj
f r il l s) U- E5 - 5 + 1 l s
wher e r t - , , , _ , - ' - C SV-
[ Tt esign a Pl cont r ol l er t hat wil l nt inimizt e t he ITSE cr it er ia.
Pr oject 1 4. 5
Pt ses of an Hit p l ot t er ar e dr iven hy t wo smal l l q- ii: mot or s t hat ar e cont r ol l ed
sep ar at el y . The hl ocl t diagr am of ot t e asis is shown it t Figt t t e Pl 4. Sa. wher e r is t he
vel ocit y r ef er ence and r is t he act ual vel ocit y . The t t ot nit t al val ues of t he sy st eml s
p at at net er s ar e t it : ES. Q =El - F. and t o: ES r adst l second. t it s p ar t of a dr awing.
it was needed t o dr aw a 1 2 5 - mm- l ong st r aight l ine at SD as shown in Figur e
l i' i l - ' jh- The sp eed al ong t he t r aject or y has t o he l l l if l mm. "s f or p r op er disp ensing
of inl - t -
P ' l ' r aje- t t or y
I t I"I' l ' - t "H:'
Requir ed
t r aject or y _ _ _
' - , . -
- *
. - "'
. . |- "
- . \ "a
r " Pr ot l uced
I . _ , . . I t r aject or y
_ _ _ - t i)
- 1 "" - _ I-
Figur e P1 4. 5 h Pl ot t er t r aject or y .
41 E I Numer ical ancl Anal y t ical Met hods wit h MATLAE
l a) Sit nt t l at e t he sy st et n at t d dr aw t he p r oduced t r aject or y { in HT p l ane) and
t r aject or y er r or as t i- t nct ion of t int e-
l h) In t he p hy sical imp l ement at ion of t he sy st em. t he it and t cont r ol l er s ar e not
ident ical . If t her e is a 5 %dif f er ence het ween t he gains of t he 1 1 . - asis and I - asis
ct f l l cf l i- L - . A1 : [ . 1 1 5 l ). how wil l t he t r aject or y er r or he af f ect ed?
l c) Det er mine how a l l l f l h dider ence in 1 1 , , l i. e. . t it ) : ' l _ l . El l ] t am) wil l at f ect t he
l . ' 1 ' El j IIICTD F]. - " ' i- ' 1 ' H- l l F-
Pr oject 1 4. 5
A BSD- mm- l ong ar m is at t ached t o t he shaf t of a DC mot or as shown in Figur e
1 1 1 4. 1 5 . A l - l t g mass is at t ached t o t he end of t he ar m.
T. l . - l ' l l I l ' l ' l l i' _ ' l ' l "[ . ' l F' l :l ' _ ' l I1 . l ' i3l i' H1 ' il ' l I. l ' i- El . FII
l vl ot or iodt t ct a nce l . =l i. l . h"l . E' [ l l ]
l vl ot or r esist ance l l =4' [ ! ' . 1 ]
l vl ot or damp ing B =El - l l t i' . . l - Z [ Al ml r p r ]
f vl ot or const ant it }, =l l - t ' i- t ' i[ Vl r p s ] =l l - 1 l . l ' :i[ "t l l { _ t adl s)]
l "v l ot or t or que const ant l t f r =[ 1 . 5 [ Hm i". - l l
l "v l ot or + ar m iner t ia _ , l j- E =l l - l - il j [ l - t g mil
l a) Sit nul at e t he r esp onse of t he mot or (vel ocit y ) f or a st ep inp ut of i"v' f ot ' t he
f ol l owing cases:
l . The ar m r ot at es in t he ver t ical p l ane.
E. The ar m r ot at es in t he hor izont al p l ane.
l h) Design an anal og F cont r ol l er t o r egul at e t he sp eed of t he mot or - An amp l i-
l ier wit h a gain of 1 ' 3 is t t sed t o dr ive t he mot or and an angul ar vel ocit y set t -
sor wit h a gain of l l ] [ vol t l l t . |' p t n] is used as a f eedhacl - t device. Eval uat e t he
r esp onse of t he mot or f or t he ahove t wo cases wher e t he r equir ed angt t l at
vel ocit y is 3. 41 . ) [ r p t t t ].
E - f
Figur e P1 4. - t iSchemat ic of t he mot or wit h t he ar m.
l s)
id)
Cont r ol Sy st ems I 41 1 "
Design an l cont r ol l er t o r egul at e t he sp eed of t he mot or and eval uat e t he
r esp onse of t he mot or f or l oaded and unl oaded condit ions wher e t he r equir ed
angul ar vel ocit y is 2 - ' - iii[ r p m1 .
Comp ar e t he r esul t s of it ems l h) and l c).
Ent l not es
It
3
4
5
t i
i"
l l
f l
l l ]
l l
1 1
t il
The t f f unct ion cal l f or mat is Tl ~ ' _ ot l 1 jeee=r f l . "v' r r ot , Den), wher e Al ar m and Desiar e vec-
t or s cont aining t he eoef l icient s of t he numer at or and t he denominat or of t he t r ansf er
f unct ion in descending or der of _ t - The r esul t . TF_ oh_ ieer . is a t r ansf er f unct ion ohjcct -
The st ep f unct ion cal l f or mat is r r r p t TF_ al gieer :). wher e TF_ odl _ _ |l e"t ' . ' |' - ' is a t r ansf er f unct ion
ohject . The f unct ion dr aws t he r esp onse t o unit st ep ap p l ied at t =t l .
The val ue of a scal ar . 4 in decihel is given hy Z l l l ogl hl .
The l i- ol e f unct ion cal l f or mat is f r ail . - ; ' _ TF_ al 1 ir i- r ). wher e i"F_ t il . ; , ieer is - . t t r ansf er f t t nc-
t ion ohject . The r est t l r is a Bode p l ot .
The y iol e f unct ion cal l f or mat is %p ol e{ il ' F_ ot l r _ _ ; ie. er ), wher e l ' iF' _ a- l iy ier r is a t r ansf er f t t nc-
t ion ohject . The r esul t . P. is a col umn vect or cont ait t ing t he val ues of t he p ol es-
The zer o f unct ion cal l f or mat is . Z =aeml T. F_ ohjeer ). wher e TF_ of gt ' eer is a t r ansf er f unc-
t ion ohject . The r esul t . E. is a col unt n vect or cont aining t he val ues of t he zer os.
The el r gaio f unct ion cal l f or mat is l f =el cgst inl ' l ' "r aor f ii' r Fancr ioo_ ). wher e TF_ ol y ' er ' r is a
t r ansf er f t t nct ion ohject . The r esul t . if ; is t he DC gain of t he t r ansf er f t t nct ion.
The ep l r f unct ion cal l f ur r nat is TF_ ol i; . iet . ' t =ap hf . Ff er or , Fol er l f ainl . wher e Er r or at t d f "ol er
ar e vect or s cont aining t he aer os and p ol es of t he t r ansf er f unct ion, r esp ect ivel y . and
{ f air s is a r eal numher cor r esp onding t o t he t r ansf er f unct ion gain-
The - t r f unct ion cal l f or mat is TF_ ot f I_ , |ieer =_ t r l [ . - i. l l i. f l f l ). wher e . r =1 . B. f l . and Dar e mat r ices
dening t he cont r ol sy st em and t he out p ut . l "F_ [ l f f , ieet . is a t r ansf er f unct ion ohject .
The p r t r al l el f unct ion cal l f or mat is TF_ If - l l sdieer =j. oar al l el l [ TF_ oit jer r . l . TF_ Cl hjer r ail . wher e
TF_ ahjecr l and TF_ l Sii jet . ' r . E ar e t r ansf er f unct ion ohject s. TF_ Cl l :jt - t r is a t r ansf er f unc-
t ion ohject gener at ed hy p ar al l el connect ion of T' F_ ohjei"r l and ' l ' if * ' _ f l f t _ , ieer . ? .
The ser ies f unct ion cal l f or mat is i"' l - ' _ f l hy ' eeFr er ier l l il il ~ ; oh_ |ieet l . I' l l - ; t ' _ l l :jeer . ? }. wher e
Tl - "_ o. l i_ _ ; ieer l and il it ' ~ ' _ t ' . i. Il i_ y eer . ? _ "ar e t r ansf er f unct ion ohject s- ' . |' iF_ t ' . l . t l gieer is a t r ansf er f unc-
t ion ohject gener at ed hy ser ial connect ion of TF_ ohy ' eer l and l ". l 7 _ Cl t f I_ |r ' eer . - 7 . .
The f eeit il sael l f ut t ct ion cal l f or t nat is ' l :l ose_ _ l . . oop TF_ t :l hjei' r =_ f eeir l l siit ' . l r l { Far t i. ' sr r a' .
Feeidf - vir il ' ). wher e For st r ar a is a t r ansf er f unct ion ohject of t he f or war d p at h and . Feei:l . l s' ir r . l r
is a t r ansf er f unct ion ohject descr ihing t he f eedhacl t p at h. C' l or e_ Loop TF_ l :l l jr cr is a
t r ansf er f unct ion ohject of t he cl osed l oop .
The r ise f unct ion cal l f or mat is j' r , se_ y , |- =r r ' l l . S' imt il iinl ' l e r t . r ot ejr i' r r . r e, t ' . l i* il ]l t ' . 1 ' i' il . t ' ), wher e r
is t he t ime vect or of t he simul at ion, - v is t he st at e vect or { or ar r ay } cont aining t he out -
p ut of al l int egr at or s. and y is a vect or { or ar r ay ) cont aining t he out p ut of al l out p or t s.
The var iahl e t ime can sp ecif y nal t ime of t he simul at iot t or hot h st ar t at t d nal t ime of
t he simul at ion: CIFTIUHS is a vect or of op t ions def nt ed hy t he command Shiner .
Ap p endixA
A. 1 Der ivat ion of Beam Def l ect ion Equat ion
A hor izont al heam suhject ed t o a l oad wil l def l ect . as shown in Figur e A. 1 al _ l ) and
. l i. . l af l _ )- The int er nal moment . Ail . ah- out t he . ' e at - t is at any sect ion is det er mined hy
at =j_ jo_ y _ t _ F)_ t i:l . + l t at }
. - I
w' her ec1 _ T[ ' _ jT) =t he nor mal st r ess at p osit ion jar t he cut sect ion and is measur ed
f r om t he net t t t al asis of t he sect ion. The net t t t al asis is a sect ion on t he heat t t t hat
does not el ongat e or shor t en dur ing t he hending p r ocess.
Assuming t hat Ugl y } and j ar e p osit ive. l l - i woul d he it t t he cl ocl t wise dir ect ion
{ see Figur e A. l h). For def l ect ion anal y sis. t he moment . Aid. ahout t he r s . ' . t :- t is is eon-
sider ed p osit ive if t he moment at a sect ion is count er cl ocl t wise. Ther ef or e.
il l . =- jjo_ t t y ' )_ ; . - - il r l . [ j. t L_ 1 j
- - ]
The heat n t l ef l t nct ir t n wit h a p osit ive l l - r f d wil l cause an el emet t r wit h a negat ive
_ y t o el ongat e and an el et net t t wit l t a p osit ive _ v t o shor t en. Cot t sit ie1 ' t he sect ion
het ween at and at + i:l . t hel ior e hending. El ement UH and el et t t ent . " v' . S. wher e l )l . ' :T l ies
on t he neut r al asis [ see Figur e A. 1 cl l )]. ar e t he same l engt l t . r l - r . Af t er het t ding t he
el ement UH hecomes l . ' r ' T1 "and el ement . ~ "' l . ' i' hecomes . "v". S [ see Figur e A. l cl 1 _ )]- l :l t ut
l engt h . |' Il ' I|h' i. - l f l r =l engt h . l "v' . "i=l engt h UH. The sect ion wil l he cur vt . ' d wit h a r adius of
ct t r vat u r e p . which var ies wit h p osit ion - v [ see Figur e A- l cf 1 l ]|. F. l ongat ion of el ement
t or =c- ' H - r . ' . H =t _ ny t aa- . - vs"=t p - y t aa- p an
et a
42 1 ) I Ap p t =:ncl iit A
l l - ef or e Load
F , Pl
I As
- l ib
l a)
Al l - er Load
l b)
Figur e A. 1 a l a) Beam hef or e heing l oaded; l h) heam af t er heing l oaded.
Then t he st r ain. EL f f ). is given l it }.
- - . se- an -
E_ . L[ _ g}_ t o iit a _ r t [ Ag
one t i
l _ l l ' _ ' l l ' [ ]l ' il l _ ' l . ' :il H. ' l - "i" 1 ' L' l El ' l It i! i- St l ' El . l I' l l l ) . ' :i- iI1 ' l l _ Sl - ' ii- 1 S Fl ' _ ' l l l ' l ' _ ' l ' WSI
l
El l :
F
r t e, + is- H t r ot
_ l "
- F
J-
t i
t r l el . - ' 1 .
l l r l
Figur e A. 1 h St r ess at heam sect ion
Ap p endixA I 42 1
1 A- t . -
l f i H Hgf or e henr l in_ g
gig 5 Hdl l - 1 "' . ' . "_ i' l
l l )
. - t ="". _ .
. =l _ , f t er . l - t et t el t t r g. i"- . l ' S' =AIS
[ A! ' - e' r t t r r t . l soi:_ f t ' t - L - E cl ues not el ot t gr r l e)
i' s". S' =p sf l
l l
I
l "- ' er . r . t . r . r r l it - t is
- [ il l
Figur e A. 1 c Hor mal st r ess causing a sect ion hent l ing moment . t t ) Beam el ement
[ EH hef or e heam hent l ing; l l ) heam el ement t ' - iH af t er heam hending.
wher e E is Young' s l vl odul us. For t he heam p r nhl em 1 3 _ J and t 1 ' J_ ar e ncgl igihl e. if not
st er n. Thus.
. |; y xUr } = E i. - i' t . ' 5 l '
f see Figur e A- l d)- Suhst it ut ing Equat ion [ A- 5 ]! int o Ecjuat ion [ ' A. Il ) gives
l l ; I' , = = [ A. l i- )
P H1 I3
wher e l is t he moment of iner t ia of cr oss- sect ional ar ea. A.
41 2 I Ap p encl i- vA
' - l
l . - ea t r al ast ir If
I Tl -
- . 1
H
I
- it
). . .
I ,
Figur e A. 1 d Sect ion st r ess dist r ihut ion.
The cur vat ur e. AL . of t he def l ect ion cur ve is given h- y
s- . ' _ ' _
al . -
def
il eis
The sl op e of t he del iect ion cur ve - c- c 1 and t her ef or e
sh
l . . . sl
r t sir
If
=[ A. f i
f iuhst it ut ing Equat ion [ A- t i} int o Equat ion I[ r "|. - t i] gives
y !
_ - l l
- iwr l I[ . A. - il
el r c El
Ap p endixB
B- 1 Der ivat ion of t he Heat Tr ansf er Equat ion in a Sol id
I Heat t r ansf er is t her mal ener gy in t r ansit .
I The heat conduct ion equat ion p r ovides t he means f or det er mining:
l - The t emp er at ur e dist r ihut it in in a sol id
- _ . - is I
' l ' The t ime it t a l - r es t o t r ansf er a sp ecif ied amot inr of heat
The aniot t nt of heat t r ansf er r ed in ; isp ecihet l p er iod of t iiiie
Heat iiow can he r ep r esent ed hy t he l t eat l ius t - ect or . r ]i. t vl 1 icl t is del it t ed as
f ol l ows:
l icl cct dt r _ t o he p er p endicul ar t o t he l t eat f l ow dir ect ion. t hen =t he r at e t hat
heat f l ows t hr ough A r l p er t t nit sur f ace ar ea and r y ip oint s in t he dir ect ion of
heat f l ow { see Figur e f l - l a)
l f . - i"~ . - f g is t he r at e t hat heat p asses t hr ot t gh Ar _ . t hen
. _ . - it
jt jl j Lint i
A- _ i- |. | al l
l f t he st t r f ac. e ar ea. At . is not p et ' p et it Jl l t . ' . Lt i; 1 1 ' t o t he dir ect ion of l t eat iiow. t hen t he
r at e t hat heat Hows t hr ough Ar . say . ACE. is given hy
AQ =. y - r l dt r =r jI' - . - t s
wher e ii=a unit vect or p er p endicul ar t o sur f ace Ar { see Figur e I1 - - 1 h).
Fr om Figur e f l - l a. it can he seen t hat
- 4i. , - t i=r l t s cost t ' - =A t t i- r ig =. - "t r l - r il l
wher e in is a unit vect or p oint ing in t he dir ect ion of heat f l ow-
42 3
4I4 I Ap p eno' i:- r l i'
asi
- - * 1 - It
I
it \ \
Heat iiow l ino
Figur e B. 1 a Heat f l uir vect or ,
The heat iiow. AQ. t hr ot igh A; is t he same as t he heat f l ow t hr ough Ar i[ see Figt t t e
l l . 1 c). Thus.
so - wear . =|a|r . - as =a- as
For a f init e sur f ace ar ea.
Ther e is a l ar ge cl ass of mat er ial s t hat ohey Feiir ir r ) heat conduct ion l aw. which is
. y ' =l i- "FT
wher e f r is t he t her mal condt t ct ivit y t if t he mat er ial and FT is t he gr adient of t he
t et t ip er at t ir e. l n Ca r t esian coor dinat es
do f l y l ie
AS
Heat iiow t l ir ect ioii
t i
T -
e
t
AS
Figur e l i. 1 h Heat f l ow t hr ough an ar hit r ar y or ient ed sur f ace.
Ap p ent l isl iI 42 5
as is viii- * 1 .
a
"l
Figur e l i. 1 c Rel at ion het ween AS ant l A 5 ; .
wher e . _ y i. ii. ' ar e unit vect or s in t he :c. y . . a dir ect ions. r esp ect ivel y . The signif icance of t he
gr adient is t hat it s magnit ude is t he maszimum r at e of chan ge of t he var iahl e wit h r esp ect
t o t l ist ance and it p oint s in t hat dir ect ion- So Four ier is heat cont l t ict ion l aw st at es t hat
hear wil l f l ow down t he st eep est t einp er at t ir e hil l avail ahl e at a p at t ict il at p oint .
l i. 2 The Heat Conduct ion Equat ion
f or St at ionar y Sol ids
The heat conduct ion equat ion is hased on t he Fir st Law of Th er mody namics and Fot ir ier ' s
Heat Coot l uct ion l aw. Fir st t he Fir st l . aw of Ther mot l y namics wil l he t l iscusset l .
