Re-sit Coursework - Aerospace Engineering

The University of Manchester


School of Mechanical Aerospace & Civil Engineering

2009-2010

MACE 22511 Control Engineering

PC Computer Simulation Laboratory


DYNAMICS OF A MASS-SPRING-DAMPER SYSTEM

1. Aims and Objectives

The aim of the exercise is to enhance the understanding of the dynamic reponses of a second order
system with the aid of step response and root location graphs. The specific objectives are:

a) To examine the open loop dynamic response and root locations of a mass-spring-damper
system under four different situations (no damping, underdamped, critically damped and
overdamped).
b) To correlate the root locations with the time domain step response characteristics.
c) To practice mechanical design of a car damping system for given dynamic performance
specifications.

2. Description of the Computer Simulation Package

This computer simulation package was developed at the University of Manchester using the
Windows-based spreadsheet software – Microsoft Excel which runs on PC computers. The dynamics
of the second order mass-spring-damper system (shown in the typical screen dump in figure 1) are
simulated with two graphical plots (step response and root locations). Damping ratio, natural
frequency, rise time, maximum overshoot and settling time are calculated and displayed by the
package for a given set of user input parameters (mass, spring stiffness, frictional loss and step input
magnitude) to aid the understanding of transient performance of the system. The user input parameters
can be toggled (increased or decreased) by computer mouse control (pointing at the corresponding
arrows of the spinner with the mouse and press the mouse button for increase or decrease). Calculated
parameters and graphics will update automatically according to these parameters. Four different cases
of system responses (over damped, critically damped, under damped and no damping) can be
generated by variation of user defined parameters. On-line help on the use of the package and
necessary background information is available by pressing the "INFO" button using the computer
mouse.

3. The Experimental Procedure

a) Under damped response

Step 1: Vary, in turn, parameter C, k and m to obtain an under damped response (the damping ratio,
1). For example C=10Ns/m, k=20N/m, M=7kg, x(t)=1cm. The system will now show an
oscillatory step response with reducing magnitude of oscillation. Make a note of the user input
parameters and the root locations.
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Step 2: Reduce the damping ratio by, in turn, varying the friction loss coefficient C, spring
coefficient k and mass M. Observe the changes of the step response, location of the roots and
calculated system parameters.

Step 3: Keep C, k, M unchanged and vary the step input magnitude to see whether this will affect
the system dynamics.

b) No damping response

Set the damping ratio to zero by making C equal to zero to obtain a "no damping" case and vary k
and M to observe the changes of the natural oscillating frequency. Make a note of the changes of the
system responses.

c) Critically damped response

Vary parameters C, k and M to obtain a critically damped response (damping ratio = 1). For
example: C=16Ns/m, k=9N/m, and M=7kg. In this case there will be no oscillations and no overshoot.
Observe the root location and calculated parameter changes when the system changes from an
underdamped response to a critically damped response.

d) Overdamped response

Step 1: Increase the damping ratio, in turn, by varying C, k and M to achieve an overdamped
response case For example, M=5kg, k=10N/m and C=16Ns/m. Make a note of the change of
user defined parameters, calculated parameters, the step response pattern and root locations.

Step 2: Further increase the damping ratio by varying C, k or M and observe their effects on the
step response pattern, root locations and calculated parameters.

e) System design

Suppose a car weights 750k when it is empty. The weight of passengers plus load will vary between
50kg to 250kg and the total weight may be taken as equally distributed between axels. It is required to
design a damping (shock absorber) system for the car by determining spring constant k and damper
coefficient C so that a kerb produces minimum disturbance to passengers.

Assume that the kerb may be modelled as a step input with a maximum height of 10 cm and that the
car (assumed to be 4 m long) traverses the kerb at speeds of between 5 and 15 miles/hour (1 mile =
1.609 km). The total vertical shift of the car as experienced by the passengers should always be less
than 11 cm and in addition, there should be minimal disturbance (<5%) within 3 seconds of
encountering the kerb.

