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Rectilinear Control Lab

1) The document calculates natural frequencies, damping ratios, and other parameters for springs with different stiffnesses and configurations using mathematical formulas. It determines the unloaded carriage masses and other properties. 2) Values are calculated for a 400N/m spring alone and with an additional 400N/m spring in different enclosures and loading conditions. Unloaded carriage masses are determined. 3) Similarly, values are then calculated for an 800N/m spring alone and with an additional 400N/m spring in different enclosures and loading conditions, determining unloaded carriage masses and other properties.

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Bryon Dean
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© Attribution Non-Commercial (BY-NC)
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73 views13 pages

Rectilinear Control Lab

1) The document calculates natural frequencies, damping ratios, and other parameters for springs with different stiffnesses and configurations using mathematical formulas. It determines the unloaded carriage masses and other properties. 2) Values are calculated for a 400N/m spring alone and with an additional 400N/m spring in different enclosures and loading conditions. Unloaded carriage masses are determined. 3) Similarly, values are then calculated for an 800N/m spring alone and with an additional 400N/m spring in different enclosures and loading conditions, determining unloaded carriage masses and other properties.

Uploaded by

Bryon Dean
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOC, PDF, TXT or read online on Scribd
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Calculation:

1) 400N/m spring with additional 400N/m spring:


1.1)
f =

400N/m spring with loaded. (Enc 1 position)


cycles 12
=
= 2.5 Hz
time
4 .8

dm11 = 2f = 2 ( 2.5) = 15.708 rad / s

m11 =

X
1
ln 0
2n X n

nm11 =

1
4800
=
ln
= 0.033
2 (12) 400

d
1 2 m11
15.708
1 0.0332

= 15.717 rad/s
1.2)
f =

400N/m spring with unloaded. (Enc 1 position)


cycles 11
=
= 4.6 Hz
time
2. 4

dm12 = 2f = 2 ( 4.6) = 28.903 rad / s

m12 =

X
1
ln 0
2n X n

nm12 =

1
4300
=
ln
= 0.035
2 (11) 390

dm12
1 m212
28.903
1 0.035 2

= 28.923 rad/s
1.3)

400N/m spring with loaded. (Enc 2 position)

f =

cycles 13
=
= 2.5 Hz
time
5.2

dm 21 = 2f = 2 (2.5) = 15.708 rad / s

m 21 =

X
1
ln 0
2n X n

1
4800
=
ln
= 0.017
2 (13) 1200

nm 21 =

1 2 m 21
15.708

1 0.017 2

= 15.710 rad/s

1.4)
f =

400N/m spring with unloaded. (Enc 2 position)


cycles 15
=
= 5.2 Hz
time
2.9

dm 22 = 2f = 2 (5.2) = 32.673 rad / s

m 22 =

X
1
ln 0
2n X n

nm 22 =

1
3700
=
ln
= 0.031
2 (15) 200

dm 22
1 m2 22
32.673
1 0.0312

= 32.689 rad/s
1.5)
f =

400N/m spring with loaded and damper. (Enc 2 position)


cycles
5
=
= 2.6 Hz
time
1.9

dm 2 = 2f = 2 ( 2.6) = 16.34 rad / s

d =

X
1
1
2800
ln 0 =
ln
= 0.062
2n X n 2 (5) 400

nm 2 =

dm 2
1 d2
16.34
1 0.062 2

= 16.37 rad/s
1.6)
f =

400N/m spring without load with damper. (Enc 2 position)


cycles
3
=
= 5 Hz
time
0. 6

dm 2 = 2f = 2 (5) = 31.415 rad / s

d =

X
1
1
800
ln 0 =
ln
= 0.11
2n X n 2 (3) 100

nm 2 =

dm 2
1 d2
31.415
1 0.112

= 31.607 rad/s

1.7)

Unloaded carriage mass, mc (Enc 1 position)

k
2
=( wnm11 )
mw +mc1
k
=15.717 2........................................(1)
2 +mc1
k
2
=( wnm12 )
mc1
k =( 28.923) mc1 .......................................( 2 )
2

Insert (2) in (1)

( 28.923) 2 mc1
2 + mc1

= (15.717 )

836.54 mc1 = 494.05 + 247.02 mc1


589.52 mc1 = 494.05
mc1 = 0.838 kg

Stiffness, k

klowstiffness = ( 28.923) mc1 = ( 28.923) ( 0.838) = 701.02 N / m


2

Damping coefficient, cm with loaded (Enc 1 position)


cm11 = 2 m11wn11mc1 = 2( 0.033)(15.717 )( 0.838) = 0.869

Damping coefficient, cm without loaded (Enc 1 position)


c m12 = 2 m12 wn12 mc1 = 2( 0.035)( 28.923)( 0.838) =1.697

1.8)

