EM3511/EA3538 Tutorial 2 Solution
Question 1.
Stiffness k and damping coefficient c represent elastic and damping properties of the rope which
is used to suspend the crate:
Then, assuming that tension in the rope is T,
the free body diagram is
k, c
T T
m
m x
When the crate is moved downward by x, the rope will be stretched by 2x, and therefore the tension
in the rope can be calculated as
T 2kx + 2cx
=
Then equation of motion is
mx =∑ Fx =−T − T
−2kx − 2cx − 2kx − 2cx
mx =
mx + 4cx + 4kx =
0
When we divide this equation by m
x + 2ζωn x + ωn2 x =
0
where 2ζωn = 4 c m and ωn = 4k m .
Therefore we have
4k 4 ⋅10.35 ⋅106
ωn
= = = 321.7 rad/s
m 400
4c 4 ⋅1930
=ζ = = 0.03
2ωn m 2 ⋅ 321.7 ⋅ 400
Question 2.
For the damped free vibrations, the solution of the equation of motion is
=x(t ) e −ζωnt ( A cos(ωD t ) + B sin(ωD t ) )
The damped natural frequency can be calculated as
ωD= ωn 1 − ζ 2 = 321.7 1 − 0.032 = 321.55 rad/s rad/s
If the initial conditions for the system are (coordinate is positive downwards)
x(0) = 0
x (0) = 0.5
Then
x(0) = e −ζωn ⋅0 ( A cos(ωD ⋅ 0) + B sin(ωD ⋅ 0) ) = A = 0
A=0
Velocity is equal to
x (t ) e −ζωnt ( (− Aζωn + BωD ) cos(ωD t ) + (−ωD A − ζωn B )sin(ωD t ) )
=
− Aζωn + BωD =
x (0) = BωD =
0.5
0.5 0.5
B
= = = 0.001555
ωD 321.55
Solution is
x ( t ) e −ζωnt B =
= sin(ωD t ) e −0.03⋅321.7 t ⋅ 0.00155sin ( 321.55t )
Substituting t=0.005
x ( 0.005
= ) e−0.03⋅321.7⋅0.005 ⋅ 0.00155sin ( 321.55 ⋅ 0.005
= ) 0.00148 m
(When calculating your displacement make sure that the calculator is set up in such a way that sin
and cos function are using angles in radians, not degrees).
Question 3.
You should obtain using Matlab the following outputs:
Q3.I:
System response for the following values of the system parameters:
m = 1 kg, k = 1000 N/m, c = 1 Ns/m x st = mg / k , x 0 = 0 m/s
-3
10
2
Displacement
-2
-4
-6
-8
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time
[Link]:
The responses of the system with different initial conditions
0.03
0.02
0.01
Displacement
-0.01
-0.02
-0.03
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time
[Link]:
A series of responses for varying mass of the system with all other parameters kept constant
0.08
0.06
0.04
0.02
Displacement
-0.02
-0.04
-0.06
-0.08
0 1 2 3 4 5 6
Time
[Link]:
A series of responses for varying stiffness of the system with the mass of the system m = 1 kg and
all other parameters constant
-3
10
2
Displacement
-2
-4
-6
-8
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8
Time
Q3.V:
A series of responses for varying damping coefficient c = 0.1ccr , 0.2ccr , 0.5ccr , ccr and m = 1 kg,
k = 1000 N/m
-3
10
2
Displacement
-2
-4
-6
0 0.2 0.4 0.6 0.8 1
Time
[Link]:
Responses from in [Link] for the case (a) and numerical solution obtained in Matlab using ode45
solver over 50 periods of the free vibrations. Yellow line is analytical solution and red dots are
numerical solution.
-3
10
-4
10
8
3
4 2.8
2
2.6
Displacement
Displacement
-2 2.4
-4
2.2
-6
-8
2
0 1 2 3 4 5 6 7 8 9 10 6.935 6.94 6.945 6.95 6.955 6.96 6.965 6.97 6.975 6.98 6.985
Time Time
