Spring Pendulum

Dynamic System Investigation

Dr. Kevin Craig

Professor of Mechanical Engineering
Rensselaer Polytechnic Institute
Spring Pendulum Dynamic System Investigation K. Craig 1
 Spring-Pendulum
Physical System

Spring Pendulum Dynamic System Investigation K. Craig 2

 Engineering System Investigation Process
Engineering START HERE
System Physical Parameter

Investigation System Identification

Process System Physical

Measurement Model

Mathematical
Model

Spring-
Pendulum Measurement
Analysis
Mathematical
Analysis

Dynamic System Comparison:

Predicted vs.
Investigation Measured

YES Is The
Design
Comparison
Changes Adequate ?

NO

Spring Pendulum Dynamic System Investigation K. Craig 3

 Physical Model
Simplifying Assumptions

pure spring, i.e., negligible inertia and damping

ideal (linear) spring
frictionless pivot
neglect all material damping and air damping
point mass, i.e., neglect rotational inertia of mass
two degrees of freedom, i.e., r and are the generalized
coordinates (this assumes no out-of-plane motion and no
bending of the spring)
support structure is rigid

Spring Pendulum Dynamic System Investigation K. Craig 4

 Physical Model
with
Parameter Identification

m = pendulum mass = 1.815 kg

mspring = spring mass = 0.1445 kg
= unstretched spring length = 0.333 m
k = spring constant = 172.8 N/m
g = acceleration due to gravity = 9.81 m/s2
Ft = 5.71 N = pre-tension of spring
rs = static spring stretch, i.e., rs = (mg-Ft)/k = 0.070 m
rd = dynamic spring stretch
r = total spring stretch = rs + rd

Spring Pendulum Dynamic System Investigation K. Craig 5

 Spring Parameter Identification

spring

Spring Pendulum Dynamic System Investigation K. Craig 6

 Polar Coordinates:
Position, Velocity, Acceleration
G
e r = re r
e r G
de r G dr
= e v=  r + r e = v r e r + v e
= re
d dt
G
G dv
de
d
= e r a=
dt
( ) (
= r r 2 e r + r )
 + 2r e

= a r e r + a e
r magnitude change
vr
r direction change
r + r magnitude change
v
r 2 direction change
Spring Pendulum Dynamic System Investigation K. Craig 7
 Rigid Body Kinematics
Y
XY: R reference frame (ground) y
xy: R1 reference frame (pendulum) x

x cos sin 0 X
X
y = sin cos 0 Y
O

z 0 0 1 Z k

i cos sin 0 I
m P
j = sin
+r
cos 0 J

0 0 1 K
k
GP R GO R G R1 G R1 G OP R G R1 G OP R1 G P R G R1 R1 G P
R

a = a + ( R
)
r + r + a + 2 v

Spring Pendulum Dynamic System Investigation K. Craig 8

 Rigid Body Kinematics
GO
a =0
R

R G R1
=  k =  K
G OP
r = ( A + r ) j = ( A + r ) sin I + cos J
R G R1 k = K

=
R1 G P
v = rj  = r sin I + cos J

R1 G P
a = rj = r sin I + cos J
After substitution and evaluation:
R GP
a = i ( A + r )
 + 2r + j r + ( A + r )  2

Spring Pendulum Dynamic System Investigation K. Craig 9
 Mathematical
Model t

r
F = ma r = m

r ( A + r ) 
2

F = ma = m ( A + r )
 + 2r

mr m ( A + r )  2 + kr + Ft mg cos = 0 Free Body Diagram

( A + r )  + 2r + g sin = 0

kr Ft + mg cos = m r ( A + r )  2 Nonlinear Equations

of Motion
mg sin = m ( A + r )
 + 2r

Spring Pendulum Dynamic System Investigation K. Craig 10

 d T T V
Mathematical Model:  +
dt q i q i q i
= Qi
Lagranges Equations Lagranges Equations
q1 = r Q r = Ft Generalized
Generalized Coordinates Q = 0 Forces
q2 =

1 2
T = m r + ( A + r ) 
2 2
 Kinetic Energy
2

1 2
V = kr mg ( A + r ) cos A Potential Energy
2

mr m ( A + r )  2 + kr + Ft mg cos = 0 Nonlinear Equations

( A + r )  + 2r + g sin = 0 of Motion

Spring Pendulum Dynamic System Investigation K. Craig 11

 LabVIEW Simulation Diagram

Spring Pendulum Dynamic System Investigation K. Craig 12

 MatLab Simulink Diagram
sin(u)
sin
Product
1/s 1/s 9.81
Sum Integrate Integrate
Product gravity (m/s^2)
theta acc theta vel
cos(u) Spring Pendulum
cos Product Dynamic System
2
Gain Product

u^2
theta
square
theta position

Product
r
r position
1/s 1/s
Integrate Integrate t
r acc r vel Clock time
Sum

95.21 0.333 u^(-1)

spring length Sum2 inverse

5.710/1.815 k/m
unstretched
k=172.8 N/m
Ft=5.71 N (meters)
m=1.815 kg m=1.815 kg

Spring Pendulum Dynamic System Investigation K. Craig 13

 Simulation Results
Simulation Results with Initial Conditions: theta = -0.274 rad, r = 0.046 m
0.3

