A Open-ended Report on

“Spring Mass Damper System”

Bachelor of Engineering in
Mechanical Engineering

Course: Control Systems Lab

Course code: 22EMEP202

Submitted by

229 01fe22bme401 Tejas.S.Hurkadli

Under 233 01fe22bme405 Harsh Miskin
the
235 01fe22bme408 Manikya Pasi
236 01fe22bme409 Muraghesh Morabagi
239 01fe22bme412 Akhil Dokka

Guidance of
Shrihari.V.Katti
Modeling & Simulation of Spring Mass Damper
System in Simulink Environment
Any continuous system can be approximated as multi degree of freedom system. For example, a
three story building can be approximated as using a three lumped mass spring model as Spring
mass damper systems are also known as vibrating systems. If any of the basic elements behave
non-linearly then the system is a non-linear system. If the value of
excitation at a given time cannot be predicted, then vibrations are called random vibrations. If the
vibrations of the system.

A spring-mass system in simple terms can be described as a spring sytem where a block is hung or
attached at the free end of the spring. The spring-mass system can usually be used to find the period
of any object performing the simple harmonic motion. The spring-mass system can also be used in a
wide variety of applications. For instance, spring-mass system can be used to simulate the motion of
human tendons using computer graphics as well as foot skin deformation.

There are Two Types of Spring Mass Damper System

Spring mass systems can be arranged in two ways. These include;
 The parallel combination of springs
 Series combination of springs
We will discuss them below;
Parallel Combination of Springs

Fig (a), (b) and (c) – are the parallel combination of springs.

Displacement on each spring is the same.

But restoring force  is different;
ABSTRACT:

Systems can also be multirate, i.e., have different parts that are sampled or updated at different
rates. Systems of deferential equations form the basis of mathematical models in a wide range of
fields from engineering and physical sciences to finance and biological sciences. Deferential
equations are relations between unknown functions and their derivatives. Computing
numerical solutions to deferential equations is one of the most important tasks in technical
computing, Researchers have shown their interest in situations where the functions are not known
and cannot be represented by simple formulas. Most of the scientists /researchers have shown their
interest in modeling & simulating the system in the Simulink environment. Interest in computing
numerical approximations to the values of a function at enough points to print a table or plot a
graph has been increased to a great extent. This paper presents Modeling & Simulation of
Spring Mass Damper System (for one, two & Multi Degree of Freedom systems) in Simulink
Environment. Simulation results are compared with the theoretical & reliable industrial manual
data and found satisfactory to a great extent with minimum error

Advantages Of Spring Mass Damper System :

simple structure
fast response
low energy consumption
large dynamic range

Disadvantages Of ASpring Mass Damper System :

Large mass and space required

Effectiveness depending upon the maximum mass that can be utilized

Mathematical Model Of Spring Mass Damper
System:

Simple Mass-Spring-Damper System

Consider a simple system with a mass that is separated from a wall by a spring
and a dashpot.  The mass could represent a car, with the spring and dashpot
representing the car's bumper.  An external force is also shown.   Only horizontal
motion and forces are considered.

There is only one position in this system defined by the variable "x" that is positive
to the right.  We assume that x=0 when the spring is in its relaxed state. 
To develop a free body diagram we sum all the forces to zero.  There are four
forces:

1. An external force (Fe)

2. A force from the spring.  To determine the direction consider that the
position "x" is defined positive to the right.  If the mass moves in the
positive "x" direction, the spring is compressed and exerts a force on
the mass.  So there will be a force from the spring, k·x, to the left.
3. A force from the dashpot.  By an argument similar to that for the
spring there will be a force from the dashpot, b·v, to the left.   (The
velocity, v, is the derivative of x with respect to time.)
4. Finally, there is the inertal force which is defined to be opposed to
the defined direction of motion.  This is represented by m·a to the
left.   (The acceleration, a, is the second derivative of x with respect
to time.)  Don't forget this force, it is easy to do so.
 The completed free body diagram is shown below

 
We sum all of these forces to zero and get

 
or

This equation is in our standard form that has system outputs (the unknown
variables) on the left hand side and system inputs (the known variables) on the right
hand side.  this is sometimes called input-output notation.
We will often use "dot" notation, using one dot above a variable to denote
differentiation:

In addition, we will also make it implicit that certain variables are functions of time
and omit the "(t)" in equations.  If we do so, the equations above become:

This is read as "m x double dot plus b x dot plus k x equals F sub e." 

Recall that the definition of the positive direction is arbitrary.  We could just as
easilty have defined the positive direction to the left.  
 
 Now the free body diagram still has four forces,  but the reaction forces from the
spring, friction and inertia have switched directions.

1. An external force (Fe)

2. A force from the spring.  To determine the direction consider that the
position "y" is defined positive to the left.  If the mass moves in the
positive "y" direction, the spring is stretched and exerts a force on
the mass.  So there will be a force from the spring, k·y, to the right.
3. A force from the dashpot.  By an argument similar to that for the
spring there will be a force from the dashpot, b·vy, to the right.  (The
velocity, vy, is the derivative of y with respect to time.)
4. Finally, there is the inertal force which is defined to be opposed to
the defined direction of motion.  This is represented by m·ay to
the right.  (The acceleration, ay, is the second derivative of y with
respect to time.)

Our equations become (with implicit functions of time):

Note the changes of sign in the second equation and all those that follow.
 
A Spring Mass Damper System-
A mass spring damper system is the discretised model of any system.

This system is lumped into a single point mass in the MSD system. the inertial effect of this dynamic system
is related to this lumped mass. The stored energy/ the inertial energy of the dynamic system is modelled as a
1-Dimensional spring in the MSD system. the spring is able to store the energy inside when it is stretched or
compressed from its original length. The energy dissipated out of the dynamic system is modelled through a
1 Dimensional damper in the MSD system. the viscous damper for instance, is able to dissipate energy as
heat outside the dynamic system.

A mass (m) is connected with linear damper (b) and linear spring (k).

Mass Force (F) moves in a positive direction (x).

Spring (K) is an extension, resists the motion of the mass Spring Force (FK) which is again in the negative
direction and hence it is negative.

Sum of all the forces we get the equation as –

From the Figure considering the free body diagram, Mass Spring Damper Equation is 
Governing equation of Spring- Mass- Damper
 

Now we will change the value of Mass, Damper, Spring for the simscape model & plot the results

For b = 30 N (M/s), K = 250 N/m, m = 10 kg

Plot-

For b = 50 N (M/s), K = 120 N/m, m = 30 kg

Plot-
Change the value of mass X0 = 2 and plot the results & Make the response of Simscape & Simulink as 2
separate displays-
Simscape output –
 b = 15 N (m/s)

K = 280 N/m.

m = 60 Kg.

X0 = 2 m.

Plot-

 
Simulink output –
 b = 10 N (m/s)

K = 400 N/m.

m = 10 Kg.

X0 = 2 m.

Plot-

 
SIMULINK

 
 SIMSCOPE
CONCLUSION
Simulation Results shows that both methods Equation modeling & state space modeling produce the
same results. It proves that Modelling is performed with great accuracy by understanding the
dynamics of the system. Results are validating / matching with the historical data shown in
renowned journals, Books & Literature. A natural extension of this work is to study the dynamics of
vibration absorber. In this way the main mass & absorber mass can be better integrated.

REFERENCES
"Solving mass spring damper systems in MATLAB" (PDF).

"Fast Simulation of Mass-Spring Systems" (PDF).

Longoria, Prof. R.G. "Modeling and Experimentation: Mass-Spring-Damper System Dynamics"