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    F Ma M X Mass1: X X: A) Derivation of Equation of Motion

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    Amaryllis Mirae
    This document describes the derivation and simulation of a 2 degree of freedom (DOF) mass-spring system. It includes: 1) Deriving the equations of motion for the 2 DOF system using free body diagrams and Newton's second law. 2) Taking the Laplace transform of the equations of motion to obtain the transfer function relating the output displacement to the input force. 3) Simulating the system response using Simulink blocks representing both the differential equations and transfer function approaches.

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    F Ma M X Mass1: X X: A) Derivation of Equation of Motion

    Uploaded by

    Amaryllis Mirae
    29 views5 pages
    This document describes the derivation and simulation of a 2 degree of freedom (DOF) mass-spring system. It includes: 1) Deriving the equations of motion for the 2 DOF system using free body diagrams and Newton's second law. 2) Taking the Laplace transform of the equations of motion to obtain the transfer function relating the output displacement to the input force. 3) Simulating the system response using Simulink blocks representing both the differential equations and transfer function approaches.

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    input force-2

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    This document describes the derivation and simulation of a 2 degree of freedom (DOF) mass-spring system. It includes: 1) Deriving the equations of motion for the 2 DOF system using free body diagrams and Newton's second law. 2) Taking the Laplace transform of the equations of motion to obtain the transfer function relating the output displacement to the input force. 3) Simulating the system response using Simulink blocks representing both the differential equations and transfer function approaches.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    29 views5 pages

    F Ma M X Mass1: X X: A) Derivation of Equation of Motion

    Uploaded by

    Amaryllis Mirae
    This document describes the derivation and simulation of a 2 degree of freedom (DOF) mass-spring system. It includes: 1) Deriving the equations of motion for the 2 DOF system using free body diagrams and Newton's second law. 2) Taking the Laplace transform of the equations of motion to obtain the transfer function relating the output displacement to the input force. 3) Simulating the system response using Simulink blocks representing both the differential equations and transfer function approaches.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 5

    The Response of 2 DOF mass spring system

    input force, F2 =250*(0.2t) N and F1 = 0

    a) Derivation of Equation of Motion

    Free body diagram

    +↑ ∑ F=ma=m Ẍ

    mass 1:−

    −650 X 1 −11.7 Ẋ 1 +1060( X 2− X 1 )+20 .7( Ẋ 2− Ẋ 1 )=4 Ẍ 1


    −650 X 1 −11.7 Ẋ 1 +1060 X 2 −1060 X 1 +20 .7 Ẋ 2 −20 .7 Ẋ 1=4 Ẍ 1
    4 Ẍ 1 +1710 X 1 +32.4 Ẋ 1−1060 X 2−20 .7 Ẋ 2 =0
    1
    ∴ Ẍ 1= (−1710 X 1 −32 .4 Ẋ 1 +1060 X 2 +20 .7 Ẋ 2 )→⟨1⟩
    4

    mass 2:−

    250∗(0 .2 t )−1060( X 2 −X 1 )−20 .7( Ẋ 2 − Ẋ 1 )=4 .1 Ẍ 2


    250∗(0 .2 t )−1060 X 2 +1060 X 1 −20 .7 Ẋ 2 +20 .7 Ẋ 1=4.1 Ẍ 2
    4 .1 Ẍ 2 +1060 X 2−1060 X 1 +20 .7 Ẋ 2−20 .7 Ẋ 1 =250∗(0.2 t )
    1
    ∴ Ẍ 2= [250∗(0.2 t )−1060 X 2 +1060 X 1−20 .7 Ẋ 2 +20.7 Ẋ 1 ]→⟨2⟩
    4.1

    (1) and (2) is the Equation of Motion for the system.


    b) Derivation of Transfer Function

    From the Equation of Motion;


    4 Ẍ 1 +1710 X 1 +32. 4 Ẋ 1 −1060 X 2−20. 7 Ẋ 2 =0
    4 . 1 Ẍ 2 +1060 X 2−1060 X 1 +20 .7 Ẋ 2−20 . 7 Ẋ 1 =250∗(0 . 2t )

    By taking Laplace Transform;


    4 s 2 X 1 ( S )+32. 4 sX 1 (S )−20 .7 sX 2 ( S )+1710 X 1 (S )−1060 X 2 ( S )=0
    4 . 1 s 2 X 2 (S )+20 .7 sX 2 ( S )−20 . 7 sX 1 (S )+1060 X 2 (S )−1060 X 1 ( S )=F( S )
    where,
    F( S )=250∗(0 . 2t )

    Rearrange in matrix form,


    4 s2 + 32. 4 s+ 1710 −(20 . 7 s +1060) X1
    [ 2
    −(20 .7 s+1060 ) 4 . 1 s +20 .7 s+1060 X 2
    =
    0
    ]{ } { }
    F( S)

    The transfer function is,


    X 1( S )
    Y (S )=
    F( S )

    0 −(20 .7 s+1060)

    Y (S )= 2
    [ F (S ) 4 .1 s2 +20. 7 s+1060 ]
    (4 s +32 . 4 s+1710 )(4 . 1 s2 +20 .7 s+1060 )−(20 . 7 s+1060)2

    20 . 7 s+1060
    ∴Y ( S )=
    16 . 4 s 4 +215. 64 s3 +11493.19 s2 +25857 s+689000
    c) Simulink Block Diagram
    i. Differential Equation Approach

    Figure []: Block Diagram for Differential Equations


    Figure []: Output from Scope block for Differential Equations

    Figure []: System Response for Differential Equation


    ii. Transfer Function Approach

    Figure []: Block Diagram for Transfer Function

    Figure []: Output from Scope block for Transfer Function

    Figure []: System Response for Transfer Function

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