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