B. 2 . t The Fir st l - aw of Ther mody namics
For an ar hit r ar y sy st et t t l t egion) wit hin t he coiir inuut n.
The r at e of iiicr ease in t he t ot al ener gy in t he sy st em =t he r at e t hat heat
is added t o t he sy st em p l us t he r at e t hat hear is gener at ed wit hin t he
S:|- "S- l It . ' I' . l ' l Pl . l . l 1 ' i' l il ' l t I l ' H. l It I l Il ' f _ wr k t ' . l . t ' Jl ' l . t l ' l l Jl ' l t il t : S}"Sl Il l :. l Tl .
We onl y need t o consider ener gy f or ms wit hin t he sy st em t hat change dur ing t he
p r ocess. if any of t he f ol l owing p henomena occur wit hin t he mar er ial
El ect r ic cur r ent
Chemical r eact ions
l ""- l ucl ear r eact ions
t hen changes in t hese ener gy f or ms need t o he account ed f or . t l l l hen t his occur s.
l Il i' l . l ' _ "l i' iit ' _ ' l ' 1 ' l :' l ' . l Hii' l ' l TT 1 T_ l El . l it It ' . l . Fil l l il ' l l iIl ' i- { I t _ ' l l ' l iI1 ' E:|l ' l Tl . l l l ' I' l "l l 1 iii:l l . ' l _ " Fl l l l l l iI' l i. ' 1 ' l i]' HII1 i' _ l . . l Ll . l ' _ l . l ' l Il - l l . l l l ' l HIl l :Ll I1 l ' i- ' f l . l Il _ ' l "
r ive l aws ar e needed. Since al l t hese p r ocesses r est t l t in a conver sion of some ener gy
t hr r n t o int er nal l t het mal ) ener gy . t he p r ocess is account ed f or hy incl uding a heat
ge. iier at iot it et iiiin t he Fir st Law of Ther 1 nody naiiiics. Under t hese cot t dit ions. t he
wor l t t er nt f or st at ionar y sol ids in t he Fir st Law of Ther mody namics is aer o-
"i' Il i' e now ap p l y our st at ement of t he Fir st Law t o t he inf init esimal vol ume shown
in Figur e Eul a. Not e: Eval uat e Sur f ace t er ms at t he cent r oid of t he sur f ace and
E"I. "l l - . l Hl IE' "il Til ' l l . l l . Tl E l . ' E1 ' l ' l ' l S Ht l Il ' l E Ct ' ; "1 Tl ' F' f il l t ' _ ' l t il ' F' l ' l ' l - E ' l i"t IIl l ' l . l l ' l ' l l i; ". Fl - l ' l f _ * h. l ' l - |' :"iEl l . ' ' f l . l . l l * I ' l i"El l :l . ' t ' )l ' | - 5 C31 1 l . ' . l ' l l i
decomp osed ir t t o it s comp onent s; i. e- . if =iy l f + iy gi+ i; - ' y l . ' .
42 5 I Ap p encl i:- r 5
- |- l "
F - iii- i1 "
f l it ] , l El f l - El _ El - l
. . ~ ' - ~ i' /- r
J iae
- . - - "' M
Hl S+ l
Figur e B. 2 a l nl init esimal vol ume in Car t esian coor dinat es.
The ar eas. t t nit nor mal vect or s. ant icoor dinat es of t he ar ea cent r oids of t he
innit esimal vol t iine shown in Figt it e h. 2 a ar e given in Tahl e f i. 2 a.
Ap p l y ing t he Fir st Law t o t he inf init esimal sy st em shown gives
t i
j; . Tl Dl t l :j|g HA. 1 t Ay A. - =_ ; =- Z r ) t . s. . . . n- - a ESH)A_ 5 ' , . + gl s. y . a. r ). A- t AiAa B 1 }
. ' - _ |. ' . e- I m_ |_
Tahl e H- 2 A Cent r oiiiCoor dinat es ant iNor mal Unit
Vect or s of Sur f aces S. t hr ough S.
Sur l ace Ar ea
_ Eoor el . of
" Ce- nt r oiel
S. Ay n:
r l ~ + * IJ 2
S. Ay Aa
. . as
~ l it ? - "l
S. Ashe
t t i) ]
y [ 1 - :. y + E . 2
s. sear
1 eh
- I l et t f r sl
S. ct r . - i' t y
. j . - t a ]
. s, , a' + - - -
l r F 2
Sg Asny
r (~ an
- . }r . :2
Ap p enol is I 42 1 "
wher e
t i=iit t er iial ener gy p er ut t ir mass.
g =r at e of heat gener at ion p er unit vol ume by int er nal heat sour ces.
The minus sign in f t oiit of t he summat ion sigit in Equat ion { E. 1 ] t est t l t s f r ont t he
f act t hat iy - iiis p osit ive if heat is f l owing out of t he cont r ol vol ume.
The summat ion t er m is eval uat ed as f ol l ows:
- - - ' As ' s ' . dt . . 1 r
_ _ _ . _ A- e ; ~ A- 1 :
sis. - ii- ai. s. iasr =r l ' _ ? r ~ - el l ' 3 * i- Ar - ar =r if f F- r - =* l A- r es
' [ l d. d_ )
Simil ar l y .
_ - a _
r j_ l l . ' i_ . . r )- at - t _ . ia. s_ . ==f . (a . jt + ? * f . a. r )A. vAa r ain
_ . _ _ _ _ A_ y
et . ' :' ~ . . ii- r i . s. - Jar . =- s. r - - i- ? - at Avis r es)
- _ . on .
=y l . "' i' i. r l - r il S . ) l l - . . ' i- . =iy _ . [ . ir . _ y . a + To]A. vA_ y { E- t i)
. . _ _ . . - L' s
"f i. Tr . 1 Fl i. Tt ; l Fl ' . ' Fg =_ * 1 l f ' _ =|[ - It - l "=3_ ? 1 f ]"l "' - "il . . l "
Ap p l y ing Equat ions (B- 2 ) t hr ough { E- J ) t o Equat ion [ E. I) and dividing hy AxAy
m gives
I l As: l Av
a A- l * ' * ? r "l ' l il ' ? i' e l
f il e l if As:
=_
l a a-
+ a
Ar
l M As
if - if ; - I- f "E+ ? "' f )_ "f _ t ("l f "- . l ' l "' l ' l _ ? "' l - T
+ . . . Ag + _ g' l . . 1 r _ y . e t l g
E. S)
42 3 I Ap p endixS
Tal - t ing l imit s as il t ar ? i- l l . shy l ' t l . and dir t ' :i+ f l of hnt h sides of Eqt iat ion - [ f l - t i)
gives
5 is it is. _
E[ p o)=ji? T' + ? | l + g:j+ g=l F' - g+ g { Egg}
l Et . 2 . 2 Some Vect or Cal cul us
- ii=al l + a. _ i+ . - t _ . i
_ . dd .
"- Ti - . . - t = A FA"
El - it f l y
W- _ ar . ar . ar -
f l ' _ _ j"l " iE
Ap p l y ing Four ier ' s heat conduct ion l aw:
1 - l nn-
- 3- =- W1 [ l :' i. l [ ))
ii"- - 5 - ' = * F~ t - i - i' Ti r ain
a air it Br " it or
v- "=- - s- - r - . _ _ s- . . _
5 l a. - l dal + f . l y f a. - l l a. - if sail * 5 - F
Al so. it =t r . I wher e r . is t he sp ecif ic heat at const ant vol ume. For sol ids and l iq-
uids. r . =ep =r .
Because if - ' 1 |l ' 1 . and c ar e mil d f unct ions of t emp er at ur e. t hey f r equent l y ar e t al - t en
as const ant s [ esp ecial l y if anal y t ical t echniques ar e used t o sol ve t he p r ohl em). The
El l Il l - [ J"t "l I t Il ' . 1 l _ 1 - H. l . ' l . [ l ' l ' l . l ' . l i. ' C' [ l l l ' l ' l l l Il ' i
1 32 ad ah ad
- = + + +
wher e
. . . . if
it =t he t her mal dif f usivit y of t he mat er ial :
Dr
Ap p endixC
C- 1 Bessel s Equat ion
Tl t e sol ut ion t o l iiessel l s equat ion is oht ait t ed hy ap p l y ing t he p ower ser ies met l t od.
l :' l essel ' s equat ion is
. cl y r l ' . . _
s- ' i; + - s + l . ! - ; "i. "]y =i) t e; _ 1 }
eh. " t he '
Equat ion { ILl . l ) is t he sanie as Equat ion l 1 l . l . f i- i}. wit h . "l r ep l acing ii. Assume t hat
S "f l i' c. . ; n
. - ' l
J- - I
- l l ! Z 2 + HI- :g_ |- _ t _ - _ l
r |l
- ' II
y r = E t . =+ . t - - - 1 )[ i+ s- jis- _ _ _ . - "i~ '
. - - "i
l it il ist it t it it t g t hese esp r essi- nos int o F. t |t t at ior i- [ t T. , l ) gives
I- - - - -
Z f l + if l l l i+ - ir l r t r - cf ? + Z il l i+ . f r ' )r r p r ' Tl + 2 r t _ _ - ci_ i_ ' - Z r ig . r r _ . . t "T' l =t i
The coeiiicieiit s of l il t e p ower s of . v t t t ust he aer o. "' . "i- "l iet t i=l l .
t o- or - + t - - . - . 1 1 . . - . + . . - . t i
42 9
43t I' I Ap p encl ii- :C
Hut . t E' _ _ | cl oes not est ist . so l s: of =f l . Ther el hr e. one sol ut ion is f or . if =r r -
"iii' heni=l .
[ l t t . t ~ + l )+ ii- + 1 - sf ]. - i|+ . i_ | =[ a:+ 2 a+ t ]. s. + a_ |=t )
Since t ! I_ | does not esist and of + 2 o+ 1 at l l . t her ef or e . t 1 ' | =l l . This r esul t s in i- 1 _ . =t ]
st . - _ =t i. it . =f l . and so on.
When r ' =2 .
[ { n+ 1 )[ o+ 2 )+ (o+ 2 )ir 2 ]a: l ' . t Tt "u =[ )
t
f in l it !
it - . 2 -
E o+ sr s sos+ ai
Til l - "heni=- i.
jf n+ l . l l l H+ d)+ r r + dn:]ir 4+ a' J =1 }
t ' )F
st . is. an
FT [ a+ 4Fhf - IiH1 n+ d)- dHH2 n+ dH2 n+ 2 ]
when r ' =45 .
Til
ITTTEr is - l - . Tf . Th+ - t iil f 1 r I+ - - l )f Er t + . ? . )
et c. Suhst it ur ing t hese coef f icient s int o Equat ion l l - C- 1 ) gives
ii' I
_ y - it r t
2 - IS
. 1 ? If I J
f il l I- i[ Er r + Z )+ - =l - E[ Er t + - =l )l Ir t + Ll ) t i- 4- 2 l 2 r t + t ' i){ 2 r r + 4)l 2 r t + 2 )+
t
. j t r ial t sr aii t siaii j
y =:r . it . , l + ]+ - - -
l l :- i+ l ) 2 - 1 l r r + 2 )[ o+ l ) 5 - 2 - 1 l n+ ii)t n+ 2 )l n+ 1
Ap p ent iiit t f I 431
To nht ain t he y l esp r ession given hy Equat ion l l - E. - Al ). set
I
it =i
"' a . - . 1
t hen
ILLS)
_ j t . - . - or t - ear s t . - . . - r ar e t . ear * "
_ y + - i- If
_ t il l ! l [ o+ l ]- l 2 ! l _ . + i+ 2 )! 5 ! I[ . o+ i)!
l t is l ef t f or an est er cise t o show t hat y as esp r essed hy F. quat ion l l - . il ) =jg as
given hy Equat ion EC. - ' i) in t he nest sect ion.
C. 2 l t ecussion For mul as f or Jul e)
The convent ional est p r ession f or _ , l n f r ) is
r i+ l . '
r =o T ' '
: " [ ' J:]l ' i' + l ' |' dl :
f * ' l Il ; * r ir r + . - - + 1 )! _ a_ I' l l
. r - t r l . - i+ . t r ; i1 - - "" "
f t l xl zz il l . i+ r r )! f al f il { F- f l
Fl ow
F 1 ' ' Iv1 . l il
. _ { l )' r . r at at
TT"f Tl _ 2 t ' l l t ' + o)l [ EMT]
r "' |. l '
"' t - t r l - an - It Jr "* ""
i! l i+ a)! f a (Ef f
The f ir st t er m on t he r ight - hand side is just iif nf r cl and in t he second t er m on t he
r ight - hand side t he t wos in t he iiiand in t he sel l cancel - Al st i. t he f ir st t er m in t hat
st t mmat it m is st er n. For t he second t er m on t he r ight side. l et it =. i- l . t hen
so l :_ _ 1 :|j:. + 1 + [ I )1 - |IIf t t + ])]
. l l :_ t f . j. r f - i' i' l il =- l ' F_ f T|. . f - f ' iil l l ' . il :E 2
. l ' l - l l
432 I Ap p encl i- 1 t C
|i]l '
"' l 1 - i|+ l + 2 il
. v
. t i
sl . l s)=Hl . t s)r 2 (g}]{ g+ Hngjzj t est
. l i' =t )
Comp ar ing t he second t er m on t he r ight - hand side of Equat ion - [ E . 5 1 ) wit h Eqnat ion
l . L". 5 ). it can he seen t hat
r af t s) =sj. t ar J s. i . . , t si t _ c- ini
This is t he f ir st of t wo r ecur sion r el at ions invol ving t he Bessel f t inct ions of int er est
in t his Ap p endi:- t . Ret ur ning t o Equat ion iC. t i). wr it e it + 2 i=2 l o + i) l t . t hen
Equat ion { (1 . 1 5 ) can he wr it t en as
. . _ r - 1 r ar s+ o 1 . . . "
l "l ' l l _ * ' t it t + . - in
H [ _ ]}; ' |:_ H} 1 I it - l + l t
+ 2 il l i+ r . i)l
|:- l l '
I _ - { _ n. - x- s- 1 + 1 t
If "l il _ f 2 r it t + s- t iil al
. l =l . l l '
E [ _ _ n|= I xIt + l iI
ii l iF. - t ])
My il l i' + o)l a a
not ing t hat
isil s1 " i' =isii"'
Comp ar ing t he f ir st t er m on t he r ight - l t and side of Equat ion { (1 . 1 1 ) wit h Equat ion
(C- 4) and t he second t er m on t he r ight - hand side of Equat ion (C- 1 1 ) wit h Equat ion
(C- 4). it can he seen t hat
. c_ l jjl . t - ] =- vjn_ . il . ir )r . t _ , l "l . 1 r ]I { (1 1 1 }
Ap p ent iist : I 433
Equat ion [ C- 1 2 ]! is a second t ecu t sioiir el at ion of int er est . Anot her r el at ion of
int er est in t his sect ion is
it - "r . on=- "r . - . t o t or n
Pr oof :
if - t r ". l . i- t i] =- s"- l . f l si+ - ' 1 - s F' - l . l . si=s"' ] l s- l . IiI. r )+ r - :l , , l s)] { C- 1 - it
Suhst it ut ing Equat ion [ C- 1 2 ) int o Equat ion l C. 1 - t i) gives
in- "1 . on =- - "r . _ . oi
C- 3 Ur t hogonal it y of t he 1 . . Funct ions
The p r oof of t he or t hogonal it y of t he _ _ l . _ , f unct ions f or t he p r nhl em descr l hed in
l iect ion l t l - l l f ol l ows. Tit l e wish t o show t hat
it jig: Rf
j- j|. t smsi. r . |t ' sjsi. r s=. sm . if [ gr am an
t i El l
Let l jl g =jg f il - H r jl and t jl m =Jf g f l l om r ). f l iot hdt n and sl im sat isf y t he f l - essel is dif f er en-
t ial equat ion: t hat is.
I
. ii at . .
r g' l ' . r + - %+ s; - ~ a. =a l [ j_ 1 ' 5 )
and
. . a' i . r . .
r " dim + r %+ - l ' . . :Jr - t f |Jm=l l { isl gj
l "~ l ot ing t hat
- i- or _ . - ct - or
' 5 in ""as t t a is- in
434 I Ap p encl i. i- :1 :
l vl ul t ip l y Equat ion { 3. 1 5 } hy l l im and Eqt iat ion { C- Iii) hy t t i . giving
sl
l r f il f f l f l f f l Tif f In (cast
f f l TE- EFJH . 1 . l .
ii. - * ; jr ? j+ Is. . r 1 1 1 . 1 1 1 . =iii t c. t s; i
Suht r act Equat ion [ C- 1 9] f r om Equat ion l [ C. l - l l ). giving
1 I I if f f l l l f . . . it if f f r l l f m
(Fl - "T _ f l . )1 " { Fm f il l , =l l f w - Ff ' "_ Et r
Divide Equat ion (C- 2 1 1 ) hy r . mul t ip l y hy sl r . and int egr at e f r om zt er o t o l l . giving
ii it -
al of
is ~ <>i~ W- il iei- si- i. si- ail s
The int egr al on t he r ight - hand side of Equat ion { C- 2 1 ) can he made int o an esact
dif f er ent ial hy hr inging t he it it er ms inside t he der ivat ive exp r essions- 1 ' - l or e t hat
t l j - o. - i- i- . . . ] aj se. ] - oi. - iii.
r il l ir ii= ir i+ r
sf r ' "' ol r " r il r mir f r sf r sh r f r
nl r sl r air nl r
of Ef f ! ii - ' - f il l
' * 1 - - al "si""- al t s]
As a r est il t Eqt iat ion { E- 2 1 1 hecont es
S ii
. . . if sf
(- 1 . ; t j) . sl r = %r i1 JH Til jr l r
r l sf
- l - - is- - . si
- oi - is
=R ~ _ . r si? "isi- s =i. t siT"=' t si
Ap p en- ExC I 435
DI
R
(1 ; - 1 j)_ [ r jil mr l jl nr jdr =. =:[ juil ml J; [ Jag- :1 - , 5 , [ AME] 1 ; (l mR}] { - 3. 2 2 }
Eur t he |' . l { ]LI[ 1 ||' iEl , f }|' cnndit inn [ 35 shnwn in Equat inn IELHH in Chap t er ID},
42 ' . 3:
[ E' |::_ _ ; r |||_ [ ; . 1 il . . i|"}:|* l "; _ ||l r u' |:}|. J"]:|r H [ |
is val id Ear - c:1 ::|1 jg { l qr }. T1 1 cr cFur ' :.
