International Journal of Electrical and Computer Engineering (IJECE)

Vol. 8, No. 5, October 2018, pp. 3636~3646

ISSN: 2088-8708, DOI: 10.11591/ijece.v8i5.pp3636-3646  3636

Simulink and Simelectronics based Position Control of a

Coupled Mass-Spring Damper Mechanical System

Okubanjo A. A., Oyetola O. K., Olaluwoye O. O.

Department of Computer and Electrical and Electronics Engineering, Olabisi Onabanjo University, Ogun, Nigeria

Article Info ABSTRACT

Article history: This paper presents the use of Simelectronics Program for modeling and
control of a two degrees-of freedom coupled mass-spring-damper mechanical
Received May 22, 2018 system.The aims of this paper are to establish a mathematical model that
Revised Aug 20, 2018 represents the dynamic behaviour of a coupled mass-spring damper system
Accepted Aug 26, 2018 and effectively control the mass position using both Simulink and
Simelectronics.The mathematical model is derived based on the augmented
Keyword: Lagrange equation and to simulate the dynamic accurately a PD controller is
implemented to compensate for the oscillation sustained by the system as a
Lagrange equation result of the complex conjugate pair poles near to the imaginary axis.The
Mass spring damper input force has been subjected to an obstacle to mimic actual challenges and
Mathematical model to validate the mathematical model a Simulink and Simelectronics models
Position control were developed, consequently, the results of the models were compared.
Simulink and Simelectronics According to the result analysis, the controller tracked the position errors and
stabilized the positions to zero within a settling time of 6.5sec and
significantly reduced the overshoot by 99.5% and 99. 7% in Simulink and
Simelectronics respectively. Furthermore, it is found that Simelectronics
model proved to be capable having advantages of simplicity, less time-
intense and requires no mathematical model over the Simulink approach.
Copyright © 2018 Institute of Advanced Engineering and Science.
All rights reserved.

Corresponding Author:
A.A.Okubanjo,
Department of Computer and Electrical and Electronics Engineering,
Olabisi Onabanjo University,
College of engineering and Envinromental Studies,
Ibogun Campus, Ogun State, Nigeria.
Email: [email protected]

Nomenclatures Abbreviations
m1, m2 Translating inertial elements DOF Degree of freedom
(masses)
k1,k2 Spring stiffness coefficients EOM Equations of Motion
b1,b2 Viscous damping coefficients MSD Mass Spring Damper
L Lagrange’s function
T Kinetic energy
U Potential energy
D Rayleigh’s dissipative function
x1,x2 Generalized coordinates
displacement
Qi Generalized forces
̇ ̇ Velocities of the masses m1 and
m2
̈ ̈ Accelerations of the masses m1
and m2

