ESE112 Lecture 1

Lecture One: Part II

Mass Spring Damper System: Deriving the motion
ESE112 Lecture 1
MSD Review
Created by Wikipedia user lzyvzl
Mass (m) is attached to Hooks law spring
Recall F
s
= kx
Damping Force F
d
= c
dx
dt
ESE112 Lecture 1
Deriving Equations of Motion
http://en.wikipedia.org/wiki/Damping
From Newton

f = ma (1)
m x = c x kx (2)
rearranging
m x + c x + kx = 0 (3)
dividing by m
x +
c
m
x +
k
m
x (4)
if we let
0
=

k
m
, be the natural frequency of the system and =
c
2

km
, be
the damping ratio, we get
x + 2
0
x +
2
0
x = 0 (5)
ESE112 Lecture 1
Solving the differential equation
Whats a differential equation?
A differential equation is a mathematical equation for
an unknown function of one or several variables that
relates the values of the function itself and of its
derivatives of various orders.
A simple instantiation of this is an equation
which relates the velocity, dx/dt, of an
object as a function of its position F(x) in
time.
ESE112 Lecture 1
Solution for a special case
ESE112 Lecture 1
Solution for a special case
Recall from calculus that if
y = e
ax
(1)
then
dy
dx
= ae
x
(2)
Now we can try to solve a simple dierential equation
dx
dt
= x (3)
ESE112 Lecture 1
Solution for a special case
Recall from calculus that if
y = e
ax
(1)
then
dy
dx
= ae
x
(2)
Now we can try to solve a simple dierential equation
dx
dt
= x (3)
lets try the solution x = e
t
ESE112 Lecture 1
Applying it to a MSD
Recall
x + 2
0
x +
2
0
x = 0 (1)
now assume that x = e
t
then x = e
t
and x =
2
e
t
substituting and dividing
by e
t
we get

2
+ 2
0
+
2
0
= 0 (2)
we can now solve for using quadratic formula
Quick Exercise:
Solve for gamma
now that we have solved for we can nd x(t) (which well leave as an
exercise for you to do on your own or in a future class)
ESE112 Lecture 1
Applying it to a MSD cont.
By choosing appropriate parameters we can tune the
behavior of the system
We can classify the system into three distinct categories.
1.Under-damped: !< 1. In this case the system oscillates with a frequency
equal to "
d
= "
o
!1-!
2

2.Over-damped: ! > 1. The system slowly returns to equilibrium
3.Critically Damped: !=1. The system returns to equilibrium
NOTE: Each of the three behaviors corresponds to the solution type of the
quadratic equation shown previously (complex, two real solutions, one real
solution)
ESE112 Lecture 1
Where does this all t in
Background and history
MSD-like systems are found throughout
engineering

Animal Running

Circuit Design: RLC circuits

Robotics (PD control)

Automotive (Cruise control, car suspensions

etc)
Successful engineers take old ideas
from one eld and use them to
innovate and create in another eld
ESE112 Lecture 1
Where does this all t in
Background and history
Linear Systems
During the rst 3 (maybe all 4) years of
engineering youll see the world as a linear system

Relatively easy to solve and understand

Large body of theory

Of course the world is rarely linear

The trick is... can we make it look linear?

ESE112 Lecture 1
Lets look at applet one
more time

http://links.math.rpi.edu/applets/appindex/
springmass.html
ESE112 Lecture 1
Homework
Sealy (the bed company) is having a problem. The problem is
that people are so happy to get into their comfy Sealy beds
that they jump on them. Jumping so high and because the beds
are so springy they are ung off the bed onto the ground and
sue the company.
To combat this problem Sealy wants to design a new bed that
will keep the average adult (weighing between 55kg and
110kg) on their beds (but still provide the softest possible
landing). Can you help choose the damping and spring
constants for the bed assuming the bed is very thin (think
trampoline like), it is 30cm off the ground and the average
height (at its peak) of someones jump is 120 cm.