Calculation:

1) 400N/m spring with additional 400N/m spring:

1.1)
f =

400N/m spring with loaded. (Enc 1 position)

cycles 12
=
= 2.5 Hz
time
4 .8

dm11 = 2f = 2 ( 2.5) = 15.708 rad / s

m11 =

X
1
ln 0
2n X n

nm11 =

1
4800
=
ln
= 0.033
2 (12) 400

d
1 2 m11
15.708
1 0.0332

= 15.717 rad/s
1.2)
f =

400N/m spring with unloaded. (Enc 1 position)

cycles 11
=
= 4.6 Hz
time
2. 4

dm12 = 2f = 2 ( 4.6) = 28.903 rad / s

m12 =

X
1
ln 0
2n X n

nm12 =

1
4300
=
ln
= 0.035
2 (11) 390

dm12
1 m212
28.903
1 0.035 2

= 28.923 rad/s
1.3)

400N/m spring with loaded. (Enc 2 position)

f =

cycles 13
=
= 2.5 Hz
time
5.2

dm 21 = 2f = 2 (2.5) = 15.708 rad / s

m 21 =

X
1
ln 0
2n X n

1
4800
=
ln
= 0.017
2 (13) 1200

nm 21 =

1 2 m 21
15.708

1 0.017 2

= 15.710 rad/s

1.4)
f =

400N/m spring with unloaded. (Enc 2 position)

cycles 15
=
= 5.2 Hz
time
2.9

dm 22 = 2f = 2 (5.2) = 32.673 rad / s

m 22 =

X
1
ln 0
2n X n

nm 22 =

1
3700
=
ln
= 0.031
2 (15) 200

dm 22
1 m2 22
32.673
1 0.0312

= 32.689 rad/s
1.5)
f =

400N/m spring with loaded and damper. (Enc 2 position)

cycles
5
=
= 2.6 Hz
time
1.9

dm 2 = 2f = 2 ( 2.6) = 16.34 rad / s

d =

X
1
1
2800
ln 0 =
ln
= 0.062
2n X n 2 (5) 400

nm 2 =

dm 2
1 d2
16.34
1 0.062 2

= 16.37 rad/s
1.6)
f =

400N/m spring without load with damper. (Enc 2 position)

cycles
3
=
= 5 Hz
time
0. 6

dm 2 = 2f = 2 (5) = 31.415 rad / s

d =

X
1
1
800
ln 0 =
ln
= 0.11
2n X n 2 (3) 100

nm 2 =

dm 2
1 d2
31.415
1 0.112

= 31.607 rad/s

1.7)

Unloaded carriage mass, mc (Enc 1 position)

k
2
=( wnm11 )
mw +mc1
k
=15.717 2........................................(1)
2 +mc1
k
2
=( wnm12 )
mc1
k =( 28.923) mc1 .......................................( 2 )
2

Insert (2) in (1)

( 28.923) 2 mc1
2 + mc1

= (15.717 )

836.54 mc1 = 494.05 + 247.02 mc1

589.52 mc1 = 494.05
mc1 = 0.838 kg

Stiffness, k

klowstiffness = ( 28.923) mc1 = ( 28.923) ( 0.838) = 701.02 N / m

2

Damping coefficient, cm with loaded (Enc 1 position)

cm11 = 2 m11wn11mc1 = 2( 0.033)(15.717 )( 0.838) = 0.869

Damping coefficient, cm without loaded (Enc 1 position)

c m12 = 2 m12 wn12 mc1 = 2( 0.035)( 28.923)( 0.838) =1.697

1.8)

Unloaded carriage mass, mc (Enc 2 position)

k
2
=( wnm 21 )
mw +mc 2
k
=15.710 2........................................(1)
2 +mc 2
k
2
=( wnm 22 )
mc 2
k =(32.689 ) mc 2 ..........................................( 2 )
2

Insert (2) in (1)

( 32.689) 2 mc 2
2 + mc 2

= (15.710 )