1 5 1 1 , 2 1 =- 1 ur l , R; + =:- . ' _ . ". 2 :' n
and
I
; , ; :1 mR1 =- ; , , |:1 , , , R1 { cm}
Subs|:iu|[ ing Equal iunsI[ C. 2 3}:1 . |1 c1 [ C. 2 1 ' i} int o Equ:. =n:i|:m { I1 2 2 } gives
R
[ 1 1 - 1 ]_ [ r ]{ l mr ]| ju[ ? 1 . r }d:- =R[ jt l mjg 1 , ] { AER} + _ ; U { l HR}%IU{ l mR}]
=U
IF : 2 * H, t hen
. =i-
. [ r f u(l mr }_ , Tu( LWr }dr =U { C- E. 5 ' ]'
If mr =n, t hnin { ii1 5 }: II] and t he int egr al r [ f n{ l , . . "}]I, g; - n- :1 - ud t u be cval u-
at d. Fr nm Equat iun:- i{ (2 - 1 5 } and ((1 . 1 ? )
# 1 # 1 1 .
r - ' ; (r ; _ , . I' H(? |. n H] + P1 . r jul n r } =El { |_ ' _ j_ g|- 5 , ].
J
Mul t ip l y E. I|l . l i1 [ i4:Il l ' l { 1 . 2 5 } by EFj [ . ? ' |. r ] . giving
r
Er i1 , , { l g r ]|%(. r %M1 "=4): - 1 ; , , 1 1 M1 . - 1 1 |; :1 . r :+ 1 1 1 3. 1 :- 1
435 I Ap p endixC
t f
Let sr =r gf nl l nr l and v =j { l \ . |. ] r }
Subst it ut it t g t hese val ues int e Equait imt (Cl ? ) gives
st , , is
2 s =- s. ; t ~ - t t r i |; e. es; i
Equat ien { H. 2 5 1 ean be r ewr it t en as
dug 1 iv:
i=_ jt _ - - i
sir Hr sir
El f
I.
is is 1 I it I
El f gf sl l nt l l =- IMFEl f sl l t l l { 2 . 2 9}
Mul t ip l y l :' - e|t l 1 sit l es el : Equat ien { C. l ' . . l ' ] by t f r ant iint egr at e Ft er m zer u t n R , giving
R - , R
it E- il l 1 E it 1
J. ; [ r ; f u{ l ' |. . nr ]I:| st - _ - Ht ; ; [ _ , t , , t s. nr }] l s, -
El l
H
I H %l _ _ _ ||l _ "_ { l l 1 . il "_ ' l ]E }. t f r =t s: 1 , ; t it R1 1 , :, ; ; _ 3m
Ev Equat ien (1 1 1 . 5 5 )
, is
jU[ Il . n! t ' } =gju{ . T' |. HR}
iil t et eiqer e.
F 1
Hl it iil l st l , , r ' )1 l [ et =l RIit l , , RJ]* t est )
t el r . l : '
l "~ l e~ vv int egr at e by p ar t s.
J n. - ; 1 "t * =::t ' Is' t 1 it
Ap p ent J' i. 1 t C u 432
Let
at =iii2 ' 1 ant init - I =isl l f n l it r l ]:
' il 1 en
|! 5 l r II! =El ir dr ant i:2 =[ jg iii. r ]I]3
Using t hese r el at innship s, t he int egr al in Equat inn { ' i:, f :[ l ' ] her ; - nnt es
R . |' i. "
2 2 r 2 2 2 2 R 2 - 2
J. { Raf [ l a Iii]- l }r r =[ l s- r { f ul l er } 1 |; _ El l - r f r l - - f t _ i{ l I' 2 r i]] ar r
t r I2
Cnr nhining Equat iens { C31 } and { (1 . 32 } gives
R - |-
[ I"[ jul :il I. n ; |* :|]3; :1 r F= R3 l Jf D|[ i' I. , "RH1 - |- }
Tl t er el iar e.
I
R l it ? ! + [ ; 1 TR]
It [ gt anest - al l [ gm t a 2 2 1 1 t e. s4i
|; | . r r
ant i
s l a R1 + bTR]_
Ir f gl l mr l jn l l wt l t il r =EM il l [ jut l meii { t _ ", 3~ 5 }
- l l "T
Final l y , we neeel t n shn- vv t hat
H
Jr l uikw f |:}_ |5 _ |r _ |- ' : in- i_ l |l "1 |:D' _ l l |_ r ' |_
t | "
Let at =ii. r . t hen it =i' t msi' r . l ~ i' l ' |ie|1 r =U. at =I], and when 1 * =R. at =. i' l . . m ii .
E AER sus
2 at '
_ l . r L, ? \ , , , r i it =I l mf u{ r i =l l ; I If uisiis IIt _ 2 . 1 - Z - T}
433 I Ap p endi:- :C
Hy Equat it sn [ L_ i- 1 il :|, wit h at =1 ,
al l .
. 1 r _ , l u[ . t :l =gl a' _ f [ I[ . 1 * ]] l l :- . :. l 5 _ l
Fiuhst it t l t ing Equat it m i:i:- _ il ii] int n Equat it in [ l :- 9- F]! gives
2 , ? . i' . ~ F:'
it if
' - I
Lt ) - [ }' l . mr }dr =l l iI! 1 1 jl t sil t ii- =l l i[ xj1 [ x}]u { Q5 9}
' il 1 us.
s
Ir [ U |[ i' |. mr ' ]2 2 r =]Li; [ it mRj! (it mRl ] =l ij1 { l H|R]
I M nl f
C. 4 Vect or Cal cul us in Cy l indr ical Ct l nr dinat es
Scal ar 1 1 1 4; , - , a, E}
EH1 1 2 _ 1 EH1 2 . H1 1 2 .
""=a* =t t at t ""n* ' 2 K - ' - Y- 4"}
. I cl dil l 1 dzil l die
' 1 ? =- Z
ED r E- ir l r Z t l r l + r E dil l + dz: l iil l l
Vect nr . d{ r , . e} =El ; t il , + . - in El . + . ' El _ _ E; |[ C- - 1 2 }
- 1 t i ir l . - it d
1 9' - . - :l =; [ ; { r A _ l ' + Bl - 1 - at r i- i_ _ |}i| , [ . |:_ 45 ].
Ref er ences
I. Hr ey seig, l i- , . el r i' t . I2 r nr es2 ' n' 2 2 . g2 ' :r eer in Masnemnr ir i- , iit h ed- , l nhn "Iii- "il ey f it Finns, l "- it - ' - . v
"t "nr l t . I999.
. 1 . ht t p :Hp l at 1 ct nt at l 1 - c|r gicncy cl ep ediaiEcssel sEe|1 . t at ian. l 1 t n1 |.
Index
A
. |' ! l Ll ]5 El ' l . l . ][ ' C val ue. l l
Fl icceiet at inr icnnt t ml t et t t s. medel anal y sis at
t vi' u- t l int et t siut ial st r uct ur es. Pl - 1 i
. r "icce' - t sing iil es. ij
. - HI: [ 7 ' n1 . 2 i' - r - r I- ' . i- ei:r r - nm; - 1 gner it ' s_ i' i' |iI|5 . r - n- nihn- r t .
. :il . i_ i
. - i' ict :|ve susp - ensinr t r nndel ing. Hint uit nl t .
. 31 - H 999' . Ii9' i
. - l iid; 2 |. =- t i' - . ' c nt ude. l l _ l il :' . t u- t t il t - ua. , i- iii
. - ' Iidap t iv- e nt nde it em. _ i' |l Z - J1
- t it p r est t t t iaet it ank p t r iiet t . 1 . 1 - ' 1 ' - 1 EiEi. i . - =i
Air p l ane p acl t agr : dr t :- |. 1 |. 1 r |. :- ject . i1 |l . 1 . ii
. - il iigeht aic equat inns: . ":|' . ei' Lap l ace ' [ ' r an. t . inr n1 s;
l "l . t ' :- t il t s t il aigehr aie and
t r at isccl it l et t t ail i' . ' L|_ l . l i. l :' i. l . l . iIJ1 . ! ' |
. r "' iit it t t - t ic
at r nnsp het ic p r ep er t ies as t unct inn r if .
. l i1 |- ' - Ii
hel ium hal inr in p r n|c- ct , l 1 t ' :- l 1 3, isi
Ft nt p iiiiet . Hil iiiit nt il ap p l ieat iat t esat np l e. St ii- i
a' ! l L[ |i1 l ' l . i|5 . : it ||_ 1 ut . ' 1 iit nuii|2 l t . l _ l at a F' t ct . ]uisit it . 1 t |
Tr t - nih- r nt , r - ii' il t ' := |l . Tf "
Pinning nut y it t t . l t iit nuiinl - t l l iat a . - * iet ]t |isit it ' ||t
' i' nnihu:t . - ' - i|iil T- "- =' . ii1 ' H, t il l ]
. - "in. t l ng signal s. t m|, ' :|it r t g Fr n r n ac cel cr nmet et -
- t t 1 s. t |1 . i1 a
. 3' inaiu- g- t . t . 1 - digit al cr _ 1 nv|:t Let If . - it Ll 1 1 . 1 ]
hy - r l r anii- r | |ist - t in p nsit inn r nnr r ni, il . ' i1
sat np iet idat a cnnt t uisy st et n. . * l * H. Ii- Jt i
iiint ul t nl t , ccint r nl sy st ent s. _ ' i- 91 r - ii' l 9
. - "' in. t iy sis. F' l r ir s, i' i|. "i' Eil t nnl 1 ' i:. t t t t r cs. 31 9,
3ii? "1 9? ii. ii F- ii
Fl ins ival uel , l l
. - it ]:- p r nt - :imat :ng [ ' - unct inn, cu r ve Fit t ing,
1 ' 5 9 I92 1
Ht r it it met ic np er at inns
n1 at t ices. - ' i' i- ~ i- ii
' . iinuul init . |r i. ' iI- l f l r i
i- it r it hmet ic np et at nt s. l ' _ ii
. ' l |. l :' l t ' |- | |- ! i] t i! ' ! |- t , "l ' i|I ] |- t np i- . ' - r t ies
as l _ unct i- :. 1 |:| uil al t it ude. . _ iil . i=:|
hel ium hal l ct - nn ]:|- r nl ecr , l 1 [ il 1 E, l _ i| i
i- iit t t nmt il iiit - enl iisinn p m- iect . 1 93 iiit i
i' il . I. . 1 t t . |- |nt 2 l :- iii. - : 2 - iusp eit sit nt sy st et l t p r uiect . 1 ' 1 5 - - 9- ""5
l l - aci- Lvvar d iinit c dil icr cnce ii":- r mt t l a. 1 1 9- 1 1 1
HaHnnn. l 1 l 1 E. I94
|:l - cant at ial y sis. l _ a|. 1 i. 2 t . - : ' |' r at 1 si- ur t it s. 1 &3-
l l cam dc l ie ct int t
nt et hnd e|l "sup er |' it 1 |s- it inn. Iii? i. * i . J
nr dinar y dil l er el t t ial e' t . ||. t at iu- |2 s. I]l Jl IIl ]|i' IIl :Li]. l
int egt at inn, il Fl i1 l
iiear n dciiect int t eqt t at ir m. det ivat inn ni.
' =i1 ". i' - ' - l i1 1
|. i- ending mnnt ent s, heat n |Il |I' il :l . CC[ l ' L' ii]' |- l l 9l 1 l -
l . ii9' , - i1 l
l i- easel l - unct i:t _ 1 n. . 1 1 1 1
nt t n1 cr ic. 1 i1 nt - egr at i- n- n, il l ]- l I' ir - ii
nr t hngr inaiit y nt . * i: i it =iF' ii' i
[ at uje- ct . 91 - 95 5
r cct t r sinn Fnr mul as, - ' - ' i_ "|- l - - ' - H3
l i- est . t ' i' s. er |t :|at inn. 1 l il i, t - ' i1 9- ' - i_ i|i
l iest - l it p u- l y 2 t t . 1 t ni. 1 l a|. 1 [ . 1 r ut t i|t |. at i|1 g cur ve.
1 1 5 9'
l iest - t it st r aight l ine - ap - p t mt it nat inn. 1 95 - - 1 9. 7 .
l ' iI". J
l iiinnmial c:|t |' . |. 1 nsinr t , _ i|l
Ii- iser t inn r net hnt l , ' . ' - "' ? ' }"9
l :l - it :- cl - t diag t at ns; . ' i' ei- . ' ii:- |. |- t :t r |; . 1 l sy st et ns: ' Jl :it n|. . 1 iinl t .
439
4- ' - l - l l I index
Ho- dc diagr ams. cont r ol sy s t er ns. 3- iii. 3- f il l . 35 ' !
cl osed- l oop sy st em p er For manee anal y sis.
. 3- E- l
p r oject s. - =' |l 1 . - "- . - ii- 3. - =iil ' . i"
3l l ' iiIl ' t ool f eat ur es. 31 1 }. 31 1 . 31 3. 3T- "5
l dody f or ces. l init e el ement me t hud. 1 91 '
Eiot r ncl ar y condit ions
[ iir ichiet . 1 99. 3- I' l l . 3l l . 1 - I1 5
insul at ed. 33- =3
mit t ed, 31 !
model anal y sis of t svo- dimensional
st r uc t ot es. f l - 1 1
I"- l eur nann. 1 9- - . i. 1 91 ' . ii- l I. 31 3. . 31 3. 1 |- . 1 - . 1
PDE t ool hos. 1 99. 31 1 ]- - 31 ]
t er np er al ur e r l l isl r il l - ut ioit in sl al . ' |- vvit l r ho- l e.
31 9
Boundar y mode. PDE. t ool hos. 3l l l '
Er eait command. 1 5
Eir eal t . p oint s. 1 1 3
Euoy ancy f or ce. hel ium bal l oon p r oject . 1 1 ?
C
Cal cul us. vect or . - - i1 H. - "- i3- E
[ ial l For mat s. - iii?
Cant il ever eel heam st r ess. nit e el ement
met hod. 31 1 - 31 9- . 3 i- 9' f ' . H"- ii]
Il iasc- st : nsir isr ir y - n- l l com mar r cis, iii
Cent r al dif Fer eo- r e f or mul a. 1 1 3
Chain r ul e. 1 l i|' 1 . 1 1 9-
Iiiiihar act er ist ic equat inn. r oot l ocus p l ot s. 31 5 ,
. 31 1 3
Char act er s. l t d i' ! ' . t ' l ' Li' 5 ! il :l - f u ndar nent al s. 1 . 3
Cir cuit hoar d r na nniiacr ur ing. op t imisat ion
p r oject . I34. 1 33
Cl ear ir r g svindt r w cur nt l l ar r ds. ii-
l iil il osed- l oop sy st ems, cont r ol s. 35 5 - . 3- t il ]
hl ocl r diagr ams. 331 - 35 3
IJC mot or model ing. 35 5 - 35 1
h' ia|! h. TLa' ! h. H t ool s. . 35 1 - H- - 3- l ' i[ l
Mi- it ' l ' L. - it l i- t ool s f or p er f or t nanee anal y sis.
. 2 5 - l 3l . l - iii- I- '
l "~ iy t ||. 1 ist p l ot s. 31 33- 3- [ ii- "
r oot l ocus p l ot s. 3t ii- 3- G 1
p r oject s. - =il 1 . - t il }
l ' iil ' iCl t ool Feat ur es. 31 1 - 31 3
Cl osed- l oop t r ansf er f unct ion. . 331 - 3|5 Ll
Col l ision model ing p r oject . l f ' . |. 3l f l - [ i
{ inior t - [ 2 ] op er at or , l s. - Ii- ' l i"i' l - i- "t F' : Ft t ndament al s,
9 l ' |]
Command hist or y window. 5 . i3
[ inmmancl windnw, 9, t i. 3l iil l
Commands. HATLAEF1 |ndmt nTi1 , El
Comment l ines. El
Commer ce. op t imizat ion p r ojoct . 1 5 3- 1 5 4
Comp ensat or Edit or . l ' i1 l ' i[ _ il t ool ieat u r es_ . 31 ! ]
Com|:|- l e:- r conjugat e. 1 |
Comp l exf unct ions. I1
Comp l eximaginar y p ar t . l l
Comp - l es r eal p ar t . 1 |
Cor n p l e. ' t var iahl es
Lap l ace Tr ansf or ms_ . 1 - "- i9. 1 :- Ft :- 1 l il
r esidue t heor y in. iii- i
Coin p ound l ogical exp r essions. 1 - f l
Comp ut er use in engineer ing. I- 3
Conduct ion. hear ; . ' i- "r e Hear t r ansf er
Conduct ive media. PIJE t ool l a- cot . 3[ i' . _ i
Conduct ivit y , t her mal : . "s' i|"i- . ' Heat t r ansf er
Const ant bl oel t . 31 5 - ii
Const ant dis p l acement p omp . Simul inl c
model ing, 339. 3iiIl
Const ant - st r ain t r iangl e IICSTII. 1 99
Const r aint s. 1 ' F"I5 I1 ' Eii
Const r aint s. op t imizat ion wit h. if - "l
Cont inuous p l ot s. FDE t ooih- ot r . 3]?
Cont our p l ot s. 1 5 - 1 9. f l - 1 9
PEPE t ool henr . 31 1 ' ]
t emp er at ur e dis t r ih ut ion in sl al :- wit h hol e.
3- E5 1 . 5 . 31 . 3- . 31 . 5 5 . 3- ii
Cont r ol ar chit ect ur e. iil iir ool Feat ur es. 31 ' - ' 1 ' !
