Assignment # 1
For the given general linkage we have to calculate
1. Acceleraation acg3
2. Dynamic force for the system
3. Moment created by the dynamic force at O2 and O4
O2
Let the frame l lie the reference frame , so we will calculate displacement and velocity
ΔX 1-2 = 108.4 - 72.3 = 36.1
ΔX 2-3 = 137.8 - 108.4 = 28.9
ΔX 3-4 = 160.0 - 137.3 = 22.7
V 1-2 = 36.1 x 50 = 1805 units/s
V 2-3 = 28.9 x 50 = 1445 units/s
V 3-4 = 22.7 x 50 = 1135 units/s
Now linear acceleration,
a x =(v 7-8-v 5-6) / 150
a x = (1135-1805) /150
a x = - 4.66 units/s2
Similarly
Vg 1-2 = -2.4 x 50 = - 120 units/s
Vg 2-3 = -3.2 x 50 = - 160 units/s
Vg 3- 4 = -3.5 x 50 = - 175 units/s
Now linear acceleration ,
a y = ( V y 7-8 - V y 5-6) / 150
a y = ( - 175 – (-120) )/ 150
a y = - 0.36 units/s2
We have to find the dynamic force and moment
F = -mag
F = -10 x (-0.36)
F = 3.6N
The moment will be calculated as
M= r x F = 0.35 x 3.6 = 2.28 Nm
Assignment # 2
This is a three (called multi) DOF system with spring and damper. Oscillation will start
when Forced are applied. Nature of forces are different and applied for 50 secs. Both F1
and F3 forces behave like heaviside. Take maximum value 1000 with no delay for force F1
and for force F3, take maximum value 500 with 20 sec delay (check the supplied file for
information), F2 force behaves like sine form with amplitude 500 and delay 10 sec with
angular frequency =id
For the given system we have to find displacement , velocity and acceleration using
matlab software.
Figure 1 Spring Mass damper system
The differential equation is converted in the form of matrix The matrix can be solved using
MATLAB for which the code is also given below.
Figure 2 Matrix form
The MATLAB code with figure of displacement, velocity and acceleration are given as
clear all
close all
clc
%% Main Data
% Numerical values
ti = linspace( 0 , 80 , 10000 );
id = 17;
m1 = id/25;
k1 = id*12;
c1 = id/4;
m2 = id/70;
k2 = k1/3;
c2 = c1*4;
m3 = id/35;
k3 = k1/5;
c3 = c1/3;
x10 = id/10;
x20 = -id/20;
x30 = id/20;
dx10 = 0;
dx20 = id/2;
dx30 = id;
% Inputs
syms t x1(t) x2(t) x3(t)
u(t) = heaviside(t);
F1 = 1000*( u(t) - u(t-50) );
F2 = 500*( u(t-20) - u(t-70) );
F3 = 500*sin(id*t)*( u(t-10) - u(t-50) );
F1t = eval(subs( F1 , t , ti ));
F2t = eval(subs( F2 , t , ti ));
F3t = eval(subs( F3 , t , ti ));
figure
subplot( 1,3,1 )
plot( ti , F1t )
xlabel('time [s]')
ylabel('F1(t)')
grid minor
subplot( 1,3,2 )
plot( ti , F2t )
xlabel('time [s]')
ylabel('F2(t)')
grid minor
subplot( 1,3,3 )
plot( ti , F3t )
xlabel('time [s]')
ylabel('F3(t)')
grid minor
%% The system
A1 = [0 1 0 0 0 0];
A2 = [ -(k1+k2)/m1 -c1/m1 k2/m1 0 0 0 ];
A3 = [ 0 0 0 1 0 0 ];
A4 = [ k2/m2 c2/m2 -k2/m2 -c2/m2 0 0 ];
A5 = [ 0 0 0 0 0 1 ];
A6 = [ 0 0 0 c2/m3 -k3/m3 -(c2+c3)/m3 ];
A = [ A1 ; A2 ; A3 ; A4 ; A5 ; A6 ];
B = [ 0 0 0 ; 1/m1 0 0 ; 0 0 0 ; 0 1/m2 0 ; 0 0 0 ; 0 0 1/m3 ];
C = eye(6);
D = zeros(6,3);
x0 = [ x10 dx10 x20 dx20 x30 dx30 ].';
sys = ss(A,B,C,D);
%% The simulation
u = [ F1t ; F2t ; F3t ].';
x = lsim(sys,u,ti,x0); % <-- For position and velocity
% Acelerations
a1 = -((k1+k2)/m1)*x(:,1) - (c1/m1)*x(:,2) + (k2/m1)*x(:,3) + F1t.'/m1;
a2 = (k2/m2)*x(:,1) +(c2/m2)*x(:,2)-(k2/m2)*x(:,3)-(c2/m2)*x(:,4)+F2t.'/m2;
a3 = (c2/m3)*x(:,4)- (k3/m3)*x(:,5)-((c2+c3)/m3)*x(:,6) + F3t.'/m3;
%% Plotting
figure
plot( ti , x(:,1) , ti , x(:,3) , ti , x(:,5) )
legend('m_1','m_2','m_3')
xlabel('time [s]')
ylabel('Position [m]')
grid minor
figure
plot( ti , x(:,2) , ti , x(:,4) , ti , x(:,6) )
legend('m_1','m_2','m_3')
xlabel('time [s]')
ylabel('Velocity [m/s]')
grid minor
figure
plot( ti , a1 , ti , a2 , ti , a3 )
legend('m_1','m_2','m_3')
xlabel('time [s]')
ylabel('Aceleration [m/s^2]')
grid minor
The displacement, velocity and the acceleration does not undergo under
damped vibration.