If it is required that the system respond with minimum settling time, little overshoot, and with low
vibrations, recommend what values of C and k should be used. (Tip: to use the package with the
consistent units specified, divide all real system parameters, C, k and M by 100).

4. Discussions

Include in your report a discussion of the following regarding sections a to e above:

a) How do C, k, M and x(t) affect the system dynamic responses (four cases - no damping,
underdamped, critically damped and overdamped – sections a to d)?
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b) What are the effects of root type locations on the system dynamics (four cases – sections a to d)?

c) At what values of the damping ratio can the system dynamic response be made more or less
optimum (minimum rise and settling times and small overshoot) and how can this be achieved from
an overdamped system and an underdamped system? (Discuss two cases separately). What are the
root locations at or near the optimum response and discuss its significance – section e.

5. The Report

The report should include at least the following: title, summary, contents, introduction (experiment
description), experimental procedures, experimental observations, discussions and conclusions.
Diagrams, tables and calculations can be used. The length of the report should not exceed 10 pages of
A4 sized paper. The report must be word-processed.

The report can be submitted in any one of three ways. Use ONE method only, do not submit more
than one copy of your report:
1) Post the report in the appropriate coursework box in GB/B15
2) Send the report in electronic (pdf) form by email to undergraduate.mace@manchester.ac.uk
3) Post the report in hardcopy form to Mrs L McKoy, Programme Administrator – Aerospace,
School of Mechanical Aerospace and Civil Engineering, The University of Manchester, Sackville
Street, Manchester M13 9PL.
The report must be with the School by 3 pm on 20th August 2010.

x(t) M
k y(t C
) Calculated
User Input
Parameters Damping Parameters
ratio, ζ 0.5292377
Mass M (kg) 9
Natural frequency, ω n 47
1.154700
Spring k (N/m) 12 Max. overshoot, Mp (%) 538
14.10580
Damper C (Ns/m) 11 Settling time, ts, (5%) 582
4.909090
Step input x(t) 10 Rise time, tr, (10-90%) 909
1.629184
cm 209

Figure 1: Typical screen dump of the computer simulation system.

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6. Appendix – Background Information

6.1 Mass-Spring-Damper dynamic model

Damper, C
Spring, k
Mass
M

Input, x Output y

Fig.A1. Spring/mass/damper system.

Figure A1 shows a schematic representation of a mass-spring-damper system. The body of mass, M,

is connected to a spring element of stiffness, k. Friction and air drag losses can be assumed to behave
linearly, producing a damping force (which acts in opposition to the spring force):

(1)

If the spring has a displacement of x (input) which causes a mass displacement y (output). The force
on the spring will be:

(2)

Application of Newton's second law to the mass yields:

(3)

Performing Laplace transformation (with zero initial conditions) yields:

(4)

Rearrangement of (4) gives the transfer function of the system:

(5)

6.2 Relationship between C, k, M and standard second order system parameters

A standard second order system has the form of:

(6)
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where is natural frequency, which relates to the speed of oscillation of the transient. is the
damping ratio which is a dimensionless representation of the amount of damping in the system.
Dividing equation (5) throughout by k, one obtains:

(7)

Comparison of (6) and (7) yields:

(8)

6.3 Step response of a second order system

Step response of a system is defined as the time domain response of the system output when the
system input is a step function:

(9)

thus (10)

A step response is usually used to examine the system dynamic performance, such as response time,
degree of overshoot, oscillation characteristics and steady state errors. When A = 1, the response is
called unit step response.

The output of a standard second order system in the s domain to a step input will then be:

(11)

The poles (those s values which make Y(s) = ∞) of the above function are:

and s = 0 (12)

The time domain response can thus be obtained (Do this yourself as a practice!) by the inverse
Laplace transformation of (11) using partial fraction techniques.

1. (Underdamped)

Since (13)

performing inverse Laplace transformation and note that ejφ - e-jφ = 2sinφ, yields:
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(14)

2. =1 (Critically damped)

Equation (13) yields: (15)

The corresponding time domain function, using inverse Laplace transform, is:

(16)

3. >1 (Overdamped)

Since (17)

The corresponding time domain function, using inverse Laplace transform, can be obtained as:

(18)

The unit step response (A=1) of the above is shown in Figure A2 for different values of damping ratio
and a constant .