Unloaded carriage mass, mc (Enc 2 position)

k
2
=( wnm 21 )
mw +mc 2
k
=15.710 2........................................(1)
2 +mc 2
k
2
=( wnm 22 )
mc 2
k =(32.689 ) mc 2 ..........................................( 2 )
2

Insert (2) in (1)

( 32.689) 2 mc 2
2 + mc 2

= (15.710 )

1068.57 mc 2 = 493.608 + 246.804 mc 2


821.766 mc 2 = 493.608
mc 2 = 0.601 kg

Stiffness, k

klowstiffness = ( 32.689 ) mc1 = ( 32.689 ) ( 0.601) = 642.21N / m


2

Damping coefficient, cm with loaded (Enc 2 position)


cm 21 = 2 m 21wn 21mc 2 = 2( 0.017 )(15.710 )( 0.601) = 0.321

Damping coefficient, cm without loaded (Enc 2 position)


cm 22 = 2 m 22 wn 22 mc 2 = 2( 0.031)( 32.689 )( 0.601) =1.218

1.9)

Unloaded carriage mass, mc for damper (Enc 2 position)

k
2
=( wnmd 1 )
mw +mcd 1
k
=16.37 2........................................(1)
2 +mcd 1
k
2
=( wnmd 2 )
mcd 1
k =(31.607 ) mcd 1 .......................................( 2 )
2

Insert (2) in (1)

( 31.607 ) 2 mc 2
2 + mc 2

= (16.37 )

999 mc 2 = 535.95 + 267.98 mc 2


731.02 mc 2 = 535.95
mc 2 = 0.733 kg

Stiffness, k

k damper = ( 31.607 ) mcd 1 = ( 31.607 ) ( 0.733) = 732.27 N / m


2

Damping coefficient, cd1 for damper with loaded (Enc 2 position)


cd 1 = 2 md 1 wnmd 1mcd 1 = 2( 0.062 )(16.37 )( 0.733) = 1.488

Damping coefficient, cd2 for damper without loaded (Enc 2 position)


cd 2 = 2 md 2 wnmd 2 mcd 2 = 2( 0.11)( 31.607 )( 0.733) = 5.097

2) 800N/m spring with additional 400N/m spring:


2.1)

800N/m spring with loaded. (Enc 1 position)

f =

cycles 15
=
= 2.6 Hz
time
5.8

dm11 = 2f = 2 ( 2.6) = 16.336rad / s

m11 =

X
1
ln 0
2n X n

nm11 =

2.2)

f =

1
5200
=
ln
= 0.0199
2 (15) 800

dm11

1 ( m11 )

16.336
1 0.0199 2

= 16.34rad / s

800N/m spring without loaded. (Enc 1 position)


cycles
14
=
= 5.8 Hz
time
2.4

dm12 = 2f = 2 (5.8) = 36.44rad / s

m12 =

X
1
ln 0
2n X n

nm12 =

1
3000
=
ln
= 0.031
2 (14) 200

dm12

1 ( m12 )

36.44
1 0.0312

= 36.458rad / s

2.3)

f =

800N/m spring with loaded. (Enc 2 position)


cycles 16
=
= 3.1Hz
time
5. 1

dm11 = 2f = 2 (3.1) = 19.478rad / s

m11 =

X
1
ln 0
2n X n

nm11 =

2.4)

f =

1
4600
=
ln
= 0.019
2 (16) 700

dm11

1 ( m11 )

19.478
1 0.019 2

= 19.48rad / s

800N/m spring without loaded. (Enc 2 position)


cycles
23
=
= 6.4 Hz
time
3.6

dm12 = 2f = 2 (6.4) = 40.2rad / s

m12 =

X
1
ln 0
2n X n

nm12 =

2.5)

1
5000
=
ln
= 0.022
2 (23) 200

dm12

1 ( m12 )

40.2
1 0.022 2

= 40.21rad / s

800N/m spring with damper and loaded. (Enc 2 position)

f =

cycles
6
=
= 3.3Hz
time
1.8

dmd 1 = 2f = 2 (3.3) = 20.73rad / s

md 1 =

X
1
ln 0
2n X n
dmd 2

nmd 1 =

1 (

2.6)

f =

1
2800
=
ln
= 0.070
2 (6) 200
=

20.73
1 0.070 2

= 20.78rad / s

800N/m spring with damper and unloaded. (Enc 2 position)


cycles
4
=
= 6.7 Hz
time
0 .6

dmd 2 = 2f = 2 (6.7) = 42.097 rad / s

md 2 =

X
1
ln 0
2n X n

nmd 2 =

2.7)