Cont r ol l er gain t uning. 331 - 333
Cont r ol sy st ems. . 3- "- if - - - Ii1 1
cl osed- l oop sy st ems. 35 5 - 3[ il l
bl oel t diagr ams. 3' ? - 1 - 3 i- it - i
DC mot or model ing. . 35 - 5 - . 35 1
l ' |- 1 |. - * "t ' _ l ' I. - ""t l 3 t ool s. 3' 5 Fl 3Il ii' J
M. ' 5 |i' l ' L. ' i|. l ir ep r esent at ion of . 3' 1 - t ' i3"i- t i
st at e sp ace. 391 - 35 1 3
t r ansFer l it t ncr in- r s, 3- 43- 35 1
ser o- |:- ol e gain For mat of t r ansf er
f unct ion. f l - 5 - l ]. 35 1
M i' l l iTl . . - ' l l il i- iil iil ii- t ool . 3- 5 1 - 31 1 . 31 3
design of cont r ol l er wit h. 3? ! - 31 ? . 3- T3
examp l e. 35 1 - 31 9
Feat ur es of , 39- "l l - 31 1
. l s' l i' l |i' l ' Li' 5 l . l :l - t ool s l - or p er il - or t ' |l ; il t l - :. ' e anal y sis.
. 1 - [ il - . 3- I5 1
i' - iy quist p l ot s. 3t - 3 - 31 3?
r oot l ocus p l ot s. 3- I3l - 31 33
p r oject s. 41 1 - ii?
f iimul inir ap p l icat ion. 3? ? - - 395
act ive susp ension. f l ". ' l 1 - 39- - ii. 399-
PLDC and DEC imp l ement at ion in.
391 - 1 - i' 1 5
cnt t p l et l t anl t f l uicil evel con t r ol .
31 1 - 339. 335 -
f eed- f or war cl l o- op design using
op t imal it y cr it er ia. I- El f : - 39 I
samp l ed dat a cont r ol sy st em. 39- i- 39?
Simul inl t Dat a . ' i! ict |uisit io1 ' | ' l ' ool l :|- o. 1 r . .
4i' l 34l 1
anal og inp ut . 4il - iii?
anal og out p ot . 491 ' - 493
digit al inp ut . 4i]- E
digit al out p ut . - it iii- s' |l 1
Cont r ol var iabl es. op t imisat ion. 1 1 ]
Convect ion. heat : . ' i' e. r Heat t r ansf er
Convol ut ion. Lap l ace Tr ansf or ms. 1 - t i- i' i1 T- iii
Coup l ed r l if f er et l t ial equat ions. sl at e sp ace
model s. 35 1 - 35 4
Coup l ed t ani- t f l uid l evel cont r ol
bode p l ot s. 331
cont r ol sy st ems
M. - t ' 1 "Lit iE r ep r esent at ion r net hods.
3- "- iii- 341
Siml al inl - t . 31 1 - 333. 33- is
Cr amer ' s r ul e. 5 3
Cr it ical l y - t l amp nd sy st em. mass- sp t ing-
dashp ot . 3- H
Cr ossl iow Ci' Ii. LiJ' 1 LF3. t i- i. ' I9
Cr uise cont r ol sy st e or . 3- "- i3. 3- - i- 4
Cuhic et p t at ion. 1 - il t i
Cuhic sp l ines. cur ve iit t ing. I- I31 It 33. iii- i
Cur r ent dir ect or y vr indct r w. iii. 1 '
Cur ve f it t ing. l 5 5 l f :i9
cubic sp l ines. 1 1 5 1 - 1 I33. IE- 4
wit h er t p onent ial f unct ion. l 3- Hl ' [ i[ i
wit h Four ier ser ies. iii- i- iii?
l east - squar es met hod. l f - i- - - I33
l "|. - 1 . ' iii' l ' Li' il i|:l - f eat ur es. Iii- [ I- 1 5 1
nhject ive. I5 5
p r oject s. iii? - l - E- 9
Cy l inder
u nst eady heat t r ansf er in. l 991 iiH' i
vect or cal cul us in cy l indr ical coor dinat es.
435
D
I]"i9. l emher t ' s sol ut ion. p ar t ial dif f er ent ial
equat ions. 1 1 3
Liar np ed sy st ems
cur ve Iit t ing wit h er p onent iaif unct ion.
1 39- 1 5 - iii
Lap l ace Tr an sf or ms. 1 5 - 1 - 1 - l 3[ I'
shif t ing t heor em. 1 i' i' l l 1 [ - i3
in dear I 441
mass- s p r ing- dash p ot sy st em. 3- l 34l
model anal y sis of t wo- dimensional
st r uct ur es. 31 1
Damp ing mat r i:- t . . ]|1 l
Dar cy - ii- ieisbacl t equat ion. 1 - ii}
Dat a . f isl Z L]1 . l i5 ii' . il ' _ 1 . l ' l Tool bor t . iiimul inl - t . 4i]3- - i1 1
Dsr a iil es. l oading, I3
DELQUAD f unct ion. numer ical int egr at ion.
l iil l - ID1
DC mot or mndel ing; . ' i' r e El ect r ic mot or
model ing. cont r ol sy st ems
Debug f eat ur e. 1 - I3. 1 1
Debugging p r ogr ams. 1 1 3- 1 ?
Decimal sp aces. M . - 5 i. TL. - iil if undament al s. I1
Liel l e- |_ ' t i- on anal y sis. iaeat n def l e- |_ ' t ior ' t er . |uat ion.
- "- il 9' - 41 1
Densit y
heat t r ansf er equat ions. 31 3
model anal y sis of t wo- dimensional
st r uct ur es. 31 1
Der ivat ives. L- ap l aee Tr ar r sf or r r t s of . 1 35 - - 1 31
Design cr it er ia. cont r nisy st ems, 34- "- i
Det er minant . mat r i:- t . 4?
Det er minat es. met hod of . 1 31 '
Dif f er ence f or mul as. or dinar y dif f er ent ial
equat ions. 1 1 3- 1 1 3
Dif f er ent ial equat ions: . 3' er . r r |i' . r o Cl r dinar y
dif f er ent ial ec|t |. :|t ior 1 s; Par t ial
dif f er ent ial equat ions
Lap l ace ' 1 ' r an sf or t ns; f ir e Lap l ace Tr ansf or ms
mass- sp r ing- dashp ot sy st em. 31 ' - 41
model anal y sis of t wo- dimensional
st r uct ur es. f l - 1 1
st at e sp a r e model s. 35 1 - 35 - ii
Dif f usion. PDE t ooihos. 393
Dif f usion equat ion f p at ahol ic |"|JE]l . 1 H- 9". 1 94
Digit al inp ut . cont r ol sy st ems. - iiil ii
Digit al out p ut . cont r ol sy st ems. sit iii- 4I 1
Digit al - t o- anal og conver t er
hy dr aul ic p ist on p osit ion cont r ol . 491
samp l ed dat a cont r ol sy st em. 3' 9t ' i
f iimul inl c imp l ement at ion. 491 - - ' - if l
l ' iir nI. 1 l init l TH. ' HIi- t . l ir t g. 3iF|Ei
Digit al - t o- anal og conver t er inr p l enr ent at ion.
391 - 493
Dir ichl et boundar y condit ions. 1 99. Ii- l f il . 31 I.
31 2 - I
Discont inuous p l ot s. l "Li' E t ool iaoat . 31 1 '
Dis p iaceme nt comp onent s
f init e- el ement met hod. 1 93. 1 99
model anal y sis of t vi- ' odimensional
st r uct ur es. f l - 1 1
442 I in t ies:
Disp l ay command, 1 1
Ii- ive r gence t heor em. 1 93
Dr ag f or ce. hel ium hal l oon p r oject . 1 1 5
Dr aw hut t nn. 1 99. 391
Ii- r ivin g f or ce. mass- sp r ing- dashp ot sy st em.
31 1 - 91
Dr op - down r r |ent |
cur r ent dir ect or y window. 1
debug. 1 i' . i. 1 1 '
Dy namic anal y sis. model anal y sis of
t wo- dimensional st r uct ur es. 31 1
Liy namic behavior . bl oel t diagr ams. 331 '
Engines, p ist on mot ion in int et naieomhnst ion
engines. 41 - 4- =1
Equat ions of mot ion. mas s- sp r ing- d ashp ot
sy st em. 3- f r
Equat ions of or der . i1 essel ' s. 1 91
Equat ions of st at e. l ' i. edl ichi' - ' isvo|1 g. 34- 33.
F1 31 - 3' 31
Equil ibr ium equat ions. p l ane st r ess anal y sis.
2 33
Equival ent l oad vect or . l init e el ement met hnd.
1 91 '
Equival ent nodal f or ce. 1 91 ' . 1 99
F. r r or f unct inns. ii
Er r or messages. debugging ii. - ' 1 . - ! ' iTLi- it l 3
p r ogr ams. 1 - I3
Economic p r obl ems. mat r i:- t met hods. 1 ' 3. ' 5 "- f r Er r or signal . samp l ed dat a cont r ol sy st em.
Edit or window. t 3 395 -
Ef f ect ive st r ess. von l vl ises. 31 1 . 31 5
Eigenmodes. model anal y sis of
t vvo- dint ensional st r uct ur es. 31 1
Eigenval ues
mat r ir t op er at ions. [ ' 1 3- 1 |
model anal y sis of t wo- dimensional
st r uct ur es. 31 3
FDE t ool hnr c. 391
Eige nvec t or . - I39 - 1 9
Eig f unct ion. l vl 1 t ' l ' L. =t l i- . 1 9 - 1 1
El ast ic mocl uius. 1 34
El ect r ic [ DC] mot or model ing. cont r ol
sy st ems. 333- 331
Eul er met hod. modif ied. 1 93
Far r el iil es. 1 1
Et t it command. 3
Er t p l icit met hod. 1 1 1 - 1 1 3
l init e dif f er ence me t hod. 1 1 3- 1 1 9
p ar t ial t iil f er ent ial equat ions. . ' - il 3- 1 1 ]
Er t p onent ial s
cu r ve f it t ing vvit h. |3El l i' i9
i' vl i' i|. ' l ' L. ' it iiif undament al s. 1 1 . I1
F
Fact ot ial s. l l . 1 - H-
hincl t diagr am. 333- . 339- 3- t ' i9 n hl ocl - t use. 1 4- ii- - 1 43
p r oject s. 41 3- 41 1
El ect r ical cir cuit s. Lap l ace Tr an sf or ms. 1 93-
El ect r omagner ic f or ce. 3i- 3
El ect r omagn et ics
FDIit ool bor t . 393
l ' il l ' iCit ool ap p l icat ion er t amp l e, 3f i1 ' - 3- [ ' 1 9
El ect r omechanical beh avior . DC mot or
model ing. 333- 33- i' . 1 - . 331 31
339- 3I1 9
El ect r onic device cool ing. 1 33- I 31 '
El ect r ost at ics. FDE t ool bor t . 3- 93
El en' |ent - hy - el ement op er at ions. mat r ice s.
' 1 1 - iiii
El l ip soit l f unct ion. 1 ' 9
El l ip t ic p ar t ial cl il 1 - er ent ial equat ions. I31
El se st at ement s. 1 3
Ener gy equat ion
p ip e f l ovv anal y sis. 1 33
Feedbacl t signal . samp l ed dat a cont r ol sy st em.
393-
Feecl - f or war d l oop design using op t imal it y
cr it er ia. 333- 391
Fil e f or t r t at s. ii. 9. 1 1
Fil es. vvnr l - t sp ace windnw cont ent s. t i
Fil t er . inp ut . 3t ' s9
Finance p r obl ems. mat r i_ 1 t met hods. 1 ' 3. 1 i' . i
Finit e dif f e r ence f or mul a. 1 1 3
heam deect ion. I1 3. 1 31 ' - I33
imp l icit met hod. 1 1 9- 1 1 1
Finit e dif f er ence met hod ap p l icat ions. p ar t ial
dif f er ent ial equat ion s. 1 1 1 - 1 1 1
er - t p l icit met hod. 1 1 3- 1 1 9
f or mul a r er viesv. 1 1 ' 1
imp l icit met hod. 1 1 9- 1 1 ]
unst eady heat f l ow. 1 1 1 . 1 1 1 3
Finit e cl ement met hod. 1 33- 3- iii
p u mp del iver y vol ume l l osv r at e t o cl osed heat t r ansf er . 31 3- 333. 3- 1 9- 3- l l
t anl r . as f unct ion of t ime. 1 4- - i is- l iil . ' l ' Lii' |. l :l - l l Jl :' . t nol l zt - or t . 1 99- 31 9
Ener gy f or ms. f ir st l avv of t her mody namics. 41 3 p r oject s. 339- 3- ' - ii
cant il ey er c- cl heam. 5 . 5 ? - F5 - - 1 ' 3
t emp er at ur e dist r ih- ut ion on p l at e.
. 5 1 - i|]. il ' - 5 |
shap e Fu nct ion For l inear t r iangl e el ement ,
I- l ' . El - l 5 E". l ' l '
sl t ap e l - unct iun in at ea coor dinat es,
1 * Jl 1 l i' 1
t hr ee- node t r iangul ar el ement For
t wo- dimensional st r ess anal y sis, Z ED
t r iangul ar el ement s, 2 5 1 - 1 95
st r ess anal y sis, I- EH5
st t uct ut al mecl aanics
p l ane st r ain anal y sis, , 5 l [ I - 5 2 l ,
5 5 - ii - 5 - l l l
p l at ie sl r ess anal y sis. Il l - 5 - 1 - . ' . il 5 l 5
t t t r o- cl it nen sional st r uct ur e mo- cl el anal y sis,
5 1 l 5 - E5
Fir st l aw of t her mody namics, l . i' . l ' i- . t il i-
Fir st ot el et equat ions, 1 ' [ iIH
Simul ink. 1 - i5 ~ l - * 1 - i
sl at e sp ace model s. 5 - 5 2 - 5 5 - ii
Fl ow r at e
cont r ol sy st ems, MATLAH r ep r esent at ion
met hods, , 5 - "- ii
Har dy - l il r oss met l sod, 1 5 5 - 1 - =i' l , I- il l , . 1 - ii- 5
p ip e ow anal y sis, 2 5 5 - E5 5
p - u|1 t p - cl t ar ac t er is t ic - cut y e. Ii- ' 5 |' . l ' . sl l 5
Fl uid l evel
coup l ed t anl t , 5 ? T5 El i' 5 , 5 1 5 6
cur se l it t ing p r oject s, 1 - El i- "l l ' . i- H
Fl uid mechanics
Il il . ' l |l . ""l . ' l ' l ' . ! |:|- ":il iEl I\ ' l l $ -
l ' t - ' l . - i' |. ' l ' l _ . |' i' |. l :l r ep r esent at ion met hods,
5 5 5 - 5 4?
p r oject s, t iI- i- H5
Simul inl c ap p l icat ion, , ' _ l - ' i"I~ ", l - E5 . 5 3- I5
it er at ion met l sod
Har dy - Cr oss r net l t od. 2 5 1 3- 2 - ii
p ump t r ol u me f l ow r at e t o cl osed t anl c as
f unct ion ol it ir ne, 2 44- 2 - # 5
p ip e ow anal y sis, E5 5 - E5 5 , Evil
sound wasr es, I l 1 - 1 1 1 5
Fl uid t c- m p er ar ur e t r a t iat ion p r oject , I1 5 - l 1 1 5
Fl uids, f l oat ing hody p r oject . 5 5 - 5 1
_ _ , 1 ' :i- m' ir co. r : Funct ion, l I"i5 l ? E|' . 1 31 - 1 5 5 , l E5
Fol der menu, 5 "
jisr l oop s, I5 - 1 * - i
For cing iiunct it :- I1 . Lap l ace il it ansl iu- r ms. I- =5 l . |
For mat s, l il es, - G , l f - "
For mat s. not at ion, l l
For war d l init e cl il Ter ence met l socl , El l ]. l l - 1 1
Four ier ser ies, cu t t r e Fit t ing 1 . Ir it l ' t _ , II5 - =l 1 - |I' i' , 7 "
IndexI 443
F- n- |, |r ier ' s l t eat con- cl t r ct ion l aw, - il l l i, Il l i- - =' l 2 H
Four t h- or der Runge- l "- l ut t a met l 1 od, l il ?
l ir ee 1 |- ' il 1 r at ion p r obl em. model anal y sis of
t 1 . I. - ' odimensional st t uct u r es, 5 1 1
Fr eque noy , model anal y sis of t wo- dir n en sioit al
st r uct ur es. f l - l l
Fr - er ]1 , |:en- et y domain r esp onses, cont r ol sy st em
design, 5 "H5 * ' - i' 5 . 5 1 1 1 5
l ir ict ion l - act or , . 1 - il l . I- I5 1 5
Funct ion l es, l l 5 "l E
Funct ions
l e f or mat s. il
l ' - l . ' l I. Tl . i"' |. P- Fundament al s. 5
Faer o f unot ion, E{ l <5 5 . J1
G
G ain, cont r ol sy st ems
Il Hr l . ' . ' Imp l ement at ion, , 5 f ~ Tjl
f eed- f or war d l oop design. 5 35
hy dr aul ic p ist on p osit ion cont r ol . I - il il l , - "- . il J l . .
