MECH 370: MODELING, SIMULATION AND ANALYSIS OF PHYSICAL

SYSTEMS
LAB 6: TIME RESPONSE OF A SECOND ORDER MECHANICAL SYSTEM
Section CJ
Julien Pag 6319548
Shuvoraz Dey 1953273

Date performed: 5 August 2013

Date Submitted: 9 August 2013

OBJECTIVE

The objective is to analyze the under-damped natural response of a second

order mechanical system from which we can get the damping ratio by the
response trace.
INTRODUCTION
The experiment which consists of a second order mechanical system studies
the under-damped natural response of a mechanical mass-spring-damper
system. Such a system is classified as a translational system which is
measured from a specific reference point known as the zero-velocity
reference frame. In addition, in this system, Newton's third law is also
observed where the forces

f k =k x
And,

f b=b v
Are external forces associated with the element. Moreover, when the system
is under-damped, 0 < < 1. Such a response is sinusoidal.
The differential equation of the system in terms of the displacement is:

d2 x
dx
+b +k ( xx 0 ) =0
2
dt
dt

Which is linked to the two equations below once the Laplace transform is
taken.
The natural frequency of the system is:

n=

k
m

And the damping ratio is:

b
2 km

The under-damped response yields an exponentially decaying sinusoidal

function that oscillates about its steady state value. The system's behavior is
thus dependent on the damping ratio and the damping constant b that will

be determined from the experimental rig which consists of a spring mounted

platform system.
Other notable equations include the transit time response specification where
the time period is:

T=

2
d

The overshoot (P.O) is described as:

n

P .O=100 e

1 2

Which can be rearranged to equate:

[ ( )]
[ ( )]
ln

P.O
100

P.O
ln
100

+ 2

The logarithmic decrement equation is given by:

=ln

1
2
= n T =
3
1 2

Which can be rearranged in turn by:

2
4 2+ 2

PROCEDURE
1) Connect the experiment rig to the power supply while keeping it off, along
with the DSO.
2) Disconnect the lead from the red input terminal on the DSO. Adjust the
settings on the DSO to obtain an optimal trace.
3) Reconnect the lead to the red input terminal on the DSO and turn on the
power supply. Adjust for any bias in the trace using the zero-trim control to
get DC output to 0V.

4) The damping coefficient can be controlled by the damping control R knob.

Turn the knob completely CW to keep it closed. For 1.5, 2.5 turns and
completely opened valve; press on the disk to the x0 position and release it.
Once it stops oscillating, freeze the DSO and measure the following values; T,
Tp, x1, x2 and x3 for the respective turns.

RESULTS
1.5 turns 2.5 turns

Fully
open

T (ms)

156,00

160,00

168,00

Tp (ms)

80,00

84,00

92,00

x1 (V)

3,92

4,40

5,12

x2 (V)

2,40

3,20

4,08

x3 (V)

2,08

3,04

4,40

Table 1: Values determined from varying damping control

1. Calculate the damping ratio using P.O equation as well as the logarithmic
decrement for the three under-damped plots which you obtained. In each
case compare the results obtained from the two methods and discuss any
differences.
Using:

P .O=100

x1
xo

( )

With the overshoot (P.O) is described as:

n

P .O=100 e

1 2

Which can be rearranged to equate:

[ ( )]
[ ( )]
P.O
ln
100

P.O
ln
100

+ 2

In addition, for the logarithmic method is given by:

=ln

x1
2
= n T =
x3
1 2

Which can be rearranged in turn by:

2
=
2
2
4 +
From the graphs obtained, x0 is taken as 4.88 V.
From the equations above, for the valve opened at 1.5 turns,

P .O=100

x1
=80.33
xo

( )

And,

[ ( )]
[ ( )]
ln

P .O
100

= 0.06956

P .O
ln
100

=
Now from:

=ln

x1
=0.6337
x3

And finally,

2
=0.1003
2
2
4 +

From the equations above, for the valve opened at 2.5 turns,

P .O=100

x1
=90.16
xo

( )

And,

[ ( )]
[ ( )]
P .O
ln
100

= 0.03294

P .O
ln
100

+ 2

=
Now from:

=ln

x1
=0.3697
x3

And finally,

2
=0. 05874
2
2
4 +

From the equations above, for the valve fully opened,

P .O=100

And,

x1
=104.92
xo

( )

[ ( )]
[ ( )]
P .O
ln
100

ln

P .O
100

= 0.0 152

+ 2

=
Now from:

=ln

x1
=0.1515
x3

And finally,

2
=0.0 240
2
2
4 +

As observed when comparing both the PO and logarithmic methods, the

damping ratio

decreases as the valve gradually becomes fully open. In

other words, the system oscillates more for b min. In addition, both results are
similar. The difference between both values for all three cases may be due to
the force applied in each case where the x 0 value may not have been
accurate since it was done manually. Moreover, in three cases, a clear
exponentially decaying sinusoid was observed for the under-damped
responses.