1068.57 mc 2 = 493.608 + 246.804 mc 2

821.766 mc 2 = 493.608
mc 2 = 0.601 kg

Stiffness, k

klowstiffness = ( 32.689 ) mc1 = ( 32.689 ) ( 0.601) = 642.21N / m

2

Damping coefficient, cm with loaded (Enc 2 position)

cm 21 = 2 m 21wn 21mc 2 = 2( 0.017 )(15.710 )( 0.601) = 0.321

Damping coefficient, cm without loaded (Enc 2 position)

cm 22 = 2 m 22 wn 22 mc 2 = 2( 0.031)( 32.689 )( 0.601) =1.218

1.9)

Unloaded carriage mass, mc for damper (Enc 2 position)

k
2
=( wnmd 1 )
mw +mcd 1
k
=16.37 2........................................(1)
2 +mcd 1
k
2
=( wnmd 2 )
mcd 1
k =(31.607 ) mcd 1 .......................................( 2 )
2

Insert (2) in (1)

( 31.607 ) 2 mc 2
2 + mc 2

= (16.37 )

999 mc 2 = 535.95 + 267.98 mc 2

731.02 mc 2 = 535.95
mc 2 = 0.733 kg

Stiffness, k

k damper = ( 31.607 ) mcd 1 = ( 31.607 ) ( 0.733) = 732.27 N / m

2

Damping coefficient, cd1 for damper with loaded (Enc 2 position)

cd 1 = 2 md 1 wnmd 1mcd 1 = 2( 0.062 )(16.37 )( 0.733) = 1.488

Damping coefficient, cd2 for damper without loaded (Enc 2 position)

cd 2 = 2 md 2 wnmd 2 mcd 2 = 2( 0.11)( 31.607 )( 0.733) = 5.097

2) 800N/m spring with additional 400N/m spring:

2.1)

800N/m spring with loaded. (Enc 1 position)

f =

cycles 15
=
= 2.6 Hz
time
5.8

dm11 = 2f = 2 ( 2.6) = 16.336rad / s

m11 =

X
1
ln 0
2n X n

nm11 =

2.2)

f =

1
5200
=
ln
= 0.0199
2 (15) 800

dm11

1 ( m11 )

16.336
1 0.0199 2

= 16.34rad / s

800N/m spring without loaded. (Enc 1 position)

cycles
14
=
= 5.8 Hz
time
2.4

dm12 = 2f = 2 (5.8) = 36.44rad / s

m12 =

X
1
ln 0
2n X n

nm12 =

1
3000
=
ln
= 0.031
2 (14) 200

dm12

1 ( m12 )

36.44
1 0.0312

= 36.458rad / s

2.3)

f =

800N/m spring with loaded. (Enc 2 position)

cycles 16
=
= 3.1Hz
time
5. 1

dm11 = 2f = 2 (3.1) = 19.478rad / s

m11 =

X
1
ln 0
2n X n

nm11 =

2.4)

f =

1
4600
=
ln
= 0.019
2 (16) 700

dm11

1 ( m11 )

19.478
1 0.019 2

= 19.48rad / s

800N/m spring without loaded. (Enc 2 position)

cycles
23
=
= 6.4 Hz
time
3.6

dm12 = 2f = 2 (6.4) = 40.2rad / s

m12 =

X
1
ln 0
2n X n

nm12 =

2.5)

1
5000
=
ln
= 0.022
2 (23) 200

dm12

1 ( m12 )

40.2
1 0.022 2

= 40.21rad / s

800N/m spring with damper and loaded. (Enc 2 position)

f =

cycles
6
=
= 3.3Hz
time
1.8

dmd 1 = 2f = 2 (3.3) = 20.73rad / s

md 1 =

X
1
ln 0
2n X n
dmd 2

nmd 1 =

1 (

2.6)

f =

1
2800
=
ln
= 0.070
2 (6) 200
=

20.73
1 0.070 2

= 20.78rad / s

800N/m spring with damper and unloaded. (Enc 2 position)

cycles
4
=
= 6.7 Hz
time
0 .6

dmd 2 = 2f = 2 (6.7) = 42.097 rad / s

md 2 =

X
1
ln 0
2n X n

nmd 2 =

2.7)

1
800
=
ln
= 0.083
2 (6.7) 100

dmd 1

1 ( md 1 )