Journal homepage: http://iaescore.com/journals/index.php/IJECE

Int J Elec & Comp Eng ISSN: 2088-8708  3637

1. INTRODUCTION
In a mechanical systems, accurate control of motion (such as position, velocity) is a fundamental
concern to control engineers. Thus, the position control tries to adjust the dynamic of the mass while
achieving the constraints imposed by the force positioning the mass. Consequently, the control problems
involve finding suitable mathematical models that describe the dynamic behaviour of the physical mass
spring dampers (MSD) model to permit suitable controller design and allow corresponding control strategies
to realize the expected system response and performance. Mass-spring-damper systems (MSD) are widely
used in robot manipulator control [1], [2],vehicle suspension systems for shock absorption in automobiles
[3]-[7], Mechatronic application especially in piezoelectric for vibration energy harvester [8]-[10] and motion
control application [11]-[12]. Recently, MSD systems are in increasing demand for hybrid vehicle suspension
to increase passenger ride comfort and vehicle stability over cracks and uneven pavement.
Tarik et al [1] developed a mass spring damper model with MATLAB graphical user interface
which permits flexibility in the choice of control strategies on the model through model parameters
adjustment. Sivák and Hroncová [13] presented equations of motion (EOM) of a mechanical system with two
degrees of freedom in MATLAB/Simulink using state space and transfer function. The conclusion of their
work is that Newton’s law and Lagrange’s equation resulted in the same solution. Furthermore, in [14], the
author presented Simmechanics and Simulink models for car automobile suspension and implemented
proportional-integral-derivative (PID) control strategy to minimize body acceleration. In [15], [16] , the
authors established mass spring damper models based on Newton’s law of motion to derive a state-space
model for numerical computation with the aids of MATLAB and Simulink. An author in [17] examined the
effect of the position of the damper in systems with multi-degree of freedom. Their research works concluded
that displacement of an oscillator that affected by the force show more energy absorption for low
displacement. In [18]-[20], the authors presented mathematical modeling of a mass spring damper system in
MATLAB and Simulink. The author in [21], presented control of coupled mass spring damper system using
polynomial structures approach. Malas and co-worker [22] presented a novel control strategy for inducing
sif-sustained oscillation of a single degree-of-freedom MDS mechanical systems. The researchers concluded
in their work that the proposed control model is capable of generating stable self-excited oscillation at the
natural frequency regardless of the value of the control gain.
The objectives of this paper are to establish a mathematical model that represent the dynamic
behaviour of a coupled mass spring damper systems and effectively control the mass position using both
Simulink and Simelectronics as simulation tools

2. RESEARCH METHOD
We derived the equations of motion (EOM) of a coupled mass spring damper systems using second-
order, ordinary differential equations and to simulate dynamic accurately [23] the Lagrange’s equation was
adopted. The motivation for chosen Lagrange’s equation over Newton’s law or D’Alembert principle is that
it allows significant simplification of the geometry of the system motion for solving large complex systems
and also eliminates explicit rewriting all forces acting on the body. The mathematical model is formulated
based on energy property of Lagrange approach and the control strategy and Simulink simulation are
expanded on the derived mathematical model. However, the langrage’s equation does not improvise for
dissipative (damping) force in the mechanical system, hence, Rayleigh’s dissipation function is introduced
into Lagrange’s equation to account for dissipative force in the model and we refer to this as augmented
Lagrange’s equation. In order to describe the physical motion of a coupled mass spring damper systems, we
need to choose a set of variables or coordinates which are often referred to as generalized coordinates. Thus,
the displacement of the masses is chosen as the generalized coordinates.

2.1. Mathematical modeling

The dynamic of the mass spring damper systems with two degrees of freedom (DOF) movement is
explicitly derived based on Lagrange’s equation to expound the problems involved in dynamic modeling.
Figure 1 depicts a coupled mass spring damper systems, where two masses m1 and m2 are linked to a parallel
spring-damper configuration with spring stiffness coefficients k1 and k2 and viscous damping coefficients b1
and b2 for mass m1 and m2 respectively. The force, F(t) , acts on mass 1 and the energy is transmitted to
mass 2 via the springs and some part of energy is absorbed by the dampers
The systems performs linear motion along the axes of the springs and dampers. For simplicity, we
assume the following assumptions in the model:
a. The springs are linear
b. The dampers are linear and
c. The weight of the springs are assumed to be negligible.

Simulink and Simelectronics based Position Control of a Coupled Mass-Spring Damper … (Okubanjo A.A)
3638  ISSN: 2088-8708

Figure 1. A coupled mass spring damper systems adapted from [8]

The equations of motion (EOM) for a mechanical system with 2-DOF can be derived by an
augmented.
Lagrange’s equation in the form

   
d  L   L   D 
   Qi
dt   q.   qi    q. 
(1)
 i  i

qi  x1 , x2  (2)

q
Where, i is the generalized coordinates to describe the displacement of the masses.
First we calculate the kinetic energy, T, and the (augmented) potential energy, U, of the system, the
kinetic energy of a coupled mass spring damper systems as function mass velocity is expressed as:

. .
1 1
T m1 x12  m2 x22 (3)
2 2
The augmented potential energy is expressed as:

k1 x1  k2 x1  x2 
1 2 1
U
2
(4)
2 2

1 2 1 1
U k1 x1  k2 x12  k2 x1 x2  k 2x22 (5)
2 2 2
Rayleigh dissipative function account for damping force in the mechanical system and it is expressed as:

2
1 . 1  . . 
D  b1 x12  b2  x1  x 2  (6)
2 2  

1 . 1 . . . 1 .
D  b1 x12  b2 x12  b2 x1 x 2  b2 x12 (7)
2 2 2
Generalized forces:

Q1  F , Q2  0 (8)

The Lagrange formulation defines the behaviour of a dynamic systems in terms of work and energy
stored in the system [24].

