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Spring Damper First Order Equations

The document describes the response of a first-order spring-damper system to step and ramp inputs using Laplace transforms. For a step input, the output displacement is derived as y(t) = KA - KA e^{-t/τ}, while for a ramp input, the output is y(t) = -KRτ + KR t + KRτ^2 e^{-t/τ}. The equations illustrate the system's behavior under different input conditions, highlighting the effects of time constant and system gain.

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18 views2 pages

Spring Damper First Order Equations

The document describes the response of a first-order spring-damper system to step and ramp inputs using Laplace transforms. For a step input, the output displacement is derived as y(t) = KA - KA e^{-t/τ}, while for a ramp input, the output is y(t) = -KRτ + KR t + KRτ^2 e^{-t/τ}. The equations illustrate the system's behavior under different input conditions, highlighting the effects of time constant and system gain.

Uploaded by

tanvichalke17
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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First-Order Spring-Damper System Response

We consider a standard first-order spring-damper system, whose equation can be written


as:
\[ \tau \frac{dy(t)}{dt} + y(t) = K \, x(t) \]
where τ is the time constant, K is the system gain, y(t) is the output displacement, and x(t)
is the input force.

1. Step Input
Given: \( x(t) = A \cdot u(t) \)

Taking Laplace transform of the system equation:

\[ \tau [ s Y(s) - y(0) ] + Y(s) = K \, X(s) \]

For zero initial condition y(0)=0:

\[ \tau s Y(s) + Y(s) = K \, X(s) \]

Laplace of step input: \( X(s) = \frac{A}{s} \)

\[ Y(s) (\tau s + 1) = \frac{KA}{s} \]

\[ Y(s) = \frac{KA}{s(\tau s + 1)} \]

Perform partial fraction expansion:

\[ \frac{KA}{s(\tau s + 1)} = \frac{C_1}{s} + \frac{C_2}{\tau s + 1} \]

Multiply both sides by \( s(\tau s + 1) \):

\[ KA = C_1 (\tau s + 1) + C_2 s \]

Set s = 0:

\[ KA = C_1 (1) \Rightarrow C_1 = KA \]

Set s = -1/\tau:

\[ KA = C_2(-1/\tau) \Rightarrow C_2 = -KA\tau \]

Thus:

\[ Y(s) = \frac{KA}{s} - \frac{KA\tau}{\tau s + 1} \]

Inverse Laplace transform:

\[ y(t) = KA - KA e^{-t/\tau} \]
2. Ramp Input
Given: \( x(t) = R t \cdot u(t) \)

Laplace: \( X(s) = \frac{R}{s^2} \)

\[ Y(s) (\tau s + 1) = \frac{KR}{s^2} \]

\[ Y(s) = \frac{KR}{s^2(\tau s + 1)} \]

Partial fractions:

\[ \frac{KR}{s^2(\tau s + 1)} = \frac{A}{s} + \frac{B}{s^2} + \frac{C}{\tau s + 1} \]

Multiply by \( s^2(\tau s + 1) \):

\[ KR = A s(\tau s + 1) + B(\tau s + 1) + C s^2 \]

Set s = 0:

\[ KR = B(1) \Rightarrow B = KR \]

Set s = -1/\tau:

\[ KR = C(1/\tau^2) \Rightarrow C = KR\tau^2 \]

Compare coefficients of \( s^2 \):

\[ 0 = A\tau + C \Rightarrow A = -C/\tau = -KR\tau \]

Thus:

\[ Y(s) = -\frac{KR\tau}{s} + \frac{KR}{s^2} + \frac{KR\tau^2}{\tau s + 1} \]

Inverse Laplace:

\[ y(t) = -KR\tau + KR t + KR\tau^2 e^{-t/\tau} \]

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