Lab 4: Notes

Modeling, Analyzing and Simulating Mechanical Systems: Translation Motion

First Order System
The order of a differential equation (DE) is the highest degree of derivative present in that equation. First order systems are,
by definition, systems whose input-output relationship is a first order DE. A first order DE contains a first order derivative
but no derivative higher than first order. First order systems contain a single energy storage element. In general, the order
of the input-output DE will be the same as the number of independent energy storage elements in the system. Independent
energy storage cannot be combined with other energy storage elements to form a single equivalent energy storage element.
An LTI first order DE can be written in the form
𝑎𝑜 𝑥̇ + 𝑎1 𝑥 = 𝑏𝑓(𝑡) 𝑂𝑅 𝜏𝑥̇ + 𝑥 = 𝐾𝑓(𝑡)
where 𝑥(𝑡) and 𝑓(𝑡) are the output and input signals. The transfer function of such a system can be written as
𝑋(𝑠) 𝑏 𝐾
= =
𝐹(𝑠) 𝑎𝑜 𝑠 + 𝑎1 𝜏𝑠 + 1
where 𝜏 = 𝑎𝑜 /𝑎1 is the Time Constant and 𝐾 = 𝑏/𝑎1 is the DC Gain. Time constant is a measure of how quickly a first
order system response to a unit-step input. DC gain of the system is the ratio between the steady state value of the output
and the input signal.

Consider the mechanical system shown in the figure. One end of

𝑓
the lever is connected to a spring and a damper, and an input
force 𝑓(𝑡) is applied to the other end of the lever. In this system,
the displacement 𝑥(𝑡) is the output. Assume that the
displacement 𝑥(𝑡) is small and the lever is rigid and massless.
The system is at equilibrium position initially when the lever is Lever System
horizontal, when 𝑥 = 𝑓 = 0.
(a) Draw a free-body diagram for the system. You can keep the lever horizontal as given.
(b) Using Newton’s second law, derive the equation of motion. Take moment about point 𝑃.
(c) Obtain the transfer function 𝑋(𝑠)/𝐹(𝑠).
(d) Take 𝑏 = 500 N-s/m, 𝑘 = 200 N/m, 𝑙2 = 2𝑙1 . Substitute these values into your expression 𝑋(𝑠)/𝐹(𝑠) from (c).
(e) From (d), what is the time constant (𝜏) and the DC gain (𝐾)?
(f) From (d), by-hand calculation, obtain characteristic roots of the system. State the stability of the system.
(g) From (d), by-hand calculation (with tables), obtain the analytical solution, 𝑥(𝑡), to the problem for an impulse input
of 𝑓(𝑡) = 2000 N. State the steady state value from the solution.

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 (h) From (d), using MATLAB command impulse, obtain the response of the system for an impulse input of 𝑓(𝑡) =
2000 N. Determine the settling time.
(i) From (d), using MATLAB command step, obtain the response of the system for a step input of 𝑓(𝑡) = 2000 N.
Determine the settling time.

Second Order System

A system whose input-output equation is a second order DE is called Second Order System. There are several factors that
make second order systems important. They are simple and exhibit oscillations and overshoot. Higher order systems are
based on second order systems. In case of mechanical second order systems, energy is stored in the form of inertia. An LTI
second order DE can be written in the form
𝑎𝑜 𝑥̈ + 𝑎1 𝑥̇ + 𝑎2 𝑥 = 𝑏𝑓 𝑂𝑅 𝑎𝑜 𝑥̈ + 𝑎1 𝑥̇ + 𝑎2 𝑥 = 𝑏𝑓 + 𝑐𝑓̇ , 𝑒𝑡𝑐.
where 𝑥(𝑡) and 𝑓(𝑡) are the output and input signals, respectively. For example, the transfer function of such a system can
be written as
𝑋(𝑠) 𝑏 𝑋(𝑠) 𝑏 + 𝑐𝑠
= 𝑂𝑅 =
𝐹(𝑠) 𝑎𝑜 𝑠 2 + 𝑎1 𝑠 + 𝑎2 𝐹(𝑠) 𝑎𝑜 𝑠 2 + 𝑎1 𝑠 + 𝑎2