1
800
=
ln
= 0.083
2 (6.7) 100

dmd 1

1 ( md 1 )

42.097
1 0.0832

= 42.24rad / s

Unloaded carriage mass, mc (Enc 1 position)

k
2
=( wnm11 )
mw +mc1
k
=16.34 2........................................(1)
2 +mc1
k
2
=( wnm12 )
mc1
k =(36.45) mc1 .......................................( 2 )
2

Insert (2) in (1)

( 36.45) 2 mc1 = (16.34) 2


2 + mc1

1328.6mc1 = 534 + 267 mc1


mc1 = 0.503kg

Stiffness, k

klowstiffness = ( 36.45) mc1 = ( 36.45) ( 0.503) = 668.3 N / m


2

Damping coefficient, cm with loaded (Enc 1 position)


cm11 = 2 m11 wn11mc1 = 2( 0.0199 )(16.34 )( 0.053) = 0.034

Damping coefficient, cm without loaded (Enc 1 position)


cm12 = 2 m12 wn12 mc1 = 2( 0.031)( 36.45)( 0.0533) = 0.12

2.8)

Unloaded carriage mass, mc (Enc 2 position)

k
2
=( wnm11 )
mw +mc1
k
=19.48 2........................................(1)
2 +mc1
k
2
=( wnm12 )
mc1
k =( 40.21) mc1 ..........................................( 2 )
2

Insert (2) in (1)

( 40.21) 2 mc1
2 + mc1

= (19.48)

1616.8mc1 = 758.9 + 379.47 mc1


mc1 = 0.613

Stiffness, k

k lowstiffness = ( 40.21) mc1 = ( 40.21) ( 0.613) = 991.13 N / m


2

Damping coefficient, cm with loaded (Enc 2 position)


cm11 = 2 m11 wn11mc1 = 2( 0.019 )(19.48)( 0.613) = 0.454

Damping coefficient, cm without loaded (Enc 2 position)


cm12 = 2 m12 wn12 mc1 = 2( 0.022 )( 40.21)( 0.613) = 1.085

2.9)

Unloaded carriage mass, mc for damper (Enc 2 position)

k
2
=( wnmd 1 )
mw +mcd 1
k
=20.78 2........................................(1)
2 +mcd 1
k
2
=( wnmd 2 )
mcd 1
k =( 42.24 ) mcd 1 .......................................( 2 )
2

Insert (2) in (1)

( 42.24) 2 mcd1
2 + mcd 1

= ( 20.78)

1784.2mcd 1 = 863.62 + 431.81mcd 1


mcd 1 = 0.64

Stiffness, k

k damper = ( 42.24 ) mcd 1 = ( 42.24 ) ( 0.64 ) = 1141.9 N / m


2

Damping coefficient, cd1 for damper with loaded (Enc 2 position)


cd 1 = 2 md 1wnmd 1mcd 1 = 2( 0.070 )( 20.87 )( 0.64 ) = 1.87

Damping coefficient, cd2 for damper without loaded (Enc 2 position)


c d 2 = 2 md 2 w nmd 2 m cd 2 = 2( 0.083)( 42.24 )( 0.64 ) = 4.49

mw = 2kg

400N/m spring with additional 400N/m spring


Encoder 1
Encoder 2
Damper
Loaded Unloaded Loaded
Unloade Loaded Unloaded
2.5

4.6

2.5

d
5.2

d (rad/s)

15.708

28.903

15.708

32.673

16.34

31.415

0.033

0.035

0.017

0.031

0.062

0.11

n (rad/s)
mc (kg)

15.717

28.923
0.838

15.710

32.689
0.601

16.37

f (Hz)

klow (N/m)

2.6

642.21

701.02

31.607
0.733
732.27

800N/m spring with additional 400N/m spring


Encoder 1
Encoder 2
Damper
Loaded Unloaded Loaded
Unloade Loaded Unloaded
2.6

5.8

3.1

d
6.4

d (rad/s)

16.33

36.44

19.47

40.2

20.73

42.097

0.0199

0.031

0.019

0.022

0.070

0.083

n (rad/s)
mc (kg)

16.34

36.45
0.503

19.48

40.21

20.78

42.24

f (Hz)

khigh (N/m)

668.3

3.3

6.7

0.613

0.64

991.13

1141.9

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