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Int J Elec & Comp Eng ISSN: 2088-8708  3639

The augmented Lagrange function L is denoted as:

L  T U (9)

1 . .
 1 1 1 
L   m1 x12  m2 x22    k1 x12  k2 x12  k2 x1 x2  k 2x22  (10)
2  2 2 2 

We evaluate the following derivatives based on equation Equation (7) and Equation (10):

 
d  L  ..
 m x (11)
dt   x 
. 1 1

 1

 
d  L  ..
 m x (12)
dt   x 
. 2 2

 2

 L 
   k1 x1  k2 x1  k 2 x2 (13)
 x1 

 L 
   k 2 x2  k 2 x1 (14)
 x2 

 
 D  . . .

 .   b1 x 1  b2 x 1 b 2 x 2 (15)

 1
x

 
 D  . .

 .   b2 x 1  b 2 x2 (16)
  x2 

For generalized coordinate x1 , the Lagrange’s equation is:

   
d  L   L   D 
    Q1
dt   x.   x1    x. 
(17)
 1  1
After substitution of the derived derivatives in Equation (11), Equation (13), and Equation (15) in
Equation (17), we obtain equation of motion for mass 1 in this form:

m1 x1  b1 b 2 x1 b2 x 2 k1 k 2 x1  k2 x 2  F

.. . .
(18)

Similarly, for the generalized coordinate x 2 , the Lagrange’s equation is:

     D 
d  L   L 
 
   x  Q 2
(19)
dt   x.  .
   x 2
 2   2 

Simulink and Simelectronics based Position Control of a Coupled Mass-Spring Damper … (Okubanjo A.A)
3640  ISSN: 2088-8708

In the same vein, substitution of the derived derivatives in Equation (12), Equation (14), and
Equation (16) in Equation (19), we obtain equation of motion for mass 2 in this form

.. . .
m2 x 2 b2 x1  b2 x 2  k2 x1k2 x 2  0 (20)

The EOM in Equation (18) and Equation (20) are re-arrange to facilitate the implementation of the
equations in Simulink as:

..  b1 b 2  . b 2 . k 1 k 2  k F
x1  x1  x2  x1 2 x 2  (21)
m1 m2 m1 m1 m1

.. b2 . b2 . k k
x2  x1  x 2  2 x1 2 (22)
m2 m2 m2 m2

The derived EOM is further written in terms of mass, damping, stiffness matrices and F, x, x, x are
force, displacement, velocity and acceleration vectors respectively and they are presented as:

0   x1  b1 b 2
..
 m1 b 2  k 1 k 2 k 2   F 
0    
m 2   x..   b 2 b 2   k 2 k 2   0 
(23)
  2

In the light of Equation (23), the EOM obtained by using Lagrange’s equation for linear systems
revealed that inertial, stiffness matrices as well as damping matrix if modeled by Rayleigh’s function are
symmetric

2.2. State space representation of the model

A state space representation is a time domain approach of modeling muiltiple input multiple output
system. However, complex system with many degree-of-freedom, description of such systems with
differential equations are often time intense and burdensome. So, state space representation of the systems
serves as an alternative approach to alleviate the challenges. Also, the state space representation of a system
replaces the higher-order differential equations with a single first-order matrix differential equation that gives
an expedient and concise way to model and analyze systems with multiple inputs and outputs. The state
model is notably advantageous when applied to simulation. Hence, the state and output equations are given in
[25] as:

xt   A..xt   B.u t 

.

