ENS 6160: SIGNALS & SYSTEMS MAJOR ASSIGNMENT Due 11:59 p.m. Tuesday, 23 October 2022 This assignment is worth 20% of the unit mark. This assignment is divided into sections. Total 100 marks You will need to reference all external sources of information. t NT:Submission! All assignment documents should be submitted via canvas. The link for submitting the assignment is available under assignment section in canvas. You should upload a suitably formatted report in Adobe PDF format (preferred) or as a Microsoft Word document (hard copies in the form of printed, handwritten or scanned reports will not be accepted). This assignment should be completed in a group of 2-3 students only. The report should document in detail your group approach, work, results, and justified answers to the stated problems. 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Refer to the Academic Misconduct section at the end of the assignment.Analysing a simple system A vehicle suspension system can be modelled by the block diagram shown in Figure 1 below: y Body mass 7 ma I Figure 1: Block diagram of vehicle suspension system In this block diagram, the variation in the road surface height ras the vehicle moves is the input to the system, The tyre is modelled by the spring and dashpot (damping) system with spring constant ke and damping coefficient C; respectively and this results in the displacement of the wheel (x), represented by the mass _m,. The wheel's displacement acts as an input to the suspension system, modelled by the spring and dashpot with spring constant k, and damping coefficient C, respectively and this results in the displacement (y), of the body, represented by the mass mz. When the car is at rest, it is taken that r= 0, x= 0 and y = 0. (Note: m; is normally a quarter of the vehicle mass since it is assumed the weight is distributed evenly between the 4 wheels. This system is composed of two mass-spring-damper systems ‘stacked’ one on top of the other. We shall first consider the behaviour of a single sub-system and then later attempt to combine these to find the overall system behaviour. Consider the simple mass-spring damper system shown in Figure 2 below: Figure 2: A single mass-spring-damper system In Figure 2: ‘xis the position of input body/surface, with its rest position given by x = 0. ‘© The mass m represents the mass ‘© The height of mass m above its reference level is called y. The reference level is chosen such that when system is at rest, y = 0.Section 1: Mathematical Analysis of System (25 marks) 1. Drawa free-body diagram showing all the forces acting on the mass m shown in Figure 2. 2. From the earlier description, diagrams and the laws of Physics, show that the motion of the system in Figure 2 can be described by the LCCDE (linear constant-coefficient differential equation) below: d*y(t) Cdy(t) k Cdx(t) k ae tra tO Rn tee @ 3. Using the Laplace transform of the equation above, find an expression for H(s) , the system transfer function. The mass-spring-damper system is a damped second order system. It is common to express the homogenous second order DE for such a damped system as Pye ay = if i + wy wo + any(t) @) where ¢ is the damping ratio and w,, is the undamped natural (resonant) frequency. 4, From equations (1) and (2), determine expressions for ¢ (the damping ratio) and w, (the natural frequency) in terms of the parameters m, k and C 5. Determine the characteristic equation and eigenvalues (characteristic values) for t based on equation (2) above (in terms of w,, and ¢ ). system 6. From the answer to part 5, determine the full mathematical expression (in terms of w, and ¢) for the natural response of the system for the following cases: a ¢=0 b 0<¢<1 © f=1 a. ¢>1 Consider a suspension system with the following parameters: m, = 380kg keg = 15,000 N/m 7. Determine ay, (in rad/s) for this suspension system and the corresponding value for fy. (in Hz). 8. Calculate the required value of C, in order to achieve { = 1 Note: Complete and clear working is required for all answers for this section.Section 2: System analysis using Matlab (30 Marks) In this section, the system responses should be analysed using Matlab. Refer to the document “A Brief MATLAB Guide” in order to understand how to represent LTI systems in Matlab, and hence how to determine impulse response, step response and frequency response of systems. Sample Matlab code that has been provided as part of the learning materials can also be d to suit. Students are advised to refer to the help function within Matlab as well as online Matlab documentation for more details. Note: MATLAB is installed in the engineering computer labs and is also available to ECU students via ECU's site licence (refer to the announcement regarding site license for details). mot Using the commands given in the Guide, analyse the response of the suspension system using the m, and ks parameters given in Section 1 and C, value calculated in question 8. 9. Plot the impulse response and step response of the system (for 2 seconds duration and time ‘step size’ of 1 millisecond) using the impulse and step functions. Include all plots (properly labelled) in your submission. 10. Determine the frequency response from 0 to 200 rad/s using the freqs command. Plot the magnitude and phase response over this frequency range. Hint: Use frequency ‘step size’ of 0.1 rad/s. Hint 1: You can plot all 4 graphs in one go using a 2 x 2 matrix of plots using subplot(22n), where n determines which of the 4 subplots gets used. Hint 2: In order to clearly see variations over a range of frequencies, it is best to use a log scale for the frequency and magnitude (phase would still be displayed using linear scale). The functions loglog (for magnitude) and semilogx (for phase) can be used instead of plot. 11. Deter (magnitude = 1/V2 of passband). Hint: Use the ‘data cursor’ tool on the plot of the mag \e the magnitude response at w,. Determine the frequency of the -3dB p tude response. It shows the x and y values of the plot as you move along the curve. 