1 . l ' l ' l 5 , - il el
model ing. 5 32 - 5 5 5
r oot l ocus p l ot s, , 5 - Ei- I
f iiimul inl t p r ogr am, f l - Hi, , _ il - El f - "' , 5 El ' |El - , 5 35 ,
5 Jil
G ain Mar gin. 5 - ' . "". ' - E. l l - i". . :5 - - . iii- * 5 5 ? - I5
G ases
air p r essur ised t anl t p r oiect , 1 2 5 - 1 5 5
at mosp l t er ic p r op et t ies as Funct ion oi:
al t it ude model , 5 1 - 5 - "- . i
equat ions of st at e, Bil - t i' ~ J'
l t el ium hal l oon p r oject , 1 I[ il l - E. 1 ' 5 - ii
so- I. l l - ' h. ' l waves. p ar t ial dif f er ent ial r qt t at ions,
El l i- l . l l 5
sp eciiic vol ume and p t essu r e as Funct ion oi:
r er np er at ut e, 5 4- 5 5
G auss El iminat ion. l east squar es met hod, I5 5
' G au_ ss El iminat ion l iu nct ion, - 5 5
G auss El iminat ion met l ancl , 5 5 - 1 5 - l , I5 5 , Tl ,
l l i
' l - ' _ _ iau. ss~ ]' ur cl at | ||1 el l |u- cl , 5 5 - 5 1 5 . + Eil ' |5 5
' l l iaI. . l 5 sl ' :i|; ' i- |; l . |:' l met l t or l l . 1 5 i5 1 E' r i- F. 2 1 5 1
G l ohal disp l acement comp onent s. l init e
el em ent met l t od, EH3
G l ol aal st i El :ness nt at t it t , 1 ' 5 3
G r ap hical t ool s. cont r ol sy st em design. 5 ~ ' i|E-
G r ap hical user il t t er iace [ G L1 - Ii
1 ' - ' l _ l ' F. r nol l ios, 1 5 5 * . 5 iIt ' l I, 5 1 5 5
f iimul inl t . HI
SISG I t ool ; f ir e . i- l . ' L' i- [ - 1 t ool
G r ap hics wincl ow, El
444 I index
Iiiir ap l t s
gr ap hics svincl osvs. El i
p l ot t ing, I5 - - 1 1
[ iir eel c l et t er s, l il i-
G r een' s f or mul a, 1 5 5
G r id command, Il l i-
Iiir icl p r o- gr am, st eep est descent mer ho- cl , 1 1 4
G r id sp acing. 5 1 1 5 , 5 1 1 ' - ii
G r ids, snap t o, 5 - 1 1 5
H
Har cl y - G r oss met hod, 1 5 1 5 - 1 41 , 1 41 , 1 45
Head gain, 1 41 1 ' - 1 41
Head l oss
p ip e l il o- vv anal y sis, 1 5 5 , 1 5 4, 1 - 41 1 , 1 41
p ump del iver y vol ume l l osv r a r e t o cl osed
t anl t as Funct ion oiit ime. 1 - 44, 1 - 45
p u mp vol ume How r ar e t o cl osecl t anl - r . as
f unct ion of t ime, 1 44
Heal conduct ion equal it ut , l _ - 1 1
der ivat ion oi, 41 5 - 41 5
in st at ionar y sol id, 4 1 5 - 41 5
Heat Hut c op t ion, f l - 1 ' 5
Heat t r ansf er
air p r essur ised t anl t p r oject , 1 1 5 - 1 5 5 , 1 5 4
der ivat ion oiheat t r ansl er ot |uat ion i|1 sol id
41 5 - 41 5
n at t ached t o el ect r onic device, 1 5 5 - 1 5 ?
l iinit e el ement met hod, 5 1 5 - 5 5 5 , 5 4[ 1 5 - "- 1 |
r emp e r at u r e dist r ibut ion in sl ah vvit h
hol e, 5 1 1 5 - 5 5 - 1
t emp er at ur e dist r ibut ion in sl ah vvit h
sur iace convect ion, 5 5 5 - 5 5 5
t emp er at ur e dist r ibut ion on p l at e.
5 41 1 - 5 41
l il uid r e r np e r at ur e var iar ion p r oject ,
I1 5 - - 1 1 1 5
it er at ion met hod
[ _ iauss1 ' iei- del met hod, 1 5 5 - 1 5 1
t emp er at ur e dist r ibut ion in sl ab by
G auss- 5 - eidel t net hot l , 1 41
l - ap l ace Tr ansFor ms, 1 1 1 - 1 5 - "I5
numer ical int egr at ion, 1 ' Il I5 l ' [ l 4
p ar t ial - r l if l ier ent ial equat ion s, 1 H- I"
in har , 1 ' 5 1 - 1 5 5 1
in cy l inder , l ' 1 il ' - 1 1 1 1 5
nit e t l if ier ence nt et hot l ap p l icat ions,
1 1 1 - 1 1 1
p r oject s, 1 1 4- 1 5 1
in t wo dimensions, 1 1 1 1 1 - 1 1 1 1
FUE t o- ol hot c, 5 1 1 - 5
r oot s ol ial geh r aie and r r anscencl ent al
equat ions
p r oject s, F- 1 1 ' . 1 5
sl ah immer sion in hat h, E4- - Fif i
sl al a subject ed t o air r emp er at ur e
change, 35 - 5 ?
iiimt t l inl c mndel ing, 1 45 , 1 - ' =l ' _ i
vect or cal cul us. 41 5
Heat t r ansf er coel il iicient , 5 , 5 4, 5 41 :1 , 5 41
I- l el iur n hal l oon p r oject , 1 1 1 1 - 1 1 5 1 , 1 5 4
Hel p Fu not ion, op t imisat ion f unct ion
Iif r ninconil , 1 1 3. 1 1 ' , - ' . . |'
Hool t e' s l aw, 1 34, 41 1 1
Hy dr aul ic p ist on p osit ion cont r ol , 41 1 1 1 - - 41 1 1 ,
41 1 5 , - "- 1 |]- 4, 41 1 5
Hy p er hol ic p ar t ial dil il r er e nr ial ec||. 1 at ions, l il il l - "
l . |' 1 t l 5 , 5 5 1
l t l eal gas equat ion of st at e, 1 :1 5 - 1 1 * ]
Ideal gas l aw, 1 l i' 1 -
l dent it y mar r iic, 4?
l cl ent it y mat r ixsy ml aol , 1 1
l l - el seil il adcl er , I4- - 1 5
l f st at emeit t s, 1 4, 1 ' 5
1 mp act l oat l s, model anal y sis oi
r vr o- cl imensional st t or t ur es. 5 1 1
Imp l icit met hod, nit e dil Ter ence met hod,
1 1 1 1 ' - 1 1 1 , 1 1 5 . 1 1 4
l mp r n p er int egr al s, numer ical int egr at ion,
". Ii' 1 ' i1 ' sI, H1 1
l |r | p ul se i|1 p ut , ii- 1 5 1 5 t ool f eat ur es, 5 1 1 1
l nciuct ance, F. l - cir cuit , 5 1 5 5
Iner t ia, moment of . 41 1
l nnit esima1 sy st em, r st l aw of
t her mody namics, 41 5 - - 41 - Eu
l nl init y , 1 1
1 nit ial val ue p r ol al em, 1 ' il |"_ il [ IF'
l np ut f il t er , 5 1 5 - El l
Inp ut f unct ion. 1 1
l nt ege r s, l i- ' l r ' t ' 1 iLi' 1 t l :l - Il _ Ll |il I1 . ' =l . ]' l l EII|Li. t 1 ! i, 1 1
l nr eg r al ahsol ut e er r or [ l F|iEjl , 5 1 5 1 1
Int egr al conr r oil er , coup l ed t anl t sy st em, 5 5 1
Int egr al oi: squar ecl er r or l l l 5 E. ' ], 5 3?
l nt eg r al oit ime mul t ip l ied hy ahsol ut e er r or
i1 T. FiE. 1 . . 5 5 ?
Int egr al of t inl e mul t ip l ied hy squar ed er r or
l il T1 ' iEl , 5 5 1 , 5 5 5
l nt eg r at ion
numer ical , ' ; 1 5 l IiI- "- 1
1 ' i1 mp son"s r u l e, l l I' i"_ i
Int egr at ion or - de r , Lap l ace Tr ansf or ms,
1 1 5 5 - 1 1 5 5 1
Int er est p r ol al ems, mat r it c met hods, 1 5 - 1 1 5
Int er nal comhu sr ion engines
f aer o f unct ion, J1
p ist on mot ion, 4 I- 44
int er p l incr ion, 5 4- 5 5
at mosp her ic p r op er t ies as f unct ion of
al t it ude model , 5 - 4
cur ve l ir t ing, I1 5 5 , II5 4
Int er p ol at ion, at mosp her ic p r op er t ies as
In o' er I 445
Least scp l ar es met hod
cur ve t t ing, 1 5 5 - 1 5 5 . 1 5 5
p ump vol u me f l ow r at e t o cl osed t anic as
Funct ion of t ime, 1 44
Linear al gebr a, eigenval ue p r oi:- l ent , I5 5 - I31 1
Linear equat ions
mat r it c op er at ions, 45 - 5 5
esamp l es, 5 1 1 - 5 5
I5 auss el iminat ion f unct ion, 4' 5
Fm- ' f unct ion, 45
or dinar y dif f er ent ial equat ions
I- unct ion of al t it ude model , 5 5 - 5 - 4 numer ical int egr at ion, t r idiagona1
Inver se mat r it t . - 45 ", 1 5 4- t ' 5 ' , T"
Inver se t r ans f or |u s, 1 45 - 1 5 5 , 1 5 5
f ir st l _ u1 ' |ct iot |, 45 1 , 1 - I5 1
Ir r at ional numl f i- er s, 1 I
I1 ' iE, 5 5 1
Isot r op ic mat er ial s, p l ane st r ess anal y sis, 1 5 - 4
1 5 1 5 - 1 5 1
1 ' l ir 5 |. E, 5 5 1
It er at ion met hod, 1 . 5 5 - 1 - 45
G auss- 1 ' icidel met hod, 1 5 5 - 1 5 ? , 1 41
Har dy - Cr oss met hod, 1 5 5 - 1 41 . 1 41 ,
1 45
p ip e l il osv anal y sis, 1 5 5 - 1 5 5 , 1 41
p r oject s, 1 41 - 1 41 1
p u|1 t p del iver y vol ume l Io' |. v r at e t o
cl osed t anl t as f unct ion of t ime.
1 44- 1 45
ITSE- . . 5 5 ? - . 5 5 5 - I
I.
Lahel ing axes on gr ap hs, 1 1 5
Lagr ange nt ul t ip l ier s, op t imisat ion wit h
const r aint s, l 1 1 5 IF"F"
Lap l ace p ar t ial - dil if et ent ial ecp t ar ions, 1 5 ?
I. ap l ace' s equat ion, 1 5 5
Lap l ace Tr ansf or ms, 1 45 1 - 1 - 5 1
and comp l ea var iahl es, 1 1 1 1 - 1 5 1
cont r ol sy st ems, t r ansf er f unct ion
r ep r esent at ion, 5 45 - 5 5 1
convol ut ion, 1 - I5 5 - 1 1 1 5
of det ivat ives, 1 5 1 ' - - 1 5 ?
and inver se t r ansf or ms, 1 - 45 1 - 1 5 1 5
or dinar y dif f er ent ial equat ions, init ial
val ue p r obl em, 1 5 1 - 1 1 5 1 . 1
p ar t ial dif l er en t ial equat ions, 1 1 1 - 1 1 1 5
r esidues and p ol es, 1 1 5 - 1 5 1
shif t ing t heor em, 1 - 1 5 1 1 ' 1 E- 5
unit st ep f unct ion, 1 1 5 5 - 1 1 5 1
Laur ent ser ies, 1 ' 1 5
sy st ems, 1 1 1 - 1 1 5
t ime invar iant , 5 41 3
p ip e Fiot v, 1 5 - ' 5 '
Linear int er p ol at ion, at mosp her ic p r op er t ies as
Iunct ion of al t it ude model , 5 5 - 5 - "- i
Linear p l ot s, 1 1 5
Linear p ot ent iomet er , 5 1 5 5 '
Linear t r iangl e el ement shap e f u nct ion. f init e
el ement mel l t od, 1 5 5 - 1 5 5 '
l - inear ir y , Lap l ace Tr ansf or ms, 1 5 1 1
Load com mand, 1 5
Load vect or , f init e el er nent met hod, 1 5 1 5
Loading
beam def l ect ion, I1 5 , 1 5 5 - 1 5 )
heam def l ect ion equat ion, t l er ivat ion of ,
41 5 ' - - 41 1
model anal y sis of t svo- dimensional
st r uct ur es, 5 1 1
Local node nu mher , f init e el ement met hod,
1 5 1 1 , 1 1 . 1 5
Log p l ot s, I1 5
Logar it bms, 1 1
Logical et t p r essions. 1 4, 1 5
Loop r ul e, p ip e l Io1 . v anal y sis, 1 - 41 1 - 1 - 4|
1 ' 1 - ' l
is- I agner osr at ics, P1 5 1 1 r ool l aot c, 5 1 5 5
ivl anu f aot ur ing sy st ems. op t imiaat ion.
1 5 1 5 - 1 1 5 1 , 1 5 - 4, 1 5 5 '
1 ' - . - l ass conser vat ion l aw, p ip e f l ovv, 1 5 ' ! - l l
ivl ass de nsir y . heat t r ansl ier equat ions, 5 1 5
1 ' 1 - l ass mat r iit , model anal y sis of
t 1 . I. - ' o- dimensional st r uct ur es, 5 1 1
ivl ass- sp r ing- damp er , 5 l 5 G I' t o- ol ap p l icat ion
et camp - l e, 5 1 5 5 '
1 ' - . - ' |ass- sp r ing- cl ash p ot sy st em
cur ve t t ing svit l t ea p onen t ial f unct ion,
1 5 5 1 - 1 1 5 1 1
Lap l ace Tr ansf or ms, 1 5 1 - 1 1 5 1 1
441 5 I Index
mot ion p l ot t ing, 5 1 5 - 41
vehicl e eol l ision model ing, 1 5 5 - 1 5 1 5
. IvIat e r ial s const ant s, model anal y sis of
t veo- dimensional st r uct ur es, 5 1 1
Ivl at h f unct ions, 1 1 - l , 4TL, 45 f undament al s,
II1 - l 1
Mat hemat ical model s, 1
Mat hemat ical sy mbol s, I1 5
IvIi1 ' t iI' LP|. E- , cont r ol sy s r ems
cl osed- l oop , 5 5 5 - 5 - f if l
design wit h 5 1 5 1 1 - t ool , 5 1 5 ? - 5 1 . 1 . 5 1 5
design of cont r ol l er wit h, 5 1 1 - 5 1 1 ,
. 5 1 5
ei- t amp l e. 5 1 5 1 - - 5 1 1 1
f eat ur es of , 5 1 1 1 - 5 1 1
p er f or mance anal y sis, 5 1 5 1 - 5 1 5 1
l "- Jy quist p l ot s, 5 1 5 5 - 5 1 5 1
r oot l oc us p l ot s, 5 1 5 1 - 5 1 5 5
sy st em r ep r esent at ion, 5 - 41 3- - 5 5 - 4
st at e sp ace, 5 5 1 - 5 5 4
t r ansf er f u nct ion, 5 - - 45 - 5 5 - 1 1
' r . er o- p ol e gain f or mat of t r ansf er
f unct ion, 5 5 1 1 - 5 5 1
. l vIi' 1 |. ' I' Lii' |. l 5 f unct ions
cur ve t t ing, 1 1 5 1 1 - 1 t ' i1
nit e el ent ent met hod, P1 1 1 5 . t ool l :- oi- t .
1 5 1 - 5 1 5
numer ical int egr at ion
I_ 1 I5 LIi. 1 _ U5 t l 5 , 1 1 1 1 - 1 1 1 1
i' . i1 Eil :' . . "ode- 45 f unct ion, I1 1 1 - I I1
- quad f unct ion, I1 1 1 ]- - l il l
op t imisat ion, 1 1 5 - 1 5 1
. I1 - ' l P|. ' I' Li' 1 |. I:l - f undament al s, 5 - - 44
p l ot s. 5 1 1 and cont our , 1 5 - 1 5
p r ogr am, 5 - 1 5
const r uct ion of , 5
debugging. 1 1 5 - 1 1
eaamp l es, I5 - 1 5
p r oject s, 1 5 1 - 44
gas p r essur es, 5 1 - 5 5
mass- sp r ing- dasl t p ot sy st em, 5 1 5 - 41
p ist on mot ion in int er nal combust ion
enginct i. 4|- - 4- 4
Tay l or ser ies ea p ansion s, 1 ' - 1 - 5 1
vvint l ovv f unct ions, 5 - 1
Ivl at r ices, 45 - 1 1 5 -
eigenval ue p r obl em, 1 5 5 - 1 1
exer cises, 1 1
nit e el ement met hod, 1 5 5
G auss eiiminat ion, 5 5 - 1 5 1
G auss- ] or dan met hod, I5 1 - 1 5 5
inver se mar r it c, 1 5 4- 5 - 1
Lap l ace Tr ansf or ms, shiing t heor em,
1 1 5 1 - 1 1 5 1
l inear equat ions, 45 - 5 5
esamp l es, 5 1 1 - 5 5
G auss el iminat ion f unct ion, 41 1
i|1 v f unct ion, 45 1
IUI . ' 1 . _ l _ l - Jl |. 1 l - f undament al s, 5 If l ' , II- l 1
mania op er at ions. 45 - 45
nu mher of sol ur ions, 1 5 5
p l ane st r ain anal y sis, 5 1 1
p r oject s, 1 1 - 1 5
st r ain- t l isp l acel l t ent , 1 5 1 1 5
t hr ee- dimensional and c- nnt nur p l ot s,
1 5 - 1 5 1
1 ' 1 - Iat t imum el ement s, 1 ' 1 . - It - ' t il ' LF' t l 5 f undament al s,
l l
ivl ean squar e er r or , cur ve f it t ing, 1 5 5 , I1 5 1
l ir l echanical l oads: . 1 . ' ir c Loading
l "- - l esh gener at ion. FDR t ool box, 5 1 5 , 5 1 4, 5 1 5
ivl eshgr id st at ement , 1 5
1 ' - r l esh r enement
IvI. i' |. Tl - , ii. i5 - op er at ions, 5 1 1 5 - , 5 1 5 , 5 1 5 ' , 5 1 5
t emp er at ur e dist r ibut ion in sl ab wit h 1 ' |ol e,
5 1 5 1 1 . 5 5 1 1 , 5 5 - 4- 5 5 5 - . . 5 5 1
m l es, I5 , 1 1
ivl icr ocont r ol l et s, 5 1 1 4. 5 1 1 1 5 , 41 1 1
ivl ic r op r oce ssor s, 5 5 . 1 4, 5 5 1 5
i - . - ' IinimI, t m el ement s, I1 . - I . "t Tl - . "||. I5 f |, |n- dament al s,
II
1 ' 1 - l it - t ed boundar y condit ions, 5 | I
ivl ode shap es, model anal y sis of t y r o-
dimensional st r uct ur es, 5 1 1
1 ' 1 - ' l ot l el s; . 5 r . r Eimul inic
Modied Eul er met hod, 1 1 1 - 5
Mot or s; See El ect r ic mot or model ing, cont r ol
5 }- ' 5 [ EI1 ' l E
l vl ul t ip l et cer , scop e, 5 5 5
s- 1 - t or bl oel t use, 5 - iinul inl t , 1 4- E- - 1 45
Ii- I
1 ' "- l anl it l g var iabl es in I1 - ' l i4' l ' Lr 1 t l 5 , 5
I"- l ar ur al f r equencies, model anal y sis of
t t vo- cl imensional st r uct ur es, 5 1 1 ,
5 1 5 - 5 1 4, 5 1 5
I"- l et svor l c p ar amet er s, p ip e f l ow, 1 45
l ' - l eunt ann boundar y condit ions
I1 - ' 1 , ' 1 |. ' l iL, ' 1 l . 1 :l - f eat ur es, 5 1 1 1 , 5 1 1
t emp er at ut e dis t t ibut inn in sl ab svit h hol e.