0
ωn = 2
0.1

0.
3 0.
x(t) =1 6

ζ=2

Figure A2: Unit step response of a second order system with various values of .
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6.4. Relationship between and and Pole locations

The two poles of the mass-spring-damper process are (the third one due to the step input is s=0), as in
equation (12):

(19)

The pole location in the s plane (The vertical, imaginary axis representing the imaginary part of s and
the horizontal, real axis representing the real part of s), is the point representation of the real and
imaginary part of the poles.

There are four distinct cases to consider:

a) No damping, =0. In this case, the poles are located on the imaginary axis, as shown in
figure A3, with values of:
(20)

The step response is a continuous sinusoid of frequency with a constant peak magnitude. In this
simple harmonic motion the natural frequency is the frequency at which the system oscillates when
there is no damping present.

s- plane Im

× ωn
ζ=0
0
x(t)=1
Re
ωn=1.7
× -ωn

Figure A3. Pole location and corresponding step response when there is no damping.

b) Underdamped, 0 < 1. In this case, the roots of (19) will be a complex conjugate:

(21)

Corresponding to a transient which oscillates at a frequency of

(22)
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This frequency, , is called the damped natural frequency and is always lower than the natural
frequency. Figure A4 shows the location of the pole in s –plane and the corresponding step response.
The distance between the origin and the root location is:

(23)

The cosine of the angle between the negative real axis and the pole, , is:

(24)

s- plane Im
x(t)=1
× ωn
ωd

ζ=0. θ 0
5 -ζωn
ωn=1.7
Re

× -ωd

Figure A4. Pole location and corresponding step response for an underdamped system.

Therefore the nearer the poles are to the imaginary axis the smaller the damping ratio, , and the
more oscillatory will be the step response.

c) Critically damped system, =1. In this case the imaginary part of (19) becomes zero and
the system has double real poles at:

(25)

There is just enough damping to prevent the poles from being complex and so there is no oscillatory
component to the transient response. The pole location of this critically damped situation is shown in
Figure A5.
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s- plane Im

x(t)=1

ζ=1
ωn=1.7
× 0

-ωn Re

Figure A5. Pole location and corresponding step response of a critically damped system.

d) Overdamped system, =1. In this case the poles of (19) become real and distinct as:

and (26)

The step response will have no oscillation, but the system may become sluggish. The pole location in
this case is shown in Figure A6.

s- plane Im
x(t)=1

ζ=2 -ζωn - ωn
× × 0

ωn=1.7 -ζωn + ωn Re

Figure A6. Pole location and corresponding step response for an overdamped system.

6.4 Time domain step response performance specifications

For an oscillatory system, the amount of oscillation can be specified by the Maximum percentage
overshoot, Mp, which is defined as:

(27)

Since the transient of the oscillatory part of the response, according to equation (14), is:
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(28)

The positive and negative peaks of the oscillation occur at times separated by the period of the
sinusoid, , which can be found by taking the derivative of y1(t) and setting it to zero. The first
peak occurs at t = . One therefore has:

(29)

The response time of the system is normally defined in terms of rise time, tr, which is defined as the
time for the response to rise from 10% to 90% of the final value. Although there is no analytical
expression relating tr with the transfer function parameters, the formula

(30)

where , can often be used to estimate the rise time with little error.

The settling time ts denotes the time for the transient to die away to within some specified tolerance
band. The response must not only reach but also stay within the band. Typical tolerance bands are
±2% and ±5%. There is no simple, accurate relationship between settling time and transfer function
parameters for a second order system. However, the settling time is mainly governed by the time for
the exponential envelope to decay to within the tolerances band. This is determined by the real part of
the poles. The 5% settling time is approximately given by:

(31)

Response to unit step input x(t)=1

Mp
x(t)=1
90%
tr Settling time
tolerance band
ts

10%

Figure A7. Illustration of step response specification parameters.