Spring-Pendulum Dynamic System

Mechatronics K. Craig
Spring-Pendulum Dynamic System 1
 Measurements,
Which Parameters to Identify?
Model
Calculations,
Manufacturer's Specifications What Tests to Perform?
Parameter
ID

Physical Physical Math

System Model Model

Assumptions Physical Laws

Equation Solution:
Experimental and Analytical
Analysis Engineering Judgement Model Inadequate: and Numerical
Modify Solution

Actual Predicted
Dynamic Compare Dynamic
Behavior Behavior

Make
Design
Design
Modify
Model Adequate, Complete
Decisions
Model Adequate,
or
Performance Inadequate Performance Adequate
Augment

Dynamic System Investigation

Mechatronics K. Craig
Spring-Pendulum Dynamic System 2
 Physical Model
l+r
k

θ
m = pendulum mass = 1.815 kg m
mspring = spring mass = 0.1445 kg
l = unstretched spring length = 0.333 m
k = spring constant = 172.8 N/m
g = acceleration due to gravity = 9.81 m/s2
Ft = 5.71 N = pre-tension of spring
rs = static spring stretch, i.e., rs = (mg-Ft)/k = 0.070 m
rd = dynamic spring stretch
r = total spring stretch = rs + rd
Mechatronics K. Craig
Spring-Pendulum Dynamic System 3
 Spring Calibration

Fspring (N)

mg = 17.805 N K = 172.8 N/m

Spring Pre-Tension
Ft = 5.71 N

Spring Displacement
0.070 m
(meters)

Mechatronics K. Craig
Spring-Pendulum Dynamic System 4
 Physical Model
Simplifying Assumptions

• pure spring, i.e., negligible inertia and damping

• linear spring
• frictionless pivot
• neglect all material damping and air damping
• point mass, i.e., neglect rotational inertia of mass
• two degrees of freedom, i.e., r and θ are the
generalized coordinates (this assumes no out-of-
plane motion and no bending of the spring)
• support structure is rigid

Mechatronics K. Craig
Spring-Pendulum Dynamic System 5
 Polar Coordinates:
Position, Velocity, Acceleration
r
e$ θ r = re$ r
de$ r r
= e$ θ r dr
dθ e$ r v= = &re$ r + rθ& eθ = v r e$ r + v θ e$ θ
dt
de$ θ r
= − e$ r r dv
dθ a=
dt
c h b
= &&r − rθ& 2 e$ r + r&& g
θ + 2 r&θ& e$ θ
r = a r e$ r + a θ e$ θ
PATH &&r magnitude change
vr
θ r&θ& direction change
O r&&
θ + r&θ& magnitude change
vθ
rθ& 2 direction change
Mechatronics K. Craig
Spring-Pendulum Dynamic System 6
 Rigid Body Kinematics
Y
XY: R reference frame (ground) y
xy: R1 reference frame (pendulum) x

LMxOP LM cos θ sin θ 0 X OPLM OP O

θ
X

MMyzPP = MM− sin0 θ cos θ 0 Y

PPMM PP
NQ N 0 1 Z QN Q k

LM $i OP L cos θ sin θ 0O L I$ O θ

$j = M− sin θ 0P MM J$ PP
m P

MM $ PP M P1PMK$ P
l+r
cos θ
Nk Q MN 0 0 QN Q
r r r r r r r r r r
R
aP =RaO + R
ω R1 × c R
ω R 1 × r OP + h R
α R 1 × r OP + R 1 a P + 2 R ω R 1 × R 1 v P
Mechatronics K. Craig
Spring-Pendulum Dynamic System 7
 Rigid Body Kinematics
r
R
aO = 0
R r R1
ω = θ& k$ = θ& K $
r OP
a f a f
r = − l + r $j = − l + r − sin θI$ + cos θJ$
R r R1
α = &&θk$ = &&θK $
R1 r P
v = − &rj$ = − &r − sin θI$ + cos θJ$
R1 r P
a = −&&rj$ = −&&r − sin θI$ + cos θJ$

After substitution and evaluation:

r
R
a f
a P = $i l + r && a f
θ + 2 &rθ& + $j −&&r + l + r θ& 2
Mechatronics K. Craig
Spring-Pendulum Dynamic System 8
 Mathematical Model
kr+Ft l+r
Free Body Diagram