Initial 0.2

Conditions
radial and angular position (rad or m) 0.1

0 = 0.274 rad
r0 = 0.046 m 0

-0.1

-0.2

-0.3

-0.4
0 10 20 30 40 50 60
time (sec)

Spring Pendulum Dynamic System Investigation K. Craig 14

 Simulation Results
Simulation Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m
0.25

Initial 0.2

Conditions 0.15

0 = 0.021 rad radial and angular position (rad or m)

0.1

r0 = 0.115 m 0.05

-0.05

-0.1

-0.15

-0.2

-0.25
0 10 20 30 40 50 60
time (sec)

Spring Pendulum Dynamic System Investigation K. Craig 15

 Actual Measured Dynamic Behavior
Experimental Results with Initial Conditions: theta = -0.274 rad, r = 0.046 m
0.3

Initial
Conditions
0.2

0 = 0.274 rad
radial and angular position (rad or m) 0.1

r0 = 0.046 m 0

-0.1

-0.2

-0.3

-0.4
0 10 20 30 40 50 60
time (sec)

Spring Pendulum Dynamic System Investigation K. Craig 16

 Actual Measured Dynamic Behavior
Experimental Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m
0.2

Initial 0.15

Conditions radial and angular position (rad or m) 0.1

0 = 0.021 rad
0.05

r0 = 0.115 m
0

-0.05

-0.1

-0.15

-0.2
0 10 20 30 40 50 60
time (sec)

Spring Pendulum Dynamic System Investigation K. Craig 17

 Comparison
Simulation Results with Initial Conditions: theta = -0.274 rad, r = 0.046 m Experimental Results with Initial Conditions: theta = -0.274 rad, r = 0.046 m
0.3 0.3

0.2 0.2

radial and angular position (rad or m)

radial and angular position (rad or m)

0.1 0.1

0 0

-0.1 -0.1

-0.2 -0.2

-0.3 -0.3

-0.4 -0.4
0 10 20 30 40 50 60 0 10 20 30 40 50 60
time (sec) time (sec)

0 = 0.274 rad
Initial Conditions:
r0 = 0.046 m
Spring Pendulum Dynamic System Investigation K. Craig 18
 Comparison

Simulation Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m Experimental Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m
0.25 0.2

0.2
0.15

0.15
0.1
radial and angular position (rad or m)

radial and angular position (rad or m)

0.1

0.05
0.05

0 0

-0.05
-0.05

-0.1
-0.1
-0.15

-0.15
-0.2

-0.25 -0.2
0 10 20 30 40 50 60 0 10 20 30 40 50 60
time (sec) time (sec)

0 = 0.021 rad
Initial Conditions:
r0 = 0.115 m
Spring Pendulum Dynamic System Investigation K. Craig 19
 Nonlinear Resonance
a f
mr m A + r  2 + kr + Ft mg cos = 0 Nonlinear Equations
a f
A + r 
+ 2 r + g sin = 0 of Motion

2 F I
mr + kr = maA + r f F + mgG 1 J
2
3
sin +"
t
H 2!K 3!
F I
aA + rf + gGH 3!JK = 2r

3 2
cos 1 +"
2!

a f 2
k F
r + r = A + r  t + g g
2

m m 2!

a f 3
A + r 
+ g = 2 r + g
3!
Spring Pendulum Dynamic System Investigation K. Craig 20
 
a f a f r = r + r
2
k F
r + r + r = A + r + r  2 t + g g
m m 2! = + 

a f 3
A + r + r 
 + g = 2 r + g =0
3! mg Ft
 r=
a f 2
k
r + r = A + r + r  2 g k
m 2!
g 2 r g 3 
r


 +  = +
A+r A + r A + r 3! A + r

a f 2
r + 2r r = A + r + r  2 g k
=
2
r
2! m
2 
r 3

r 
 g

 +  =
2
+
2 =
2

A+r 3! A + r A+r

Spring Pendulum Dynamic System Investigation K. Craig 21

 Define: aA + r + rf = aA + r fa1 + xf r = aA + r fx

aA + rfx + aA + rfx = aA + rfa1 + xf g 2! 2
2  2
r

 
3
 +  = 2 x  +
2

2
x

3!

a f 2
x + 2r x = 1 + x  2 2
2!

a f 3
1 + x 
 +  = 2 x  +
2

2

3!

2
x + 2r x =  2 2 + x 2
1 2!
1 x + x 2 x 3" 2  2  3
1+ x  2 x

 + = +
1 + x 1 + x 1 + x 3!
Spring Pendulum Dynamic System Investigation K. Craig 22
 
2
x + 2r x =  2 2 + x 2
2!

a f a f
a f
3

 +  1 x = 2 x  1 x + 1 x
2 2

3!

2
x + 2r x =  2 2 + x 2
2!

a f a f 3

 + 2  = 2 x  1 x + 2 x + 2 1 x
3!


2
x + 2r x =  2 2 +" Neglecting nonlinear terms
2
third order and higher

 + 2  = 2 x  + 2 x +"

Spring Pendulum Dynamic System Investigation K. Craig 23