Example 2

Build a Simulink model that solves the following differential equation

2nd order mass-spring-damper 2nd-order mass spring damper system zero ICs input f(t) is a step with magnitude 3 parameters: m = 0.25, c = 0.5, k = 1

m x cx kx f (t )

Create the simulation diagram

On the following slides:

The simulation diagram for solving the ODE is created step p by y step. p After each step, elements are added to the Simulink model. model

Optional exercise: first, sketch the complete l t diagram di (5 min.) i )

m x cx kx f (t )

(continue)

First, solve for the term with highestorder derivative m x f (t ) cx kx Make the left-hand side of this equation the h output of f a summing i block bl k
m x
summing block

Drag a Sum block from the Math library

Double-click Double click to change the block parameters to rectangular and + - -

(continue)

Add a gain (multiplier) block to eliminate the coefficient and produce g alone the highest-derivative
m x
summing i block

1 m

Drag a Gain block from the Math library

The g gain is 4 since 1/m=4. /

Double-click Double click to change the block parameters. Add a title.

(continue)

Add integrators to obtain the desired output variable

m x
summing block

1 m

1 s

1 s

Drag Integrator blocks from the Continuous library

ICs on the integrators are zero.

Add a scope from the Sinks library. Connect output ports to input ports. Label the signals by double-clicking on the leader line line.

(continue)

Connect to the integrated signals with gain bl k to blocks t create t th the t terms on th the right-hand i ht h d side of the EOM
m x
summing bl k block

1 m

x cx
kx

1 s
c

1 s

Drag new Gain blocks from the Math library

To flip the gain block, select it and choose Flip Block in the Format pull-down menu.

Double-click Double click on gain blocks to set parameters Connect from the gain block input backwards up to the branch point. Re-title the gain blocks.

c=0.5

k=1.0

Complete the model

Bring all the signals and inputs to the summing i block. bl k Check signs on the summer.
+ -

f(t) input

m x 1 m

x cx kx

1 s
c

x x k

1 s

x(t) output

Double-click on Step block to set parameters. For a step t i input t of f magnitude it d 3 3, set Final value to 3

Final Simulink model

Run the simulation

Results

Underdamped response. response Overshoot of 0.5. Final value of 3. Is this expected?

Paper-and-pencil P d il analysis l i based on the equations of motion

Standard form k Natl freq. freq Damping ratio Static g gain

x m

1 c x x f (t ) k k

k n 2.0 m c 0.5 n k K
1 1 k 2

Check simulation results

Damping ratio of 0.5 is less than 1.

Expect the system to be underdamped. Expect p to see overshoot. Expect output magnitude to equal input magnitude. Input has magnitude 3, 3 so does output. output

Static gain is 1.

Simulation results conform to expectations.

End of tutorial