Lecture One: Part II

Mass Spring Damper System: Deriving the motion

ESE112 Lecture 1

MSD Review

Created by Wikipedia user lzyvzl

Mass (m) is attached to Hooks law spring

Recall Fs = kx
Damping Force Fd = c dx
dt
ESE112 Lecture 1

Deriving Equations of Motion

From Newton
!

rearranging

f = ma

(1)

m
x = cx kx

(2)

m
x + cx + kx = 0

(3)

c
k
x
+ x + x
m
m

(4)

dividing by m

"

k
, be the natural frequency of the system and =
if we let 0 = m
the damping ratio, we get

x
+ 20 x + 02 x = 0

c ,
2 km

be
(5)

http://en.wikipedia.org/wiki/Damping

ESE112 Lecture 1

Solving the differential equation

Whats a differential equation?

A differential equation is a mathematical equation for

an unknown function of one or several variables that
relates the values of the function itself and of its
derivatives of various orders.

A simple instantiation of this is an equation

which relates the velocity, dx/dt, of an
object as a function of its position F(x) in
time.

ESE112 Lecture 1

Solution for a special case

ESE112 Lecture 1

Solution for a special case

Recall from calculus that if
y = eax

(1)

then
dy
= aex
dx
Now we can try to solve a simple differential equation
dx
=x
dt

(2)

(3)

ESE112 Lecture 1

Solution for a special case

Recall from calculus that if
y = eax

(1)

then
dy
= aex
dx
Now we can try to solve a simple differential equation
dx
=x
dt

(2)

(3)

lets try the solution x = et

ESE112 Lecture 1

Applying it to a MSD
Recall
x
+ 20 x + 02 x = 0

(1)

now assume that x = et then x = et and x

= 2 et substituting and dividing
by et we get
2 + 20 + 02 = 0

(2)

we can now solve for using quadratic formula

Quick Exercise:
Solve for gamma
now that we have solved for we can find x(t) (which well leave as an
exercise for you to do on your own or in a future class)

ESE112 Lecture 1

Applying it to a MSD cont.

By choosing appropriate parameters we can tune the
behavior of the system
We can classify the system into three distinct categories.
1.Under-damped: < 1. In this case the system oscillates with a frequency
equal to d = o 1-2
2.Over-damped: > 1. The system slowly returns to equilibrium
3.Critically Damped: =1. The system returns to equilibrium
NOTE: Each of the three behaviors corresponds to the solution type of the
quadratic equation shown previously (complex, two real solutions, one real
solution)

ESE112 Lecture 1

Where does this all fit in

Background and history

MSD-like systems are found throughout

engineering
Animal Running
Circuit Design: RLC circuits
Robotics (PD control)
Automotive (Cruise control, car suspensions
etc)
Successful engineers take old ideas
from one field and use them to
innovate and create in another field
ESE112 Lecture 1

Where does this all fit in

Background and history

Linear Systems
During the first 3 (maybe all 4) years of
engineering youll see the world as a linear system
Relatively easy to solve and understand
Large body of theory
Of course the world is rarely linear
The trick is... can we make it look linear?

ESE112 Lecture 1

Lets look at applet one

more time
http://links.math.rpi.edu/applets/appindex/
springmass.html

ESE112 Lecture 1

Homework
Sealy (the bed company) is having a problem. The problem is
that people are so happy to get into their comfy Sealy beds
that they jump on them. Jumping so high and because the beds
are so springy they are flung off the bed onto the ground and
sue the company.
To combat this problem Sealy wants to design a new bed that
will keep the average adult (weighing between 55kg and
110kg) on their beds (but still provide the softest possible
landing). Can you help choose the damping and spring
constants for the bed assuming the bed is very thin (think
trampoline like), it is 30cm off the ground and the average
height (at its peak) of someones jump is 120 cm.
ESE112 Lecture 1