∑ r
F = ma r = m &&
r − l + a f
r &
θ 2
+θ +θ

∑F θ = ma θ = m al + r f&&
θ + 2 &rθ&
mg

a f
− kr − Ft + mg cos θ = m &&r − l + r θ& 2
+r

a f
− mg sin θ = m l + r &&
θ + 2 &rθ&

a f
mr&& − m l + r θ& 2 + kr + Ft − mg cos θ = 0
a f
l + r &&
θ + 2 &rθ& + g sin θ = 0 Nonlinear Equations of Motion

Mechatronics K. Craig
Spring-Pendulum Dynamic System 9
 Mathematical Model: FG IJ
d ∂T
−
∂T ∂V
+ = Qi
H K
dt ∂q& i ∂q i ∂q i
Lagrange’s Equations Lagrange’s Equations
q1 = r Q r = − Ft Generalized
Generalized Coordinates
q2 = θ Qθ = 0 Forces

2
a f
T = m r& 2 + l + r θ& 2
1 2
Kinetic Energy

1
a f
V = kr 2 − mg l + r cosθ − l
2
Potential Energy

a f
mr&& − m l + r θ& 2 + kr + Ft − mg cos θ = 0
a f
l + r &&
θ + 2 &rθ& + g sin θ = 0 Nonlinear Equations of Motion

Mechatronics K. Craig
Spring-Pendulum Dynamic System 10
Linearized Equations of Motion

k k
&&rd + rd = 0 ω2 = = 9.76 rad/sec=1.55 Hz
m m

g g
&&
θ+ θ=0 ω1 = = 4.93 rad/sec=0.78 Hz
l +rs l + rs

These equations do not predict the motion of the system

except for particular sets of initial conditions !!

Mechatronics K. Craig
Spring-Pendulum Dynamic System 11
 Predicted Dynamic Behavior
sin(u)
sin
Product
1/s 1/s 9.81
Sum Integrate Integrate
Product gravity (m/s^2)
theta acc theta vel
cos(u) Spring Pendulum
2 cos Product Dynamic System
Gain Product

u^2
theta
square
theta position

Product
r
r position
1/s 1/s
Integrate Integrate t
r acc r vel Clock time
Sum

95.21 0.333 u^(-1)

spring length Sum2 inverse

5.710/1.815 k/m
unstretched
k=172.8 N/m
Ft=5.71 N (meters)
m=1.815 kg
m=1.815 kg

Matlab Simulink Block Diagram

Mechatronics K. Craig
Spring-Pendulum Dynamic System 12
 Simulation Results
Simulation Results with Initial Conditions: theta = -0.274 rad, r = 0.046 m
0.3

0.2
radial and angular position (rad or m)

0.1

-0.1

-0.2

-0.3

-0.4
0 10 20 30 40 50 60
time (sec)

Mechatronics K. Craig
Spring-Pendulum Dynamic System 13
 Simulation Results
Simulation Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m
0.25

0.2

0.15
radial and angular position (rad or m)

0.1

0.05

-0.05

-0.1

-0.15

-0.2

-0.25
0 10 20 30 40 50 60
time (sec)

Mechatronics K. Craig
Spring-Pendulum Dynamic System 14
 Sensor Calibration
Potentiometer Calibration Curve (Theta = 75.388 V - 196.51)
25

20

15

10

5
Theta (degrees)

-5

-10

-15

-20

-25
2.3 2.4 2.5 2.6 2.7 2.8 2.9
volts

Mechatronics K. Craig
Spring-Pendulum Dynamic System 15
 Sensor Calibration
Ultrasonic Sensor Calibration Curve (X= -28.547 V + 206.41)

160

140

120

100
x (mm)

80

60

40

20

0
1 2 3 4 5 6 7 8
volts

Mechatronics K. Craig
Spring-Pendulum Dynamic System 16
Actual Measured Dynamic Behavior
Experimental Results with Initial Conditions: theta = -0.274 rad, r = 0.046 m
0.3

0.2
radial and angular position (rad or m)