(24)
y t   C.xt   D.u t 

Where, x, y, u, A, B, C, D are the state vector, output vector, input vector, system matrix, input
matrix, output matrix and feedback matrix respectively.
Let define,

d 2 x1 dv1 d 2 x 2 dv 2
 , 
dt 2 dt dt 2 dt
dx1 dv
v1 , 2 v 2
dt dt

So that x1 , x 2 ,v1 ,v 2 are selected as state variables and equation Equation (21) and Equation (22)

Int J Elec & Comp Eng, Vol. 8, No. 5, October 2018 : 3636 – 3646
Int J Elec & Comp Eng ISSN: 2088-8708  3641

are presented in state space equation in vector matrix form as:

 ,   0 0 1 0 
 x.1   k 1 k 2  k2  b1 b 2  b 2   x1   0 
 v   m 1 
m1   x 2   
    m F t 
m1 m1
 .1    2
(25)
x2   0 0 0 1   v1   2 
 .   k2 k 2 b1  b2   v   0 
 2   0 
 v 2   m 2 m2 m1 m 2 

And the output are the displacement x1 and x2 of masses m1 and m2 respectively. Hence,

1 0 0 0  x1  0
y t         (26)
0 1 0 0  x 2  0

3. MODELING OF A COUPLED MASS SPRING DAMPER SYSTEMS USING

SIMELECTRONICS AND SIMULINK
A coupled mass spring damper system is modeled and simulated using SimElectronics toolbox in
MATLAB software as shown in Figure 2. In MATLAB software, SimElectronics is a components libraries
and special simulation features for modeling and stimulating physical system in the Simulink environment.
The distinct feature of SimElectronics is the use of physical network approach to model electronic and
mechatronic systems which mimic the physical system. Therefore, the use of physical connection permits a
bidirectional flow of energy between components. The SimElectronics permit the use of Simulink library in
modeling in which Simulink-PS-converter block converts the Simulink signal to physical system signal and
PS-Simulink converter block does the reverse [26]. However, Simulink is a block diagram environment
embedded in the MATLAB that allows modeling and simulation of multi-domain dynamics systems.

Figure 2. Simelectronics model for a coupled mass spring damper system

Furthermore, it provides the detailed function of each block that represents the mathematical model
of the dynamic system and such model is often reduced to first order differential equation to simulate the
dynamic accurately. It is dominant among other software in the engineering field because it enables rapid
design, simulation, verification, testing and debugging of virtual prototypes of a model prior to real-time
implementation. As a result of flexibility and efficient in use, it permits conversion of MATLAB code to
other source codes such as C, C++ for real-time implementation especially in embedded systems and robotic.
Simulink and Simelectronics based Position Control of a Coupled Mass-Spring Damper … (Okubanjo A.A)
3642  ISSN: 2088-8708

Simulink model of a coupled mass spring damper system is prepared with the mathematical model presented
through Equations (21) and (22). PD controller is implemented to track the masses position and Figure 3
represents a schematic of the Simulink model.

Figure 3. Simulink model for a coupled mass spring damper system

4. PD CONTROLLER IMPLEMENTATION
The control goal is to stabilize the position of the masses by minimizing the error and to achieve this
stated objective a proportional-Derivative controller is implemented in such a way that the gain of the
proportional controller, k, is high to produce a fast system and the derivative gain kd, is select in a manner to
decrease the oscillation. The PD controller algorithm combines the P-action and D-action to adjust the
system. It is a two-term controller that is coined from the PID controller by setting the integral action to zero.
The term domain expression for PD controller is given as:

det 
u c t   k p et   k D t  (26)
dt
In the Simulink and Simelectronics models, a PD controller is implemented from the PD block in
the Simulink toolbox library and converted to a physical system with Simulink-PS converter for the
Simelectronics. The tuning of control parameters is done using PID tuner and the best performance of the
controller parameter values are selected.

