Unit 1 Lecture 3

Free Responses of Mechanical Systems (Summary)

Equivalent Systems

School of Engineering Undergraduate Programmes 6E5Z2102 Solid Mechanics & Dynamics 2018-19
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 Free Response of a Mass/Spring/Damper System
Underdamped responses ( < 1 )

Logarithmic decrement (method of finding )

 Free Response of a Mass/Spring/Damper System
Underdamped responses ( < 1 )
Logarithmic decrement
Or: more generally if oscillations continue over a long period due
to low damping

1  x1  2
  ln   
n  x n 1  1 2

Estimate  from a measured trace.

You will need to use this expression in the first Lab

Try Question 3 on “Topic 1 Example sheet”
Summary (S-plane diagram)
Example 1 Mass/Spring Simple pendulum
(g=5 l=11)
E.O.M.

l   g  0

Characteristic Equation

l 2  g  0
Roots - 2 imaginary 1,2=-g/l =  in
(1= 0.674i 2= -0.674i)
Summary (S-plane diagram)

0.674

real

imaginary
Summary (S-plane diagram) +ve
m

c k
Example 2 Mass/Spring/Damper 1/4 Car model
(k=22kN/m, m=343kg)
E.O.M.
   
m x  c x  kx  0 x  2  n x   n2 x  0
Characteristic Equation
m   c  k  0
2
  2  n     0
2 2
n

Roots - -- 2 roots  > 1 roots are real

 = 1 roots are real and equal
1, 2  n  n  2  1  < 1 roots are complex
Summary (S-plane diagram)
Example 2 case 1 1/4 Car model
>1 (k=22kN/m, m=343kg, 7.15kNs/m)
1= -3.75 2= -17.07
Summary (S-plane diagram)

real
-17.07 -3.75

imaginary
Summary (S-plane diagram)
Example 2 case 1 1/4 Car model
>1 (k=22kN/m, m=343kg, 7.15kNs/m)
1= -3.75 2= -17.07

Example 2 case 2 1/4 Car model

=1 (k=22kN/m, m=343kg, 5.5kNs/m)
1= 2= -8
Summary (S-plane diagram)

real
-8

imaginary
Summary (S-plane diagram)
Example 2 case 1 1/4 Car model
>1 (k=22kN/m, m=343kg, 7.15kNs/m)
1= -3.75 2= -17.07

Example 2 case 2 1/4 Car model

=1 (k=22kN/m, m=343kg, 5.5kNs/m)
1= 2= -8

Example 2 case 3 1/4 Car model

<1 (k=22kN/m, m=343kg, 1.5kNs/m)
1,2=-2.197.07i
Summary (S-plane diagram)

-2.19
7.7

real

imaginary
Summary (S-plane diagram)

real

Further to the left  faster decay.

Root furthest to the right  dominant

imaginary
Summary (S-plane diagram)

real
For a single dominant root, 1 divided by
the distance to the imaginary axis gives
the time constant, .
Multiply this time constant by 4 to give
the time taken for the signal to decay to
imaginary
less than 2% of its initial value.
 Summary (S-plane diagram)

real

Oscillatory roots occur in pairs.

Distance from the real axis = frequency of oscillation.

imaginary
Summary (S-plane diagram)

real
When  is relatively low, 1 divided by
the distance to the imaginary axis
(1/n) multiplied by 4 gives the time
taken for the signal to decay to less
than 2% of its initial value imaginary
Summary (root locus diagram)
For a mass spring damper how do the roots change as the
damping is altered ?

1,2   n  in 1 2

Increasing l  n
damping
n 1   2

real cos  
  n

imaginary
Summary (root locus diagram)
=0

real

imaginary
Summary (root locus diagram)
0< <1

real

imaginary
Summary (root locus diagram)
0< <1

real

imaginary
Summary (root locus diagram)

=1

real

imaginary
Summary (root locus diagram)
 >1

real

imaginary
Summary (root locus diagram)
 >1

real

imaginary
Equivalent Systems
Equivalent Systems
Equivalent Systems
Combination of stiffnesses

k1 k2 keq= k1 + k2

k1
1/ keq= 1/ k1 +1/ k2
k2
keq= 1/(1/ k1 +1/ k2)
Equivalent Systems
Example (with solution)
Find the equivalent single stiffness representation of the five-spring
system given in the figure below.

these 2 springs both

attach the mass to the
ground  in parallel
Equivalent Systems

Equivalent stiffness of a cantilever beam with end

load

l keq

displacement x at the tip of the beam  x = Fl 3/3EI

keq = F/x = 3EI/l 3