0.1

-0.1

-0.2

-0.3

-0.4
0 10 20 30 40 50 60
time (sec)

Mechatronics K. Craig
Spring-Pendulum Dynamic System 17
Actual Measured Dynamic Behavior
Experimental Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m
0.2

0.15

0.1
radial and angular position (rad or m)

0.05

-0.05

-0.1

-0.15

-0.2
0 10 20 30 40 50 60
time (sec)

Mechatronics K. Craig
Spring-Pendulum Dynamic System 18
 Nonlinear Resonance
a f
mr&& − m l + r θ& 2 + kr + Ft − mg cos θ = 0 Nonlinear Equations
a f
l + r &&
θ + 2 r&θ& + g sin θ = 0 of Motion

F θ I
mr&& + kr = ma l + r fθ − F + mgG1 − J
&
2
θ3
sin θ ≈ θ − +L
H 2! K
2
t
3!
F θ I
al + r fθ + gGH θ − 3!JK = −2&rθ&
&&
3 θ2
cos θ ≈ 1 − +L
2!

a f θ 2
&&r + r = l + r θ& 2 − t + g − g
k F
m m 2!

a f θ 3
l + r &&
θ + gθ = −2 r&θ& + g
3!
Mechatronics K. Craig
Spring-Pendulum Dynamic System 19
 $ r = r + r$
a f a f
r + r$ = l + r + r$ θ&$ 2 − t + g − g
θ 2
&r$& + k F
m m 2! θ = θ + θ$
$
a fl + r + r$ &&θ$ + gθ$ = −2 &r$θ&$ + g
θ 3
θ=0
3! mg − Ft
$ r=
a f
&r$& + r$ = l + r + r$ θ&$ 2 − g θ 2
k k
m 2!
&& − &r$θ&$ θ$3 $&&
θ$
θ$ + θ$ =
g 2 g r
+ −
l+r l + r l + r 3! l + r
$
a f
&r$& + ω 2r r$ = l + r + r$ θ&$ 2 − g θ 2
k
ω =
2
r
2! m
&& − &r$θ&$ $3
θ $ &&
θ$ g
θ$ + ω θθ$ =
2 r ωθ =
2
2
+ ωθ −
2

l+r 3! l + r l+r

Mechatronics K. Craig
Spring-Pendulum Dynamic System 20
 Define: al + r + $rf = al + rfa1 + xf → r$ = al + rfx
$
al + r f&&x + ω al + rfx = al + rfa1 + xfθ$ − g 2!
& θ 2
2 2
r

&& $
θ
θ$ + ω θ$ = −2 x& θ&$ + ω − x&&
3
2
θ
2
θ θ$
3!
$
a f
&&x + ω 2r x = 1 + x θ&$ 2 − ω 2θ
θ 2

2!
$
a f
1 + x &&θ$ + ω θ$ = −2 x& θ&$ + ω
θ 3
2 2
θ θ
3!
$
θ
&&x + ω 2r x = θ&$ 2 − ω 2θ + x θ&$ 2
2

1 2!
≈ 1 − x + x 2 − x 3L 2$ &$ ω 2 θ$ 3
1+ x && ω θ − & θ
θ$ + θ =
2 x
+ θ
1 + x 1 + x 1 + x 3!
Mechatronics K. Craig
Spring-Pendulum Dynamic System 21
 $
θ
&&x + ω 2r x = θ&$ 2 − ω 2θ + x θ&$ 2
2

2!
$
&& a f a f a f
θ$ + ω θ2θ$ 1 − x = −2 x& θ&$ 1 − x + ω 2θ 1 − x
θ 3

3!
$
θ
&&x + ω 2r x = θ&$ 2 − ω 2θ + xθ&$ 2
2

2!
$
&& a f
θ$ + ω θ$ = −2 x& θ&$ 1 − x + ω xθ$ + ω 1 − x a f
θ 3
2 2 2
θ θ θ
3!

$
θ
&&x + ω 2r x = θ&$ 2 − ω 2θ +L
2

Neglecting nonlinear terms

2
&&
θ$ + ω θ2θ$ = −2 x& θ&$ + ω θ2 x θ$ +L
third order and higher

Mechatronics K. Craig
Spring-Pendulum Dynamic System 22