Consider the spring-mass-dashpot system mounted on a

massless cart as shown in the figure. In this system, 𝑢(𝑡) is the
displacement of the cart and the input to the system. The
displacement 𝑦(𝑡) of the mass relative to the ground is the
output. Neglect any friction between the mass and the car
surface.
(a) Draw a free-body diagram for the system. The
equilibrium position corresponds to 𝑢 = 𝑦 = 0.
Spring-mass-dashpot system
(b) Using Newton’s second law, derive the equation of motion.
mounted on a cart
(c) Obtain the transfer function 𝑌(𝑠)/𝑈(𝑠).
(d) Take 𝑚 = 10 kg, 𝑏 = 20 N-s/m, and 𝑘 = 100 N/m. Substitute these values into your expression 𝑌(𝑠)/𝑈(𝑠) from
(c), and then simplify the expression.
(e) From (d), by-hand calculation, obtain characteristic roots of the system. State the stability of the system. Can you
guess (rough sketch) the system response to unit-step input?
(f) From (d), using MATLAB command root or solve, obtain the characteristic roots of the system.
(g) From (d), by-hand (with tables) obtain the analytical solution, 𝑦(𝑡), to the problem for a unit-step input. State the
steady state value from the solution. Plot the response obtained using MATLAB.

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 (h) From (d), using MATLAB command ilaplace, obtain the analytical solution, 𝑦(𝑡), to the problem for a unit-step
input.
(i) From (d), using MATLAB command step, obtain the unit-step response of the system. Determine the following
transient properties: peak value, peak time, maximum overshoot, settling time, and rise time, and the steady state
value.
(j) From (d), using MATLAB command impulse, obtain the unit-impulse response of the system. Determine the peak
value, peak time, and settling time.
(k) From (d), using MATLAB command lsim, obtain the ramp response of the system, where 𝑢(𝑡) = 4𝑡.

A Coupled Spring and Damper System

Consider the mechanical system shown in the figure. The system is at rest initially.
The displacements 𝑥(𝑡) and 𝑦(𝑡) are measured from their respective equilibrium
positions. 𝑓(𝑡) is the input and the displacement 𝑥(𝑡) is the output.
(a) Draw a free-body diagrams for the system (mass and point). Assuming 𝑥̇ >
𝑦̇ .
(b) Using Newton’s second law, derive the equations of motion.
(c) Obtain the transfer functions 𝑌(𝑠)/𝑋(𝑠), 𝑋(𝑠)/𝐹(𝑠), and 𝑌(𝑠)/𝐹(𝑠).
(d) From (c), by-hand calculation, write down the DE involving
𝑥(𝑡), 𝑓(𝑡), 𝑚, 𝑐, 𝑘1 , and 𝑘2 . A coupled spring and damper
system
(e) Take 𝑚 = 0.1 kg, 𝑐 = 0.4 N-s/m, 𝑘1 = 4 N/m, and 𝑘2 = 6 N/m. Substitute
these values into your expressions 𝑋(𝑠)/𝐹(𝑠) and 𝑌(𝑠)/𝐹(𝑠) from (c), and then simplify the expressions.
(f) From (e), using MATLAB command root or solve, obtain the characteristic roots of the system. State the stability
of the system.
(g) From (e), using MATLAB, obtain the responses 𝑥(𝑡) and 𝑦(𝑡) on the same figure, given that 𝑓(𝑡) is a step force of
magnitude 10 N. Determine the following transient properties from the responses (𝑥(𝑡) and 𝑦(𝑡)): peak value, peak
time, maximum overshoot, settling time, and rise time, and the steady state values.

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A Quarter-car Model with a Three Masses
The figure shows a quarter-car model that includes the mass 𝑚3 of the seats
(including passengers). As the car moves along the road, the vertical
displacements at the tires excite the automobile suspension system. The
constants 𝑘3 and 𝑐3 represent the stiffness and damping in the seat supports.
𝑚1 represents one-fourth of the vehicle mass, and 𝑚2 is the mass of the wheel-
tire-axle assembly. 𝑘1 represents the suspension’s elasticity, and 𝑘2 represents
the tire’s elasticity. The damping constant 𝑐1 models the shock absorber.
Derive the equations of motion of this system. The input is the road
displacement 𝑦(𝑡). The displacements are measured from the equilibrium.

Automobile suspension system: A

quarter-car model with three masses

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