42.097
1 0.0832

= 42.24rad / s

Unloaded carriage mass, mc (Enc 1 position)

k
2
=( wnm11 )
mw +mc1
k
=16.34 2........................................(1)
2 +mc1
k
2
=( wnm12 )
mc1
k =(36.45) mc1 .......................................( 2 )
2

Insert (2) in (1)

( 36.45) 2 mc1 = (16.34) 2

2 + mc1

1328.6mc1 = 534 + 267 mc1

mc1 = 0.503kg

Stiffness, k

klowstiffness = ( 36.45) mc1 = ( 36.45) ( 0.503) = 668.3 N / m

2

Damping coefficient, cm with loaded (Enc 1 position)

cm11 = 2 m11 wn11mc1 = 2( 0.0199 )(16.34 )( 0.053) = 0.034

Damping coefficient, cm without loaded (Enc 1 position)

cm12 = 2 m12 wn12 mc1 = 2( 0.031)( 36.45)( 0.0533) = 0.12

2.8)

Unloaded carriage mass, mc (Enc 2 position)

k
2
=( wnm11 )
mw +mc1
k
=19.48 2........................................(1)
2 +mc1
k
2
=( wnm12 )
mc1
k =( 40.21) mc1 ..........................................( 2 )
2

Insert (2) in (1)

( 40.21) 2 mc1
2 + mc1

= (19.48)

1616.8mc1 = 758.9 + 379.47 mc1

mc1 = 0.613

Stiffness, k

k lowstiffness = ( 40.21) mc1 = ( 40.21) ( 0.613) = 991.13 N / m

2

Damping coefficient, cm with loaded (Enc 2 position)

cm11 = 2 m11 wn11mc1 = 2( 0.019 )(19.48)( 0.613) = 0.454

Damping coefficient, cm without loaded (Enc 2 position)

cm12 = 2 m12 wn12 mc1 = 2( 0.022 )( 40.21)( 0.613) = 1.085

2.9)

Unloaded carriage mass, mc for damper (Enc 2 position)

k
2
=( wnmd 1 )
mw +mcd 1
k
=20.78 2........................................(1)
2 +mcd 1
k
2
=( wnmd 2 )
mcd 1
k =( 42.24 ) mcd 1 .......................................( 2 )
2

Insert (2) in (1)

( 42.24) 2 mcd1
2 + mcd 1

= ( 20.78)

1784.2mcd 1 = 863.62 + 431.81mcd 1

mcd 1 = 0.64

Stiffness, k

k damper = ( 42.24 ) mcd 1 = ( 42.24 ) ( 0.64 ) = 1141.9 N / m

2

Damping coefficient, cd1 for damper with loaded (Enc 2 position)

cd 1 = 2 md 1wnmd 1mcd 1 = 2( 0.070 )( 20.87 )( 0.64 ) = 1.87

Damping coefficient, cd2 for damper without loaded (Enc 2 position)

c d 2 = 2 md 2 w nmd 2 m cd 2 = 2( 0.083)( 42.24 )( 0.64 ) = 4.49

mw = 2kg

400N/m spring with additional 400N/m spring

Encoder 1
Encoder 2
Damper
Loaded Unloaded Loaded
Unloade Loaded Unloaded
2.5

4.6

2.5

d
5.2

d (rad/s)

15.708

28.903

15.708

32.673

16.34

31.415

0.033

0.035

0.017

0.031

0.062

0.11

n (rad/s)
mc (kg)

15.717

28.923
0.838

15.710

32.689
0.601

16.37

f (Hz)

klow (N/m)

2.6

642.21

701.02

31.607
0.733
732.27

800N/m spring with additional 400N/m spring

Encoder 1
Encoder 2
Damper
Loaded Unloaded Loaded
Unloade Loaded Unloaded
2.6

5.8

3.1

d
6.4

d (rad/s)

16.33

36.44

19.47

40.2

20.73

42.097

0.0199

0.031

0.019

0.022

0.070

0.083

n (rad/s)
mc (kg)

16.34

36.45
0.503

19.48

40.21

20.78

42.24

f (Hz)

khigh (N/m)

668.3

3.3

6.7

0.613

0.64

991.13

1141.9