5 1 5 , 5 1 5 , 5 5 5
t r iangul ar el ement s, 1 5 1 4, 1 5 1 5 , 1 5 1 1
l "- l e1 . vt onl 1 ap hson met hod, 1 * _ 1 5 1 1
IndexI 44?
New t nnis see- nnel l aw, IE3 Il il l p t in- ns hut t nn, f l - H1
l ' ~ l nde r ul e, p ip e net wnr l - t , E5 - ii. 1 3"} ' Ur dinar 1 . ' 1 :l ii' iier ent ial equat inns
]"' - l nr mal izeeip int s. PDE t - :u:|- l |:|- ent . 1 |?
Hume t i- cal int egr at inn, ' El ' 5 |[ l - ' 5 i
es- er eises, 1 [ I. E- l l iil
imp r op er in Legr ais, El l i' ; J"]
l "|. - ' |. - ! l t T1 . . "L|=ii. _ il l Ei. . ii_ 1 i, . l - . ' \ |_ i|i' - l _ I|]' I. I; 1 , ' il T||' l 1 il l l 1 I1 l I
l ' - =1 . - ! l t ' l ' L. - 5 t l ? - quad Fun- et inn, II]' l ]l Ii]1
nr dinar y el il i- er er t t iaiequat inns. [ D5 - | f l - El
heam el eiil e- et i- nn_ 1 1 3- 1 1 1
dif f er ence Far mul as. l I' i- - l 1 - 1 i' -
l ' u- u:t l ' . |1 - ur t l er l i' . u:| t 5 ei' ii. u1 ; l :a met l ' |- u- t 1 . , l [ l ' T- "
init ial val ue p r nhl em, 1 1 1 5 - 1 D?
l ' - r ! [ . P|. TLF|. E HIDE i' unet inn, 1 1 l ]~ II1
nut - init ial val ue |. ' :I1 ' ul :|l e:|I t s. I1 2
p r - nje- et s, |EiiEl - l l
sin gl e seennd- nr der equ at inn, 1 1 1 3- 1 HI
sy s Lem n- 1 ' t we iir st e- r el er equat iens. , H1 5
r r i- el iag- |:|- nal sjr st et ns - p i: l inear equat inns,
i1 1 - ] I5
p r ujee- t s, l l il f i- - 1 1 }- "- i
an- cl ii- imp snnis r t t l e, 95 - 95 1
Numer ical met hnd. unst eady heat Haw, El l i
Humer ieal mndel ing. 1 - 3:
]"' - l j|. r 1 :||. t ist p int s, |IDIl 1 IIE|- . 1 sy st em
design. I* l + iIl ' E-
p er f ur manee anal y sis. 5 - l l if i- f _ i- ii- T
p r njeet s, 41 1
D
Dbieet FLl 1 \ t I' [ i||I|- Ii. IF I. 1 i"+ 5
E|' l _ il i:' . |I' t :- - :. 1 e- l if t f unct ion, |1 [ l 1 l 1 . l l - . ' . ' - l l I[ i
l t el ium l ::- al l nein p r nieet . 1 1 ?
Lap l aee t r ansf ar nt s ver sus, El i. - 1 - E- I5 3
unit st ep i- u|:|- |_ ' 1 ir . :n' t . 1 5 5 - 1 - E?
[ il il r enet ]. - ' n- p t imiaat inn p r nj- ee t , l i|i' _ :i1 E[ i
Umega demain. l init e el ement met hn- t l . 2 5 ? .
l i- 1 . 5 5
[ il p enl - nnp sy st ems, Iil iil f il t en- nl Feat ur es, _ :l r _ ' . 7 , :' i
Up en- l eep t r ansf er f unet iens, ennt t n] sy st ems,
# 1 5
l iil p r imsl ir sr er it er ia, i_ ee1 ; l - En- r wa r el l nnp cl esign
wit h Simul ink, 35 5 - 391
Up t imizat iun, IFl 1 3' |' . i
wit h en- nst r aint s, |' , T"I. "i1 "H
es- er eises, 1 32
l l ' t - is' l |. t ' l ' l _ . . ' ! Ll :l - f unet iuit , l ? H|l i. ? .
mer l t nel r - Fst eep est el eseenr . 1 ? - 7 ! , l ? 5 1 ? T-
p r nieet s, 1 32 - 1 5 6
l iimul init mndel ing. 5 35 . , J- :1 1
une- nnst r aineel p r - nl ' il - ems, i, ' 5 ' 1 |' i"Ei~
it eat t r ansf er . unst eady . EH1
Lap l ace Tt ansf nr ms: Er r Lap l ace Tr a|1 si:l ::|t ms
l in ear sy st ems. ii- iii
l t unt er ieal int egr at iun. l l ]' f |- I. f i' :1
l - t eam el el ieer inn, 1 1 H! - 1 . "- l l
diier enee f er r mul as, 1 1 5 - 1 1 3
i_ uur t 1 1 - eir - |:l e1 ' Hung:- Hut t a met l se- 1 :1 .
Hi?
init ial val ue p r nl sl e t n. IU' i- l l i?
l it - ' 1 A' 1 ' l _ A|$ QUE I- unt : Linn. 1 1 41 - 1 1 1
nnt - init ial val ue p r ehl ems. 1 1 2
p r eject s. 1 2 1 - 1 35 ?
singl e seenn- t l - ur el er equat inn,
1 Hl i1 ' l [ l
sy st em uit wn r st - nr der equat inns.
1 1 1 3
t r i- diagenal sy s r ems eif l inear equat inns,
1 |! - 1 1 5
Ur t l l ugunaiil y eunt iit iuns
Bessel Funet inns, eiif l - =iEi~ El i
p ar t ial t zl il f er enr ial equat inns, I95 , El l i,
1 1 1 ]
{ - 1 scil l ar inp ; sy st ems
aut emabiie susp ensi- an sy st em, T"i! i- 7 " :
mass- sp r ing- dashp ut . 5 I
snunel wave p a r r isl t l il ier ent ial eqt l ar iens.
2 1 I - 1 1 1 6
unit st ep r esp ense, f l - ' , T"5 . , ji- T- "Ei. , j}"E
' |I- is- |:il l n- st :- np e gr ap h, sp r ing- el ashp nt l ir e- r :
damp ed nseil l at ie- n, l i- J- I- Ii- 1 . 1
P
l iar al iit sl ie p ar t ial t l iil ' er e|1 |' . iaiet . ]L|al iu- |1 s, 1 3? ,
1 ' 94
Par t ial t iil ier ent ial equat inns. 1 iHi' l 3l
cl assicat ion. l E' , 7 "|l iE
l init e t iil ier enee n1 et l ' |- |:n::l ap p l icat inns,
E1 T ' - I- i' . 1 ' E
exp l icit |1 1 er . l 1 r . |- L1 , I- . ' . 1 Hl E[ l
Finit e |:l iFFer e nee i- n r mt t l a r et r iew, 1 1 ?
int p l ieit met hnd, 2 2 ' i' il EI
G auss' :i- eiel el met l "t eu:l , Ef i- 5 - l f i[ i
Lap l ace Tr ansf nr ms_ , 2 ' ]- ' 1 Ii' - [ ' :|: f il er nr ise
Lap l aee Tr ait sf ar t ns
PIJE l l iJl J' 1 iIl ' l JI. |. nit e el ement met hut l ,
1 ' :il Ei' E|' 1 ' l ' i
p er t ur h- at inn |. ' i' |- E' l EIl ' ]i' and set un- r _ | waves,
I1 l l 1 iii
p r njeet s, 1 1 1 - 1 5 1
44- l l I index
sep ar at inn n- P var iahl es, 1 35 1 - 1 l l - 1 ' 3
unst eael y heat t r ansl ' er in har . 1 ' - J' 2 l ' - 1 ' 1 1
unst eady heat t r ansf er in cy l inder .
1 99- 2 ii- l it
vibr at ing st r ing. 1 33- 1 3. 1
unst eat l y l 1 eat t r ansf er in t wn cl ir nensiuns.
1 ' 1 1 - 1 i| i' . 1 1 ]
Par t ial Fr a- t t inns met l t nd. 2 5 ' - 1 '
Lap l ace Tr an sf cit ms ver sus. I- 1 ' 3- I3. 1 1 3, ?
y i- . a! ' r r r Iai, 1 ' 33 , 3- 1 1 - 3
PDE ' l ' nu- l l ::|us. nit e el er aent met hnd.
2 31 1 - 32 1 1
P' er F|:|- t r nance anal y sis. EDl ' l 1 . ' l ' |El - l sy st ems.
31 5 1 - 3- 1 ' 1 ?
l "~ l y - :. ]|. t ist p l t sl s. 3- E1 3 - 3iii?
r nnt l ncus p l n- t s, 3- 1 il 3 1 1 - 3
Per iir t mance cur ve. p u mp . 2 35
Per l iu- t r nance indices. ccl - nt t cil l et . 33?
Per manent magnet DE ; r ncr t nr , f l - 5 - En
Per t ur l :- at inn t hear y and snund waves.
p ar t ial t l il i- et ent ial er . |uat it . 1 - ns.
1 1 1 - 1 1 - 1 ' :
Phase- l ag cnnt r nl l e r . I1 1 3
Phase Mar gin. 31 1 . 333. 333
Phy sical c- nn st ant inp ut , t emp e r at u t e
el ist r ihut ip n in sl ah wit h hal e.
35 - D. 5 5 1 3-
Pi. 1 |
Pip e - eeir ivey n r . E3- ' =i
Pip e Fl cnv anal y sis
Hat cl y - [ ir nss nt et h- ncl , 1 33- 1 - iii
it er at inn nt et hu- t i. 1 33- 2 33. E31 5 - I- ii
P' ist r _ 1 n r nnt inn
l iset n iunet inn. 31
hy dr aul ic p ist - an p nsit ient cent r al .
- 1 - 1 1 1 1 - 1 - l l il i. - ' 5 l l ]' 1 . - 5 1 - U3. - il l ]- - l . - "- . 1 1 35
int er nal - El il - l ! ' l ' l l ' ! |1 . 1 ! i. l ' it Il - l ' ! | engine, 1 "- 1 1 - 1 1 1 1
Pivnt r uvv. l nat r iit . i- H. ii- 1 }. t il . - I32
Pl ane st r ain anal y sis
nit e el ement met hnd. 31 1 1 - 31 5
PUE t n- nl l :~ eu- t . 31 1 3
Pl ane st r ess anal y sis
iinit e el ement met hnd, 1 33- 1 33
PDE t nnl heu- t . 31 1 3
Pl ant mndel ing. Eit nnl inl t . 31 - "3. 331 ]
Pl at e
p l ane st r ess anal y sis, 31 }- ii- 31 3
t el np et al ur e t l ist t il s- ut it ut - nl l . l init e el et nenl
met hnd. 31 1 1 1 - 341
Pl nt cnmmands. 1 1 3
Pl - at sel ect i- an svint l e- w. f l - 33
Pl nt snl ut inn windnw, 31 1 3
Pint s
gr ap hics windnvvs. 3
. l ' . - ' l . ' i' l t TL. ' i' l . l i- f undament al s. 1 5 - 1 , ?
MPLT L. ' 1 |. E- t n- nis 1 - nr p er i- nr manee anal y sis
Hy quist . 31 33 - 35 ?
r nnt l c|- cus. 3- 5 1 - 3- 1 31
P' l _ i|' F_ In- |' |- l l i~ t ' |eIr , 31 1 3, Fil l "- r l H
f il iit et el f eat ur es. 3? 1 1 . 3? ] . 3? l 3T3.
. 35 . ? "- ' 1 - i. . 3i"1 ' . i
t emp er at u t e dis t r ihut inn in sl ah wit h l 1 nl e,
3' 5 1 . 332 . . :l - 3- 1 3. , 1 I3i". 3- 3- 3
t l t r ee- t l ir nensit nt al ancl cunt u- ut . 2 3- 1 3
Pnl es. l . ap l aee Tr ansil ar ms, 1 33- 1 31
l iul y nnnt ial ap p r nsimat ing cur ve. best t . 1 - E3
Pcil y nnr nial cur ve l il t ing. 1 5 }"|5 - E. |[ i[ l ' 1 l 3I!
Pnl y nnr nial r egr ession, 1 1 ' :- l l
Pup - up inenus. PLIIIE t uul hnit . 31 ?
Pcisit icl n ccl nt r ul uil iy t l r aul ic p ist cl n. 1 - . 1 1 1 1 ]- - 31 1 1 1 .
r "- l ' |. ' l 3
Pnt ent ient et et . l inear . 3- 1 ' i J'
Pcivr er ser ies met hcnel . Bessel ecp t at icr n snl ut inn.
41 3- 1 1 31
Pr eeisiur t . l east st . ' |Ll at es t net hu- |. |. I31 3
Pr essur e
air p r essur ised t anl t p r uiet t . 1 2 3- 1 33. 1 5 4
at nt nsp l t er ie p r ep er t ies as Fu net inn p l
al t it ucl e r necl el , 31 - 3- =1
ee||, |at i- nns - 1 ' 1 - if st at e, 33- 33
snund waves. 2 1 1 - 31 6
sp eciiic vcr l u me ancl p t essu r e en- 1 "gas as
Pu nct inn cl - Ft emp er at ur e, 34- 35
Pr int ent ninands. 1 . 1 . 1 3
Pr - ncesst sr . samp l e- cl t l at a ccr nt r ul sy st em. 31 31 1 . 3' ! - 1 ' 5
Pr nl it ahil it y np t imiaat inn
eit cuit hear d |nan1 . t Faet ur ing, . 1 31 1 . 1 33
cnmp ut er sal es. 1 5 3- 1 31 1
nil r ef ining p r njecr , I- 1 35 - 1 3- 1 3
Pr ngr ant nt ing. ii- 3; l ir e el se 1 v1 r 1 . ' l ' LPt l 3
f und ament al s
Pr np nr t innal en nt r nl l er . 41 1 2
Pr np nr t ieut al der ivat ive [ PD] ennt t - al l et . 33. - 1
Pr cip cir t ie- nal it y cu- nst ant . 3- I35
Pr np n- r t innal p int s, PITE t nn- l hnr , 31 ' ?
Punt p . Sir nul inl - t 1 t l u- t . 1 el ii' t |; . 331 1 . 331 . 31 5 3. 31 5 * - i
Pump char act er ist ic cur ve. 1 - =3- ii
Pump el el iver y vt r l u me l ' l - aw t at e t n t l nsed t anl t
as f unet inn af t int e. Er ie- 1 43
Q
quad Funct ien. 1 Cl Cl |l ]|. H]- "- =l
Quadr at ic equat inn, p ump Fl - nw, 1 33
in deit I 443
Quat l r il at er al nh- ieet s, Finit e el ement met hnd, ii- e- np e mt t l t ip iei- t er , 333
1 31 ' . Scr ip t s. M. 1 1 TL. ' 1 . H f undament al s. - II
ip r r ir enmr nand. 3 Sear ch met hnd. r cl cr t s t r l - al gel zr r aic and
t r anscendent al ee] uat icr ns, 1 , ?
H Sec- cut d- nr der equat in n. numer ical int egr at i- an.
l |il Bl l l ]
Reading f r nm f il es, I3 Sel f - st ar t ing { mn- t l i1 ' ie- t iEul er } nr et hn- t i, 1 l l ' j
Recur sion f nr mul as. 1 1 1 1 . 1 31 - 1 1 33 Semi- l ug p int s. 1 - 1 1 -
Hedl ich- l 1 isv- nng ee| uat icr n el f st at e. 3- 3 - 33. Semiec:- l cr n use in l ' |. - I . - ! ' . t ' l LLr 5 |t |:1 . E
33- 33' iiensnr s
Rel . - t - r ence, en- |, |p |ec| t anl t sy st em, 331 anal ug signal samp l ing. - 31 1 1 . 1 . - 3 l l . r - . 1 1 1
iiel iner y p r uduct iun cr p t imiaat it r n p r uject . cu- up l ed t anl t sy st em. 331
IE5 - 1 31 1 3e p a t at inn nil var iahl es. p ar t ial diif er en t ial
Regul at nr cent r al sy st ems. 3- ' ~ i33' 1 * 1 equat icnns. 1 3? . 1 33- 1 1 1 1 3
Pl iegul al ur s. p er iur nIat |t ' eiI1 diees. 331 ' |I1 FII- "j' l HI1 5 - . 1 3* "- 1 - 3. 31
Hel ay h- l n- cl t , iiir nul init , 1 1 1 3- 1 1 - 1 3 unst eady heat r r ansf er in 1 1 - a r , 1 31 - 1 3 - J
Residt t es. Lap l ace Tr ansf ir r ms. 1 1 3- 1 31 unst eady heat t r ansf er ir t cy l inder . 1 33- 1 1 1 1 :
Residue t het :- r y . 1 - 1 1 1 ' ] vih- r at ing st r ing. I33- I31 1
in cu- mp ieit var iah- l es. "33 f ier ies, 1 1 ; ]
Lap l ace Tr ansf ar ms. 1 1 1 1 ' . 1 31 3 Ser ve cnnt r nl sy st ems. 341 3. 3- =1 - =1 . t i1 . l 1 l I
Resist ance. l 1 1 ' . L cir cuit . 3- I33 Sl iail manuf act ur ing examp l e. r . |- |. 1 - t inl iaat iun.