12. Discuss the response of the system. Why do the impulse and step responses have that particular shape? How well will this system fulfl its purpose of a vehicle suspension? Note: The function of a suspension system is to ‘filter out’ the effect of bumps, potholes and other such road surface irregularities, but allow the vehicle to ‘follow the road’ as the height of the road surface varies. 13, Repeat the analysis above (steps 9 - 11) for the following damping ratios a ¢=04 b. ¢=07 © $=15 d. $= 2.0 Hint 3: It would be more efficient to put all the necessary commands into a script file (2 .mfile) so you can edit the parameters and then run all the commands at once. 14, Based on the results of the Matlab analysis above, which of the 5 values of damping ratio would be best for appli ion as a suspension system. Justify your selection.Section 3: Modelling System response to input (25 marks) The response of the suspension system designed in Section 2 can be modelled by providing an input x that resembles the road input (the assumption is that the tyre assembly does not impact the system response and therefore x is the same as road ‘input signa’ r) The M-file for the custom-written function inputsig has been provided, with explanatory ‘comments in the file. 15. Use the inputsig function to generate a sinusoid of 1 Hz with magnitude 0.5 and duration 2 seconds, then simulate the suspension system's response to this function and plot the input and output response vs time (output plot below input plot for easy comparison). Hint 4: The system response to an input signal can be simulated using the /sim function. Following is some sample code that shows how this function could be used. [xsig, t1] = inputsig(10); % generate signal durati Sys] = t£(B,A); ne system, te (tre Sysout = 1sim(Sysi, xsig, tl); imul TI syst Note: Students are advised to refer to the help function within Matlab as well as the online Matlab documentation for more details, 16, Repeat step 15 (plots of input vs output) for input duration of 1 second with the input signal being: a. a sinusoid of frequency 10 Hz and magnitude 0.05 b. square wave of frequency 4 Hz and magnitude 0.1 ¢. pulse of frequency 3 Hz and magnitude 0.05 17. Compare the system response to the 4 types of input and explain the output signal for each and the differences. What would these 4 represent in terms of ‘road input’? 18. Repeat step 16 with a combination of: a. Sinusoid of 1Hz and magnitude 0.5 plus a sinusoid of frequency 10 Hz and magnitude 0.05 b. Sinusoid of 1Hz and magnitude 0.5 plus a square wave of frequency 4 Hz and magnitude 0.1 ¢. Sinusoid of 1Hz and magnitude 0.5 plus a pulse of frequency 3 Hz and ‘magnitude 0.05 d. Sinusoid of 1Hz and magnitude 0.5 plus a sinusoid of frequency 10 Hz and magnitude 0105 AND a square wave of frequency 4 Hz and magnitude 0.1 19, Describe the differences in input and output waveforms in the cases in step 18. Hence comment on the effectiveness of the ‘designed’ suspension system.Section 4: (20 Marks) % values of the time variable 4% frequency of the sinusoid % phase offset A=25; % amplitude Yn =A * cos(W*N - phi); stemiN, ¥ axis((0 50-2 2)); arid; xlabel (‘Time index n’); label (YINT); a) What type of signal is obtained when you run this matlab code? b) What is the length of the signal YIN]? ©) What is the fundamental period of YIN]? d) What is the purpose of the grid command? e) Modify the code so that it generates a sinusoid with length 100, frequency 0.95 x 2n radians per sample, amplitude 7.5, and a phase offset of n/2 radians. Run the modified code to generate and plot another discrete-time sinusoid. All matlab codes should be presented in the answer. 2. N= 10:10; — %vvalues of the time variable Delta_n = (zeros(1,10) 1 zeros(1,10)}; stem(N, Delta_n); axis([-10 10 0 1.5)); title(’Write title looking at the output signal’); xlabel(’Time index N'); ylabel(’\Delta[n]’); a) What type of signal is obtained? b) Modify the code above to generate and plot 5[N - 3] for-10 0 and zero otherwise is a very common discrete-time signal. Let us see how they are related. Do the following using MATLAB: a) Leta=05, plot x(t) b) Let a= 1, plot the corresponding signal x(t). Does this signal go to zero faster than the exponential for a= 0:5? ©) Suppose we sample the signal x(t) using Ts = 1 what would be x(nTs) and how can it be related to y(n), i.e., what is the value of that would make the two equal? 4, Consider the periodic signals x; (t) = 4cos (mt) and x2(t) = —3sin (mt +5) Find the periods 7 of x,(t) and Tz of x2(t)and determine if x(t) = x, (t) + x2(t) is periodic. If so, what is its period To? Use symbolic MATLAB to plot x,(t) + x2(¢) and confirm your analytic result about their periodicity or lack of periodicity.MAJOR ASSIGNMENT MARKING SCHEME Description Marks Free body diagram 3 Deriving DE formula 4 System transfer function 2 Expressions for damping coefficient and natural frequency 2 Characteristic equation and eigenvalues 4 ‘Natural response (4 cases) 8 Calculation of w, and C, 2 TOTAL 25 ‘Section 2: Matlab System Analysis (30 marks) Description Marks Impulse and step response, frequency plot, and specific magnitude values 2 Description of responses and relating it to the system's desired function 3 ‘Analysis of various damping ratios 2 Selection and justification of preferred damping ratio 3 TOTAL 30 Section 3: Modelling System response to input (20 marks) Description Marks ‘Simulation of input and output responses (4 basic types) 5 Explanation of responses 4 Simulation of ‘combination’ inputs 8 Discussion output response and suitability of system 3 TOTAL 20 Section 4 Matlab analysis (20 marks) ‘Team contribution Description 5 Marks