TRANSLATIONAL

TRANSLATIONAL THREE DEGREE OF FREEDOM EXPERIMENT

Dear Students:
THREE DEGREE OF
FREEDOM
You must watch video first, then answer MCQ test on Vision successfully

EXPERIMENT
(75%). The test is based on the video only, and to pass it successfully you
should have a pen and paper to record some information. This
information will be required for you to finish the report.

Hence, you cannot proceed to your lab report until you pass the test.

k1 k2 k3
M1 M2 M3

The lab will consist of the following experiments:

A) Three identical experiments with each mass-spring system, to identify the damping
of the system, implicitly existing in it due to various factors such as friction, material
damping, etc.
B) Force vibrations of the two-degree-of-freedom (2DOF) system, with given amplitude
and frequency of excitation.
C) Force vibrations of the three-degree-of-freedom (3DOF) system (the previous
parameters of the 2DOF are kept the same).
D) Compare later your 3DOF results with results of numerical simulation (Matlab).

Initialisation of the software

Select EDyn32 from desktop

Select FILE then Load Settings choose default.cfg and OPEN

Switch controller on. (Black button)

Damping Identification experiments

1) With the apparatus supplied add masses to carriages 1,2 &3 to values which you
have chosen. Record these masses. Note that the values of masses have been
reported in the video.
2) Clamp masses 2 and 3 to prevent their motion. i.e. reduce the system to a 1
D.o.F. system
3) Enter the Driving Function box via the Set-up menu and select Force. Select
Setup Driving Function followed by OK. Now select Enable Driving Function and
finally OK again to return to the background screen.
4) Put scaling factor between 13000 and 16000 (in the video you find the value
used). Remember your scaling factor, since you will need it later when export
your data to txt file.
5) Enter the Commands menu and select Input Shape. Select Step followed by Set-
up. Input a step size of 0 (zero), a duration of 2000 ms and 1 repetition. Exit to
the background screen by repeatedly selecting OK. This allows the system to
record 6 seconds of data without actually introducing a driving force. This will be
used for the log decrement tests required to identify damping in the system.
Adjustment of the duration will allow the data acquisition period to be varied.
6) In the Setup select User Units and click millimetres
7) Enter the Data menu and select Setup Data Acquisition. Choose Encoder #1,
Encoder #2 and Drive input as data to be acquired and specify every 2 servo
cycles. Select OK to exit.
8) Enter the Utility menu and select Zero position.
9) Enter the Command/Execute menu and displace mass 1 (in either direction) a
distance of approximately 2.5 cm. Take care not to engage the travel limit
switches. Select Run and release the mass approximately 1 second later. Select
OK once the data has been uploaded. Note that if the limit switches are engaged
at any time during this operation you must return to the Driving Function menu
and select Enable Driving Function before continuing.
10) Enter the Plotting menu and select Set-up Plot. Choose Encoder #1 then select
Plot Data. The response of mass 1 will be displayed and from this you will be able
to perform a log decrement calculation to determine the damping ratio
associated with mass 1
11) From the Plotting menu select Save plot data in case you need to return to it.
12) From the Data menu select Export Raw Data in case you intend to use the data
in other applications (e.g. Excel)
13) The data you get is in meters and is scaled, so to get the proper values you
MUST divide your values by the scaling factor! Furthermore, the values you get
are skewed ( non-zero mean value), so you should calculate the mean value for
each mass and subtract it from all your values.
14) Now clamp mass 1 and release mass 2 so that it is free to move and ensure that
mass 3 is still clamped
15) Repeat steps 6 to 11 above making the necessary alterations to the data
acquisition and data plotting menus so that the motion of mass 2 is captured.
16) Now clamp masses 1 and 2 and release mass 3 so that it is free to move.
 17) Repeat steps 6 to 11 above making the necessary alterations to the data
acquisition and data plotting menus so that the motion of mass 3 is captured.
18) Record your measured values of damping ratio associated with each of the
masses.

2DOF forced vibrations experiment

1) Fix the third mass, so that only first two masses can oscillate
2) Having already performed the log decrement experiments return to step 4 in the
above notes.
3) Enter the Command menu and select Input Shape. Select Sinusoidal followed by
Set-up. Set the Force amp equal to 1N (see the video for specific values) and the
driving freq equal to 1Hz (see the video for specific values) in the first instance. Set
the Number of reps to 30 initially, this can be altered as required. Return to the
background screen by successively selecting OK.
4) In the Command menu select User Units and click millimetres
5) Enter the Data menu and select Setup Data Acquisition. Choose Encoder #1 ,
Encoder #2 and Encoder #3 as data to be acquired and specify every 2 servo cycles.
Select OK to exit.
6) Enter the Utility menu and select Zero Encoders.
7) Enter the Command menu and select Execute/Run and select OK once the data has
been uploaded. Note that if the limit switches are engaged at any time during this
operation you must return to the Driving Function menu and select Enable Driving
Function before continuing.
8) Enter the Plotting menu and select Set-up Plot. Choose Encoder #1 and Encoder #2
to be plotted on the L.H. Axis and Encoder #3 to be plotted on the R.H. Axis then
select Plot Data. The response of mass 1, 2 and 3 will be displayed.
9) From the Plotting menu select Save plot data in case you need to return to it.
10) From the Data menu select Export Raw Data in case you intend to use the data in
other applications (e.g. Excel).
11) The data you get is in meters and is scaled, so to get the proper values you MUST
divide your values by the scaling factor! Furthermore, the values you get are
skewed ( non-zero mean value), so you should calculate the mean value for each
mass and subtract it from all your values.

3DOF excitation experiment

1) Release the third mass

2) Repeat the experiment above but using the same driving freq in step 3.
3) Repeat the steps (2) –(11) from the above test

Analytical development for the report

1) Using the obtain experiments in part A derive the values of the damping coefficients
using the log decrement technique
2) Develop a mathematical models of the 1DOF, 2DOF and 3DOF systems in matrix
form.
3) Arrange your models so that they can be solved using e.g. MATLAB. (Please note that
the result for forced 1DOF response can be derived analytically)
4) Compare your numerical results from Matlab for given the amplitude and frequency
of excitations with your experimental results. You should do your calculations for
both cases: with and without damping.
5) Discuss the results, especially the effect of the amplitude reduction, going from
1DOF to 2DOF and 3DOF.