Ret ail ing, np t ir niaat inn p r njec t , I33- 1 31 ' - 1 1 31 1 - 1 31
3. - L cir cuit . t r ansf l er f u nct inn. 333 Shap e f unct inns. nit e el ement met hnd,
l iier cl set t r ajeet t :- r y p r t sjeet . |1 3l 1 3. I3- 1 |3- 3 1 33- 1 1 1 3
Hunt ineus p int s, cunt r - nl sy st ems Shear st r ess, PDE t el - nl l :|- ent , 3- i' , F", 31 3
design. 3+ iIE- Shif t ing t l t enr ent . Lap l ace Tt ansf nt nt s.
p er l f el r mance anal y sis. 31 5 1 - 3- I33 1 1 33- 1 1 33
iil l r il iil r n- nl Feat ur es, 331 1 ' , 3- T3 Sil - t r st |r Faee ar ea p r nhl em, ' l 3"' , ' - "l i1 " _ il ' , l 31 1 33
Rent s nf al gehr aic at icl t r anscendent al Simp l e inp ut singl e nut p ut sy st emst S' c. r l ' il S1 - ' 3
equat inns. Tr "? - ' 33 sy st ems; . ' Sl . 31 . - l it er - p l . EDl ' . |. 1 ' I' 1 Il l sy st em
h- is- ect inn met he:- cl , T? - F3 design
esat np l e p r egt ams. 31 - 33 Sit np st nf s r ul e. I- I33
i- aer u Punet iu- n. 3|]- 33 numer ical int egr at iun. 9' 3- ' 33. E1 3
Hesvt nn- Fl ap hsnn r net h ed. 1 3- 31 1 ' p ump del iver y vnl ume f l mv r ar e t n el nsed
sear ch met ha- d. ? ? t anl t as f unct ien nf t it ne. 1 1 1 1 3
Hunge- l ' i. ut t a met hnd, I1 1 1 . i[ l ' E]l 1 il Simuiinl c. l - 31 - 1 3- - 1
cn- n st r uct ing and r unning mndel , I- ' 1 1 :
5 c- ant r al sy st ems. 3? "? - + =it 1 i
act ive susp ensier n. 331 - 334. 33' 3-
iial es, t r p r imiaat inn p r - nicer , 1 33- 1 3- Iii 31 - 1 1 : and l _ 1 . 3|. |- iil I}1 ie|' |' HE' l 1 I. ' a1 l |1 1 |1 .
Samp l ed dat a cant r al sy st em. 334- 33? . 3* }? - i1 1 3
- =i1 J, ' . 1 ' , _ | - _ i1 ] j| enup l eel t anl c l iuid l evel cc|- nt r c|i,
3an' |p l ing Fr et p r eney , 1 1 1 1 . 1 1 : imp l ement at inn, 3? ? - 333, 33- 1 3
- Iil il il Ual a Ficquisit iun r r l Lil 1 J' "l l Ll 1 , - "- . 1 1 1 3- - =1 l 1
Samp l ing t ime. samp l ed dat a cunt t el l sy st em. f eed- f nr war d l cl cip design using
31 1 1 3 np t imal it y cr it er ia. 335 - 331
Sat ur at icr n el ement . cent r el sy st ems p r nject s. - "- iii- i
. F' t l J1 : imp l ent ent at iun. 31 . 1 ? samp l ed dat a cunt r cl l sy st em. 31 1 - 1 1 - 33?
1 1 31 . 1 imp l ement at inr t . 333' mndel ht r il ding hl nel t s. 1 43- 1 - 1 1 5
Simul inl - t mndel ing. 333. 333 medel cr eat ip n in. l - 1 1 - 1 1 1 1
Save ED1 T1 ]Ti. 1 . 1 l 1 Il . . . 3 . r :n; u. 1 t and _ , |"i' n l al el - cl r . use. l - 35 - 1 - "- 1 3
iicaiar s, MHTLAB Fundament al s, El p r nject s, 1 31 - 1 3- 3
45 1 1 I in der t
r el ay hl ncl c, I- 1 1 3- 1 - 1 l 1 _ 1
subsy st em ccnst t uct inn. 1 - 1 - 1 ' - . 1 3?
swit ch hl ucl t . l - - 1 31 ' - 1 31 1
t r ig- nn- t |- met r ic Fu nct inn hl t r eit s, |3' |1 |3- 1
Singl e secend- nr der equat inn. numer ical
ir t t egr at i- t ut . |1 1 ' 3l l l 1
Singul ar it y , Lap l ace 1 Tansf t |- r ms. 1 1 3, 1 1 3
f ' il S1 i1 { simp l e inp ut singl e nut p ut } sy st ems.
31 1 3- . 1 - - 1 1 1 3
r - nnt l neus p int s, 3- l iil
unit st ep inp ut . 3- f t ! - 35 1 1
Sl S1 :l t nt . 1 - l . ct r nt r - t r l sy st em design. 31 31 - 31 ?
design er f - |I1 Il l ! ' l ' l ' l ! ' |' Jl |C1 ' wit h, 31 ' ]- 31 1 ' , 3' , T"- 3
esamp l e. 31 31 - 31 1 1
f eat ur es ul _ . 31 1 1 1 1 - 31 1
Snap t - n- gr id Feat ur e, 3- 1 1 3
iinf t v- ' ar e p r egr am ming. 1 - 3
St ep inp ut . l ' r esp - nnse
D1 1 1 mnt nt mndel ing. 31 1 1 1
S|S1 3t uul f eat ur es. 331 1 1 . 31 1 - 31 3
St ep np t inns, 1 1 1 , 1 5 "
St ep p r essur e dist ur bance. 1 1 - I3
St ep r esp ense; See . t r i. |' e Ll nit st ep inp ut . "
|' |1 :' - ' iF' 1 1 |"l 5 |i- ". . F:' |]T1 - 1 iT' 1 ' 1 ' | 5 ' _ 1 I"- 31 ' |:- "|T1 5 -
St if f ness mat r i:- t
l init e el ement met hed. 1 1 1 3. 1 ' El ' l S
mndel anal y sis r sf t vvn - el imensinnal
st r uct ur es. 31 1
St r ain anal y sis
beam t l eiieer l en equat inn. der ivat i- an el f .
1 1 1 1 1 - 1 1 1 1
PIJE t c- cil l :sn:t . . 31 1 3- . 31 1 ' . . 1 1 3
St r ain- disp l acement mat r it t , 1 ' - 1 1 ' :
St r ess anal y sis
Sci- l ve p ar amet er s windel w. f ' 1 ]' l :' . t nu- l b t ut . 31 1 1 heam def l ect iel n equat ien. der ivat icr n el f .
Sci- r t ing cl - 1 ' el ement s, M. =1 . TL. 1 t E f u ndar nent al s, "- 1 1 3- 41 1
l l
Su- und waves. p ar t ial dil iet ent ial equ at l - nus.
1 31 ' . 1 1 1 - 1 1 1 1 1 - , 1 1 1 - 1 1 1 1 1
Sp ecif ic heat . heat t r ansf er equat inn s. 31 5
Sp ecif ic vnl ume er f gas. as I- unct iein p f
t emp er at ur e, 3- - 1 - 35
Sp her e f unct it m. 1 J
Sp l ines. cul aic. 1 1 31 - 1 5 1 - 1
Sp r ing- el ashp nt sy st em
cur ve Iit t in g wit h eap nnent ial iunct in n.
1 ' 5 "! - . 1 |1 ' . i[ 1
Lap l ace Tt ansf nt ms, 1 5 1 ' - 1 1 1 31
mut iun p l ut t ing. 31 5 - ~ 1 1
Simul init . 1 31 - 1 31
vehicl e cnl l isinn mndel ing. 1 33- 1 31 -
Sp r ings. susp ensinn sy st em mat r ir t met h nds.
1 3- 1 5
S- t p r ar e r nnt s, 1 1
St andar d er t cr . l east squar es met hnd. I33
St at e sp ace r e p r esent at icr n. 3- =1 5
St at ics
beam def l ect i- an. 1 1 3- 1 1 ]. 1 31 ' - I33
heam deil ect ier n ec| uat inn. der ivat inr t er f .
1 1 1 3- 31 1
mat r it t met hnds. 5 1 1 - 5 5 . 1 1 . 1 ' 3
mcr del anal y sis c|- 1 ' t vvcr - dimensicl - nal
st r uct ur es, 31 1
t r uss st r uc:t ur e int er nal f ar ces. 1 1 . 1 3
St eady st at e. st ep t esp u- use p l cr t . 31 1 - 31 3
3t eael y st at e heat enr l t l uet inn. p ar t ial
dil il er ent ial equat inns. 1 3?
St eep est descent met hnd. t r p t imiaat iein. 1 1 1 ,
1 1 3- 1 1 3
nit e el ement met hnd. 1 33- 1 33
cant il ever ed heam. 31 1 - 31 3
p l ane st r ess anal y sis, 1 3 3- 1 33
[ il r ee- l iut ie t r iangul ar el er nent f nr
t vve|eiimensic| nal st r ess anal y sis. 1 31 1 1
Pl . - l ' E t t i- t ' |- l h- 1 1 1 :. 3|- ' 1 3. 31 1 . 31 3. 31 1 1
St r ing vibt at it r n. p ar t ial dif f er ent ial ec|uat iuns.
1 . 31
St r ings, I3
St r uct ur al mechanics
l init e el ement met hel d
m- ndel anal y sis nl it st r cr - dimensi- t i- nal
st r uct ur es. 31 1 - 31 5
p l ane st r ain anal y sis. 31 1 ]- 31 1
p l ane st r ess anal y sis. 1 3 3- 1 33
mat r iit met hnds
int er nal l f nr ees en t r uss, 3- 1 1 - 33
t r uss st r uct ur e int er nal f nr ces, 1 ' 3
Sul ip l ut cnnr mand. I1
Suhsy st em ecr nst r uct icr n. Simul inl t . 1 - 1 1 1 3. l - 1 1 1 '
Sup er p nsir inn met hnd. 1 31 - 1 33
Sur f ace ar ea p r nbl em. sil n. 1 ? ? - I1 "- L1 . I31 - 1 33
Su r f ace t r act icin hnu ndar y cnndit inn. 1 31 1 ' .
1 ' 33
Susp ensl un. sy st er l t s
mat r l it met hnds. 1 ' 3- I- ' 3
Simul inl t mndel ing. 31 1 1 - 3 - 1 =l . 335
Swamee- Jain f er mul a. 1 - I1 1 1
Svvit ch hl ei- cl c, Sl mul inic, l I1 1 _ 1 |3- 1 1
31 - vit eh gr eup . 1 5 - 1 1 3
Swit ch st at ement . 3- ' 1
Sy mht r l s. 1 1 3
Sy st em dat a. Sl S1 l 1 t unl f eat ur es. 31 1 1
T
Tst l sl es
et eat iun uf . 2 |
Lap izt ee l l . - I. :l . 1 l . ' . il ' _ CI1 ' I' l ' l 5 i. 5 2 : Lap l ace
Tr an. sFnr ms
Tajr ier r ser ies et t p ansiewt s. 2 5 , Fl - [ I
Tst nit Hui- el l er r ei
r ; t |- n|. ' |' - t i- l sjr st r ; - m I1 - r nj- e|; t , ==l \ l - Ii- =' 5 |=l 5
eur ve l it t it l g |Jr t Jjet :t . s, 1 - E? - l
ir nuiinie. r :e|- u|:|- l eel t :t r :it . , 5 i~ "_ . _ "5 - B5 , , 5 3- I5
T; t j|. ' l r . >r 5 er i- es est p ansinn
- t iiif er et t ee f at mul as. I1 5 - 1 1 3
i|1 ' t |. 1 - r r . 1 ]Jer int egr al s, HE- 5 ' 5
init ial val ue p r nhl em, ' l ' il 5 - l f l
Lap l aee Tt ansf et r ms, 1 ? - J"
p ip e Haw. 2 5 ' - , 1
p r nieet s, Til , 5 i' l l
5 imp su|:' s r ul e. J5 - J1 5
Temp er at ur e
el er it r at inn 1 1 Fheat t r :- 1 r t s Fer equat inn in snl it l .
5 1 5 - 5 2 5
nit e eier r t ent . 1 n. 1 i], ' sis e|r _ l 1 eat r r t t nsl - er ,
5 1 5 - 5 5 3
p r ujeet , 5 il . l - 5 - "- i]
t emp er at ur e eiist t il aut iun nn p l at e,
5 4- il 5 l l
t emp - er at ur e dist r ibut ion in sl ah.
5 5 5 - 5 5 - E
r ent p e r at t t r e r l ist r il 1 nr inn in sl :; |i' r wit h
l t er ie, 5 1 . 1 5 - 5 5 1
Huiel t emp er at ur e ' Ir :t r i. 1 r ie|- n |:t t e|jee t .
l 1 5 l 1 1 ' 1 -
gas heit avi- at
air Pr essur ized t anl t ]:|- r et ieee, I1 5 ! - 1 5 5 . ,
l 5 * ' l
; it 1 1 |r . r s|:r l 1 er it ; p r u- p er t ies as i- u n- t :I. ir . :- 1 1 ui
ait it uel e n' t |:t el ei. , 5 i- 5 - 5
eqt t at iens er f st at e. 5 1 5 - 3 - II
sp eeie 1 - ' t . 1 - il . l t ' |1 |:: ant ip r essur e ef gas as
l - uner iun t i- l - r r :r n[ :- er - . 1 r ur - e, 5 - ii- - 5 5
heat eemel t t et inn eqt t :- 1 t ir r ns
- r . l er i' |- ' . 1 t i- |:|- n er f . - { IE 5 - # 2 5
ir t st ar iet nar jr set - iiel , - "- iii- l l
veet nr eal eul t t s, Il l
it eat l r zl t l sl ier ' r i:l n l - t ur n eie- |. l t - |. |- |1 iL' Ll t "l |' l L"l r . ' 1
1 5 5 - 1 5 ?
numer ical int egr at ir r r t , 1 { I5 l - [ Hi
p ar t ial dier ent ial equat inns
nit e - el if l ier enee t net l t et - el ap p l icat ions,
Il T". - il l l
he at - t r ansf er p r uiee- is. 2 1 4- 1 5 ;
In dear I 45 1
r nnt s nt al gel : r aie and r r anseenel ent ai
equat inns
l t eal : t r ansf er t n air . E- H?
heat : t t ansi- er r n l 1 - at l ' t _ H- 5 |- HIS
p r - eject s. J1 - J5
' l ' er r |[ , . 1 er 1 t |. 1 r e el - Ll
|; n- nr n- |:|r 1 , 1 - l nr , 5 5 1
nit e el ement met hnd. 5 5 6
l ier minzt t ing is- ' 1 . F|. ' 1 ' l _ . t "t i5 p r er gr ams. E
Test l _ 1 . t n- er iuns, nit e eier nenr mer hnel , 1 ' 5 5 ,
2 5 - l i l i
r l it er r r l aicnnduct ivit y ; . 5 ee Heat t r :| r |sl - er
Ther mal p r ep er t ies; Her Heat t r ansFer
' l ]1 er meel 1 |- t nat nies, r st l aw, 1 1 . 6 , 5 35 - 42 8
Tl t er must ar iJEi1 i. 1 |' il JI| Eir r t ul inir . met - t l el ingt
i* "- iFl ii. l ' I- i
' l i' t l ee- degr ee- ui- f r eeel unl l t ' t t J- t iei, "r ' l Ei' Il l . Il t '
t :t J- iiisier n, i5 5 - 1 5 - I5
Tit r ee- r iimensir r nal gener al ized Hnnl - :e' . s l aw l ie- r
ise- t t e1 p ie mat er ial , l iir i
Tit r ee- dime nsiet nai|:t l e|- t s. 1 5 - 1 5 , 5 1 , 7
Time - el nnr r ain r es [ r n- n sr ; - s, - en r t r misy st em el esign,
5 - "- i- =' l 1 5 - 5 5 . 5 - 5 5
Tint e r esp unse p int
1 ' I|"l II met er mndel ing. 5 - { iIIl '
Eil l t eul f eat ur es, 5 5 ! ]. 5 ? - "Ii. 5 ? t 5
Te|r |:|ue equat inn, 5 5 5
Tr aet inn. st r r iee, 2 5 ? , 2 ' - JIFI
Tr aject or y , r e- ei- t et . 1 2 5 - 1 1 5 , 1 5 2 - 1 5 5
Tr anseen- el ent . 1 ieel u at inn mel t s; . 5 :- r l i' . e||:|- t s
nl - al gebr aic and t r ans- ee nel enr al
- E' t . ]Ll r 1 [ i- |. r | r - s
Tr ansf er f ur t et iuns. et r ut r - t r l sy st ems. 5 - "- i5 - 5 5 2
el m- set l - l nnp sy st em, El 5 T"E! - -
l ' s* ir l i' l ' LFt B f eat ur es. 5 ' 1 6
p r oject s. iiil i, Il 1 5 - 1 - i1 ="- i
iiimuiinie mndel ing
act ive susp er t siun. 5 5 1
i- eet il ' e|- r war t l it :- up - el esign, 5 35 - 5 35
5 l 5 Ut t m[ ap p - l iear ir m examp l e, 5 - I5 3
Eil t ir eeif eat ur es, . 5 ? l [ ], . 5 ? 1 - 5 - H1
"l ' r ans|:|- nsit inn, r n:|r r i:|t , - 5 1 5
Tl - 1 , . - "|t TI' [ ' . l { t emp er at l l r e r ar in], Fl - Ft - iil , 1 2 1 ,
2 2 1 , 1 1 5 i2 . 5 - "- i
il ' r i- el iaE; |:|1 1 1 l sy st ems uf iinear equat inns,
l l 2 il 5 , l 5 - i
Tr iangl e eiement s
nit e eient ent r net i' |n- el , 1 3? . EBB- E5 5 ?