2. Calculate

using the value of peak time Tp for the three plots and

d . Compare this value with the theoretical value

hence determine

k
m

and determine the error between the two.

Using equation
a)

Tp= d

0.08= d d =39.27 rad /sec

b) d=37.40 rad / sec

c)

d=34.15 rad / sec

Using equation

w d=wn 1 2 we find the following;

a)

37.4=w n 10.08494 2 w n=39.41 rad /sec

b)

w n=37.44 rad / sec

c)

w n=34.16 rad /sec

Using equation

w n=

K
, where m=0.274 kgK=500 n /m we get the theoretical natural
m

resonant frequency to be

w n=42.72 rad/sec

Error calculation is done by using equation;

100|estimate42.72|
42.72

100|39.2742.72|
=8.08
42.72

a)

Error=

b)

Error=12.43

c) Error=20.04

As we can see that how error were relatively low and fall within the
acceptable range. Just the fully opened situation received a much higher error
percentage than the partially opened situations.

3. The first plot obtained with minimum damping corresponds to the case
where only the intrinsic damping bmin is in effect. Estimate bmin from the trace.
Using:

b
2 km

And also from:

ln

x1
T
= n
x2
2

ln

5.12
0. 168
= (34.16)
4.08
2

()
(

For the first plot,

2 km=b min

0.05279 2

( 500 Nm )(0.274 kg)=b

bmin =1.2358

N s
m

min

4. Simulate the system.

Using the following configuration for our block diagram (a) and the ".m" script
file (b);
a)

Figure 1: Block Diagram of a second order mechanical system

b)
m=0.274; %kg
k=500; %N/m
b=1.2358; %Ns/m
x0=4.88;
sim('MDL')

sim('MDL');plot(t,x)

We obtain the following oscillation:

Figure 1: Oscillation of a second order mechanical system (fully opened valve)

CONCLUSION
In conclusion, the objective of the lab was met. This under-damped
mass-spring-damper system was studied and a damping ratio from such a
response was obtained experimentally. As the valve was turned
counterclockwise (opened), the system had a minimum value for damping
due to the intrinsic damping bmin. In addition, from

b
2 km

, one can thus

observe that the damping value and the intrinsic damping b min are
proportional. The graphs obtained also clearly showed a longer oscillation
period until the sinusoid reached its steady state. As the damping ratio
increased, the system reached a faster steady state.
From the appendix we can see that as we open the valve (we increase
the number of turn from closed position), the number of oscillation of the disk
increased to reach the equilibrium position. As we open the valve we are
decreasing the damping coefficient allowing the system to come to rest
naturally. This is shown in the simulation where it keeps oscillating even very
close to its equilibrium position. If the damping coefficient were to increase
the oscillation would stop much quicker near the equilibrium position.
Finally, from the simulated oscillation, we can conclude that the
experiment went according the theory.

APPENDIX

1.5 Turns From Initial Position

6.00000000
4.00000000
2.00000000
.00000000
Voltage V (V)

-2.00000000
-4.00000000
-6.00000000

Time t (s)

Figure 2: Voltage versus time for valve 1.5 turns from its initial position

2.5 Turns From Initial Position

6.00000000
4.00000000
2.00000000
.00000000
Voltage V (V)

-2.00000000
-4.00000000
-6.00000000

Time t (s)

Figure 3: Voltage versus time for valve 2.5 turns from its initial position

Fully Open Valve

6.00000000
4.00000000
2.00000000
.00000000
Voltage V (V)

-2.00000000
-4.00000000
-6.00000000

Time t (s)

Figure 4: Voltage versus time for fully opened valve

REFERENCES
Y. Zhang, H. Hong, T. Wen, G. Huard. MECH 370 Modeling, Simulation and
Analysis of Physical Systems. Dept of Mechanical & Industrial Engineering,
Concordia University. 2011, pp. 27-36.