Single Degree of freedom system

Design Solution report

1
Contents
System description: ............................................................................................................ 2
Provided system parameters: ............................................................................................. 3
Plot of position, angular velocity and damping force ........................................................ 6
Impulse response:............................................................................................................... 6
Plot: .................................................................................................................................... 7
Solution: ............................................................................................................................. 7
MATLAB script: ................................................................................................................ 8
Magnitude with frequency as well as phase with frequency bode plot ............................. 9

System description:
Given simple pendulum with damping and stiffness effect provided as:

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Where; m is the mass of the bob. OB is the
length of pendulum as l. K is stiffness, and C is
damper. The external force applied as
expressed as F(t). gravitational acceleration
expressed as g.

Provided system parameters:

Sr No Parameters Values
1 Mass of bob m 2 Kg
2 Stiffness K 60.64 N/m
3 Damper c 27.07 Ns/m
4 a 0.2 m
5 Length of pendulum l 0.5 m

Equation of motion for system determined as:

Force and rotational torque expression:
𝜏(𝑡) = 𝐹(𝑡)𝑙 (1
Equation of motion for simple pendulum:
𝐼𝜃 ′′ + 𝑐𝑎2 𝜃 ′ + 2𝑘𝑎2 𝜃 + 𝑚𝑔ℎ𝜃 = 𝐹(𝑡)𝑙 (2
Taking common the angular displacement term:
𝐼𝜃 ′′ + 𝑐𝑎2 𝜃 ′ + (2𝑘𝑎2 + 𝑚𝑔ℎ)𝜃 = 𝐹(𝑡)𝑙 (3
Separate out the 𝜃 ′ term we obtained:

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 ′
𝐼 ′′ 2𝑘𝑎2 + 𝑚𝑔ℎ 𝐹(𝑡)𝑙
𝜃 = − 2𝜃 − 𝜃 + (4
𝑐𝑎 𝑐𝑎2 𝑐𝑎2

State space model expression expressed as:

𝑥 ′ = 𝐴𝑥 + 𝐵𝑢 (5
Where A is system matrix represented the dynamics of system. B is the input matrix. x’ is state
vector and x is matrix of state variable.
Output expression represented as:
𝑦 = 𝐶𝑥 + 𝐷𝑢 (6
Where C is the output matrix to obtain the output response of state of dynamic system. D is
decoupling matrix or feedforward matrix.
State variable defined as:
𝑥1 = 𝜃 (7
𝑥2 = 𝑥1′ = 𝜃 ′ = 𝜔 (8
State vector can be defined for forced vibrational system case will be as:
𝜃
[𝑥 ′ ] = [𝜃 ′ ] (9
𝐹𝑐
State vector can be defined for free vibrational system case will be as:

[𝑥 ′ ] = [ 𝜃′ ] (10
𝜃
State space model for forced vibration case will be:
0 1 0
𝜃′ 𝑐𝑎2 ] [ 𝜃′ ] + [ 𝑙 ] 𝐹(𝑡)
[ ′′ ] = [ 2𝑘𝑎2 𝑚𝑔𝑙 (11
𝜃 − 𝜃
𝐼 𝐼 𝐼
Where F(t) is applied external force exerted to pendulum to move.
When there exist, no external force applied to system then state space model will be:
0 1
𝜃′ 𝑐𝑎2 ] [ 𝜃′ ] + [0]
[ ′′ ] = [ 2𝑘𝑎2 𝑚𝑔𝑙 (12
𝜃 − 𝜃 0
𝐼 𝐼

State space model with free vibrational case will be:

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 𝜃 1 0 0
′ 𝜃
[𝜃 ] = [0 1 ] [ ′ ] + [0] 𝐹(𝑡) (13
𝐹𝑐 𝜃
0 𝑐𝑎 0

MATLAB script code to plot the result of free vibrational analysis F(t)=0:

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Plot of position, angular velocity and damping force

The obtained output response of system represented the angular displacement, angular speed
and damping force. The obtained response shows the natural response without any applied
force. The response obtained by applying the initial conditions to system.

Impulse response:
MATLAB script

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Plot:

Above obtained response represented the output position, velocity and damping force fc under
applied impulsive force F(t)=5𝛿.

Solution:
Let we find the transfer function expression first:

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 ′
𝐼 ′′ 2𝑘𝑎2 + 𝑚𝑔𝑙 𝐹(𝑡)𝑙
𝜃 = − 2𝜃 − 𝜃 + (1
𝑐𝑎 𝑐𝑎2 𝑐𝑎2
Rearrange the terms:
𝐼 ′′ 2𝑘𝑎2 + 𝑚𝑔𝑙
′
𝐹(𝑡)𝑙
𝜃 + 2𝜃 + 2
𝜃= (2
𝑐𝑎 𝑐𝑎 𝑐𝑎2
Take the Laplace transformations
𝐼 2 2𝑘𝑎2 + 𝑚𝑔𝑙 𝐹(𝑠)𝑙
𝑠𝜃(𝑠) + 2
𝑠 𝜃(𝑠) + 2
𝜃(𝑠) = (3
𝑐𝑎 𝑐𝑎 𝑐𝑎2
Common 𝜃(𝑠)
𝐼 2 2𝑘𝑎2 + 𝑚𝑔𝑙 𝐹(𝑠)𝑙
𝜃(𝑠) (𝑠 + 2
𝑠 + 2
)= (4
𝑐𝑎 𝑐𝑎 𝑐𝑎2
𝜃(𝑠) 𝑙
= (5
𝐹(𝑠) 𝐼 2 2𝑘𝑎2 + 𝑚𝑔𝑙
𝑐𝑎2 (𝑠 + 𝑠 + )
𝑐𝑎2 𝑐𝑎2
Transfer function will be:

𝜃(𝑠) 𝑙
= (6
𝐹(𝑠) (𝐼𝑠 + 𝑐𝑎 𝑠 + 2𝑘𝑎2 + 𝑚𝑔𝑙)
2 2

MATLAB script:

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Magnitude with frequency as well as phase with frequency bode plot

The phase margin is infinity and gain margin is obtained as infinity. There is infinity gain
required to make the system unstable. The phase margin is infinity indicate that system will
remain stable for any attenuation or amplifications or any phase delay.