1 ' - I- il ' F_ t n- |' |- ii' st ' nt , 5 1 5
st iiTl 1 |:ss it l at r ir - t . I5 1 5
Tr iangl e eier r t ent sir ap e i- |. | nct inn. EBB- Z 5 9'
Tr igennmet r ie t net inns, il l ]. ' E5 EI1 5 1
45 1 I In- :a' e. v
Tr uss st at ics, mat r ir me r l r - nds, 5 f 1 "_ i5 , 1 1 - 1 5
Tur bul ent ef f ect s. p ip e env anal y sis. 1 5 5 . 1 5 5
' - l ivvcl - degr ees t l f f r ee- t l t t r n sy st ems. I5 5 . 1 5 - F5
T|. Ir ndimensinr t al st r uct ur es
nit e el ement r net hed
n1 t _ 1 t . l el anal y sis. 5 1 1 - 5 1 5 -
p l ane st r ain anal y sis. 5 1 1 1 - 5 1 1
p l ane st r - ess anal y sis. 1 5 5 - 1 5 1 1
t l ar ee- nest l e t r iangul ar el emer t t f t t t . 1 5 1 1 '
p ar t ial dif f er ent ial equat inns, if l - T"
Tvvet dit nensiuns. heat t r ansf er in
nit e el er r t ent n1 et l ' |t t t l . , 5 1 5 - 5 5 1 5
t emp er at ur e dist r il zt ut it t n in sl ah vr it l a
l t - t il l - E. 5 1 1 5 - - 5 5 1
t er r t p er at ut e dist r il aut iun in sl ah vvil l t
sur f ace cnnvecr it t - n, 5 5 5 - 5 5 1 5 1
t emp er at ur e dist r ihut i- an t r n p l at e.
. 5 - 5 |]- 5 - 5 |
unst eady , 1 D- 1 l 1 ]
U
Un t enst r ained p r ehl ems. up t ir niaat it l n. 1 ' F1 1 1 ' 5
Unit l :r i- t it l e diagr am. ' . 5 - imul inl t mndel ing. 5 35 .
5 3- 1
Unit st ep f unt t iun. Lap l ace Tr ansf or ms. 1 5 5 - 1 1 5 ?
Unit st ep inp ut t l t es p u- use. cul r t t uisy st ems; . 5 ee
. e. t "s. a- 5 - r ep r esp n- nse
design. 5 - r il l . 5 1 1 5 . 5 - ' 1 "]5 5 ii1
I"- l ]. - ' - |:_ |uist p l t :- t s. 5 1 5 - Ii. 5 - I5 5 . 5 1 5 1 5
i' i1 5 l i5 t t :|- t il f eat ur es, 5 5 1 - 5 , 7 5 , 5 5 "- ii- , 5 5 "1 ' :|, 5 ' ]- ' 1 5
st at e sp ace t nu- t iel s. 5 5 - i
ap - it cummar t d, 5 5 1
Unst eady heat t r ansf er p ar t ial dif f er ent ial
equat iens
in l ' r ar . 1 5 1 - 1 5 5
in cy l inder , 1 5 ' - J - 1 f 1 l . 5
p t t r ject s. 1 5 1 - 1 5 1
in t v. - ' c| t l ir t l er t sit r ns. 1 l ]' |5 1 l i]
it
I. - "al 1 . r - es
p ip ing sy st em
l 1 t |- sv t hr nugh. 5 - 5 ' 1 . 5 - 5 ' 5
l aead l ct - ss, 1 5 - =1
p ist en ser ve. ~ ! ' |l _ if . J. - 1 1 1 1 ]
p r essur ized air sy st em. I1 5
|' . |' . =aJ- "|. ' t il . l l . Il I' 5 . 1 5 - 1 1 1
Veet et - t al t ul us. 5 1 1 1 . 1 1 5 3
Vect or s
1 v' l . ' 1 LTLr ' 1 |. E- f u ndar r t ent al s, 1 |
nt at r iees. - I1 5 . - ii?
"v"t :l ' t icl e t :t r l l isit |- I1 p r t t jet t . 1 5 5 - 1 5 1 5
"v' il - t r at iem
aut ur nc- hiie su sp e nsinn sy st ent . 1 ' 5 - 1 5
eigenval ue p r ct - l :t ie|n. I5 5 - 1 1
Lap l ace Tr ansf nr nt s, 1 - "- . 1 5 1 , 1 1 5 1 ]- - 1 1 1 5
medel anal y sis cnf t we- dint et t siunal
st r uct ur es. 5 1 1 . 5 1 5 . 5 1 - Bi. 5 1 5 -
nt t r ner it al int egr at ir r n. 1 1 1 5
p ar t ial dil f et ent ial equat iens. 1 5 ? .
l 1 l i- l 5 i1 . 1 1 l
sl t if t ir t g t he- nr en' t , 1 I. ' 1 |l ii- 1 l . ' 1 |5
Viseesit y
Har - t l y - E: t t t ss r net l 1 t t t l . 1 "- 1 1 ]
l t el ium l aaiiunn p r t t - ject , 1 1 5
p ip e env anal y sis. 1 5 5 . 1 - = ii1
p u r |1 p - Ll el iver y vul ut t t e f l uvr r at e l t r cl uset ]
t anl t as f t t nt t inn r t - f t inae, 1 1 1 1 1 , 1 45
1 5 1 5
1 v"t t l t age e- t |t . t a t it t n. 5 ' 35
1 v"t |- l ut ne p r t t l sl er ns
equat iens t t f st at e. 1 1 1 1 - 1 1 * !
t t l p t ir r t izr at iu- n
l - agr ange m|. |i|. ' ip l ier s, 1 5 1
sil r t . 1 1 1 - 1 1 5 . 1 1 5 1 - 1 5 5 5
sp ecic vet - l u r r t e and p t essu r e er f gas as
f u nct inn t t f t er np et at u r e, 5 4- 5 5
"v - an l vl ises ef f ect ive st r ess. 5 1 ? . 5 1 1 : -
W
l il l if ave equal iul t { l I' l ]. "]Jt . l ' l IIU|l 1 . I l l _ ' - iii]. H5 ?
1 1 if eig_ ht ing_ f unct inns, nit e el er nent met hncl , 1 ' 5 5
"- i' i"l t i|e l p np s. 1 4
Winduws. l ' t - ' l . Fi. ' l ' l _ r ! t l 5 . 5 - B
PIJE. t t t - |:t l l :~ |:nt , 1 5 ' ? )- 5 ' l 5 1 "- i
Eil it eeif eat ur es. 5 1 1 ]. 5 1 1
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1 ' - . 1 1 "- t 1 - r st t r iangl es, 5 1 5
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! t ' uung s t nedul us. 1 1 1 5 . 5 1 1 1 1 . - =' i1 1
samp l ed dat a er mr r nisy st em. 41 1 1 . 41 1 5 . I
5 1 1 5 1 5 1 5 5
It - "an t l et "I1 - "aal s equat inn. E5
1 . - "a t ial a- l e names, f l
1 ' . er t r - e- r t l er l at r l - t l [ . i' l i:iH]l . 5 ' 5 5 . 5 ' 5 - J
1 ' . er ni]' ct l el [ 1 ain r ep r esent at ict - r t . 5 - =' - H1 , 5 f t - f l 5 5 - 1
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Figur e 1 1 . 4 Fuur ier ser ies f it uf t he t l at a.
It l l HIRI-
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Figur e 1 5 . 35 Eunl uur p l et f ur t he disp l acement ct r - nt p unet t l u in t he r t dir eciit t n
I|. |||||- t - _ . - Il p |I1 ' ||||t IIIl |Ii|_ Ih||. l l I |
{ Fr nm MATLAB. Wil h |Il er mi5 si l l 1 . J'
I"l - ' 3l iiI' I|l l HI- Ft iil - l ' $ ' I' I_ ' l "i - - - ?
F. - ' 1 |E1 i' ==' * |* =>| ==' . i"=1 "; - 5 - IE- . i"I- ! :. | 5 "~ l ' "="* ' ~ """' "I "' " "' ""'
l iih
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l t l r ' |' III|I||Ir I|I2 I- l t l l l i- r il l nu il ' IIl I|IIiI= |
Figur e 1 1 1 . 31 5 Cu- nt nur p l et p f nur mal st r ess t r . . . [ Fr nm MATLAE. Wit h p er missiun. , |
"; - ; - - - ||- . . I. - . ||- . a. . |. | _ "' a'
' . |I- - a|I. I|- - t t . |- in- . - I- |- 1 I' :l ' :i- I- 1 - |I- - Ie- |- sir - a- t r - t i
I- Il ' ~ 1 1 ' "- 1 - it - "- |. - I". * ei. * ". - ~ l . e. - l :s' l ' ~ i. ' - - - ~ - =- r t ee" * "-
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l . I- ihjl t l l i- I- ' il ". Ll "' il ' [ IE1 - Iel r r J L |||' . I:- |I' r It r l t j | |||
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r l l r J||Il l I|l :IIII|$ ' I$ I' hII' h | Li|
Figur e 1 3. 42 The r st vihr at iun met t l e t er t he l owest nat ur al f r equency . [ Fr nm
MATLAB. Wit h p er mission. )
- Li - I' l l - I' II|l l Ir P- I' l dII' 1 F' I $ ' l - t il l - I- Bl - I1 l ' IihIl ' I$
HIE- I "|' =1 1 * | I* . * I"* . =? =|"|- Il ~ l 1 "~ l - * "e"' e""' " I ' " "' ' "
. |l I' l ! ' - ! - II:. _ II1 TII- ' . |Tl F"i- ' . ' l l If ' F C' l II! - I I. ! ' |I|||l I' Il I- ' - III ! - ' |I|' |
gm- ' r I- I - r " r I 1 . |
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Figur e 1 3. 43 The seconr l vihr at ion mt t t l e f or t he second l owest nat ur al f r equency
{ Fr om MATLAB. Wit h p er mission. )
Ii
I l | =+ |; I: :- |r I:- | is- . r o|=- In ai- . |. . EI. - . I
I- ihi
- I. |t l . l I' - IIII- IIHII- I 1 |" 4" f "l ' l ' | T 4' 35
l l il r l :- ' - l ' J|' l ' l "- I' l - l l :' l Ti- II :' H|:I. It l I' l |' I l ' l - |' |
l i|l . |iI I | | I- | I I - |
l IIl ' I5 |
r un. _
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|I' ] |_ ! I' |Il l j- . _ ' r |. ' _ Il . |I |' II. | I |l I; |' ||I 1 |1 : I l l | I II 1 ]I
4. |. |. I. 1
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Figur e 1 3. 44 The t hir t l vihr at ion r not l e f or t he t hir t l l owest nat ur al f r equency
(Fr om MATLAB. Wit h p er mission. )
{ I ' ; . K' Il iI' iI
|l | + | - : :~ |t + 1 |' s - sl m . e. |a - ! - l t |EI. , I- II- - - - - =* "" H"
"i. l =' Ii' l ' l :|l ' I' l ! ' l "' I! "iI' I'
Figur e 1 1 1 . 5 3 Cont our p l ot of t he t emp er at ur e f iel d. { Fr om MATLAH Wit h
p e r r r Iission. ]
|Il
" ' r 1 1 ' r | - - ' 1 '
El
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et e-
It
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t I' I- -
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HI 5 - I|l I|I|l II' Ir I' II|Il . III IIIIIIIIII IIIIIIIWIIII IIl I. II' l |- |Il I' l - | I
III| J1 IJ || l l I I I- | II L- I- I I-
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1 I". |- - . - . . _ _ - -
LIII
I_ |l 1 I - :_ . =- |w|". - "- "- s- 1 ! - I - miss - I4- |' 1 I~ . I- ~ - - """'
I. - :I' I' - . |I' ! :- ' - ' I' :' 1 - ' ' - Iii:|
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1 |: |. l _ ". | J1 ' l ! I- Ll _ a _ LII l . l | l ' . l - l . |a. L' . ' - U-
IIII. hI|- . I- - - |. l I_ - III- II. - It - In Isa- I- l I|:l |I- I- ||- - I- . nI- In W
Figur e 1 3. 5 1 5 Cont our p l ot of t he t emp er at ur e f iel d wit h heat f l uxf l ow. l Fr on1
MATLAB. wit h p er mission. )
MIU . l il
F- ' - "i' 3. F; |"- ' 1 - * |' T* . * 1 ! r . 1 Ii+ - ' 5 - - "i". # ~ i5 ' I- l _ "" "* " * 1 " "" ""1 "
II
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1
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ac . - . - _ n _ _ g L. I _ L I
It IF ' Ii5 1 H1 If ' I I l l
at hIanl # ILInIquII:iIHHr ni:hnII- [ bi]
Figur e 1 3. 5 5 Cont our p l ot oit he t emp er at ur e el d. { Fr om MATLAEI. wit h
p er mission. )
t i- ar n t u- In- In I- t r . an a- II- - I Ir - = up - so _ _ _ _ _ _ _ _ _ _ _ _ I
Q1 1 1 3] c:p |I}|1 p 1 ! sp p _ g:d gig l I|q! L|ELit eeIIuw l 1 . 1 1 : e 4! !
I - III. -
"It - I . |II' ! - il
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II | I
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III It - I:II|III|I- I. i_ I :IIII5 I|I1 ' . ||l I- III IIIIiI t r t :Ia. |I |Il Il
Figur e 1 3. 5 ? Cont our p l ot of t he t emp er at ur e el d af t er adding 5 1 1 C t o t he
sol ut ions shown in Figur e 1 3. 1 1 5 . { Fr om MATLAB. Wit h p er mission. )
l t iI1 t . l "- iI' r r t
iI. 1 m
1 1 . 3 m r |
Figur e 1 1 1 3. 2 G eomet r y oia cant il ever ed heam f or Pr oject 1 3. 2 .
Figur e I . 1 It eet In- cue p l et eit he abeve el nee- Ii- l nnp t r ansf er r net iun. ( Fr nm
MATLAB. Wit h |:er r r |issiun. }
- p r , _ LL1 1 t in , _ u- 5 r { K_ . _ 1 ]
Figur e 1 4. 43 Simul at ion r esul t s uf t he mur l if ied musl el . { Fr - um MATLAH. Wit h
p er mission. )
Figur e 1 4. 45 Simul at ion r esul t s of t he modiiied model wit h dist ur bance l it , =[ Ll ].
{ Fr om M. - "l . TL. i' t El . Wit h |Jt . ' r missinn. }
Figur e 1 4. 41 5 Simul at ion r esul t s of t he modif ied model wit h dist ur bance l it , l . l .
{ Fr om M. 4TLAEl . Wi1 h p er mission. )
Figur e 1 4. 5 1 3 l l - ehicl e s disp l acement . [ Fr om MATL. - 4. 5 . Wit h p er mission. )
Il a] U1 ] [ Fl
Figur e I4. - 1 5 9' Simul at ion r esul t s f or dif f er ent cont r ol l er gains ET =l ]. [ |1 second]
t a] gain =1 1 . 1 1 1 ; |[ h]| gain =t 1 . t . i5 ; |[ c, ' | gain =1 1 1 . 1 . (Fr om MATLAB. wit h p er mission. )
m==- =- = I 1 1 _ "ME"I
|&EE:. hE - s 1 -
Figur e 1 4. TH Resul t s oit he p r ogr am shown in Figur e 1 4. ? - T. { Fr om MATLAB
Wit h p er mission. l
l l il eel r anical Engineer ing
C P ' ! :' il Il |Il "l 1 iir ol r en Sot nt t l i"ar l ovig. r . l - l ' |r ' r '
l "- E5 5 Suit e soc, El cr ca Ret or t , FL 1 3- r s?
Tay l or E- r Fr a ncis G r oup ar e Madison aver - r r r e
. - . - ; i- l - e\ ' r I. "f or r , l ' ~ P|"t l ]' l III|5 -
~ """"' - """* ' - if l "f 3' f ' ? ? 5 ' 1 ~ - * $ ' 3' l "l "l . r l 1 r l n- qr :l on, l L l r l on' EH' i1 44Fl t ~ l _ Ul '
NUMEFIICAL AND ANALYTICAL
METHODS WITH MATLAB' i
Numer ical and Anal y t ical hl l et hcds wit h MATLAHFp r esent s ext ensive
cover age of t he MATLAE p r ogr amming l anguage f or engineer s. It
demonst r at es how t he buil t - in f unct ions of MATLAB can be used t o sol ve
sy st ems of l inear equat ions, or dinar y dif f er ent ial equat ions, r oot s of
t r anscendent al equat ions, st at ist ical p r obl ems, op t imizat ion p r obl ems.
cont r ol sy st ems p r obl ems, and st r ess anal y sis p r obl ems.
This cl assr oomt est ed t ext f ir st r eviews t he essent ial s invol ved in wr it ing
comp ut er p r ogr ams as wel t as f undament al asp ect s of l vt ATL. aE- . it next
exp l ains how mat r ices can sol ve p r obl ems of l inear equat ions, how t o
obt ain t he r oot s of al gebr aic and t r anscendent al equat ions, how t o
eval uat e int egr al s, and how t o sol ve var ious or dinar y dif f er ent ial equat ions.
Af t er exp l or ing t he f eat ur es of Simul ink, t he bool r discusses cur ve f it t ing,
op t imizat ion p r obl ems, and p ar t ial dif f er ent ial equat ion p r obl ems, such
as t he vibr at ing st r ing, unst eady heat conduct ion, and sound waves. The
f ocus t hen shif t s t o t he sol ut ion of engineer ing p r obl ems via it er at ion
p r ocedur es, dif f er ent ial equat ions via Lap l ace t r ansf or ms, and st r ess
anal y sis p Fr ' Jl f IIl EiTl E via l Il "1 ~ Er f l l l l t ' E' - EIEFTIEHI I' Tl Eil "l iJCl . THE f iFl - El l l Il l Ei|IIt l I- l er
examines cont r ol sy st ems t heor y , incl uding t he design of singl e~ inp ut
singl e- out p ut { SIECI} sy st ems.
Feat ur es
- Pr esent s numer ical and anal y t ical met hods t o sup p or t r aar cess
buil t - in f unct ions
- Exp ior es t he mat hemat ical model ing of engineer ing p r obl ems
r Cover s t he f init e el ement met hod and mechanical cont r ol s-
t op ics not discussed in simil ar t ext s
r Incl udes many semp ie MATLAE p r ogr ams
- Pr ovides end- of - chap t er p r oject s t hat r equir e r eader s t o wr it e
p r ogr ams t hat might be encount er ed in indust r y
- Cont ains col or f igur es t hat enhance t he mat er ial on t he f init e
el ement and comp ut at ional uid dy namics { C- FD) out p ut
I35 l s- El
a r r nf or ma Lxusr - ir - - ss
1 Per l : Squar e l y l l l t on Per l :