5. RESULTS AND ANALYSIS

This paper proposed a novel approach of simulating the system dynamics of a couple mass spring
damper system and compared the performance with the Simulink approach.
The Simulink model was established based on the derived mathematical model and the force that
mimic an obstacle commonly experienced are build with a signal builder block. Parameters used in the model
were m1 = 250kg, m2 = 300kg, k1 = 80,000N/m, k2 = 5000N/m, b1 = 200N-s/m, b2 = 15,000N-s/m and to
validate the mathematical model a Simelectronics and Simulink models were compared and the simulation
was then tested with and without a controller. The response of the mass positions are illustrated in Figure 4

Int J Elec & Comp Eng, Vol. 8, No. 5, October 2018 : 3636 – 3646
Int J Elec & Comp Eng ISSN: 2088-8708  3643

and Figure 5 .The curve reveals that, without the implementation of the controller the positions of the masses
overshoot sharply and then sustained an oscillation for about 7.6 secs before settling to zero at 10sec.
Figure 6 shows the performance of both models in the absence of control strategy, hence, the curve
shows that the system has complex conjugate poles near the imaginary axis and this dominates the transient
response of the mass-spring-damper system which eventually resulted in oscillation and this led to system
instability.
However, it is challenging to stabilize or control the model with the proportional controller alone
irrespective of the value of gain K chosen, hence, a combination of proportional and the derivative controller
is implemented to compensate for fast response and steady error respectively. Figure 7 and Figure 8 show the
responses of the displacements of the masses with the implementation of PD controller. According to the
Figure 7, Figure 8, the PD-action damped the oscillation and stabilized the positions by compensating for the
steady error. In Figure 9, both models were compared under the influence of PD controller and the controller
compensates for the error in the position and stabilized the positions to zero within a settling time of 6.5sec
and significantly reduced the overshoot by 99.5% and 99.7% in Simulink and Simelectronics respectively. It
can also be noted from the graph that, the responses of both model show a similar result. Furthermore, the
results revealed that, modeling of the mathematical equation in Simulink and assembling of the physical
system in Simelectronics give a similar result. In much related research work [27], the dynamics are
transformed into transfer function model using Laplace transformation to aids system analyze in the
frequency domain as well as allows motion controller implementation. Thus, this is quite complicated and
tedious for a complex system with several degree-of-freedom. However, the novel Simelectronics approach
provides a quick and fast approach to model, integrate complex systems and control multi-domain systems by
eliminating rigorous mathematical formulation of the system’s dynamics. It is also suitable for fresh
engineering students’ who need to perform laboratory works on systems control and related engineering
courses that require modelling and simulation.

Figure 4. Displecements without controller in Figure 5. Postions without controller in simulink

simelectronics model model

Figure 6. Postions in both simelectronics and simulink models without controller

Simulink and Simelectronics based Position Control of a Coupled Mass-Spring Damper … (Okubanjo A.A)
3644  ISSN: 2088-8708

Figure 7. Positions response with PD controller in Figure 8. Positions response with PD controller in
Simelectronics model Simulink model

Figure 9. Position responses of both Simelectronics and Simulink model

6. CONCLUSION
In this paper, Simulink and Simelectronics model for position control of a coupled mass-spring-
damper system were developed and presented. The mathematical model was formulated based on energy
property of Lagrange approach and Rayleigh’s dissipation function to account for dissipative force in the
model, hence, the control strategy and Simulink simulation were expanded on the derived mathematical
model while the physical system was set up in the Simelectronics to stimulate the dynamic. A proportional-
Derivative (PD) controller was implemented for both the models. It can be concluded from the study that
both models produced the same results, but the response time of the positions was slightly shorter in
Simulink than that of the Simelectronics. It can also be deduced that it was simple, easy, less time-intense
and requires no mathematical model to model in the Simelectronics than Simulink, although, Simulink
provided the advantage of a sdetailed representation of the mathematical model. In our future work, we
would like to (1) take into account the impact of nonlinearity of the spring and damper in our model; (2) to
implement state feedback controller and LQR and compare the performance; (3) analyze the effect of the
spring stiffness and damping coefficient parameters by varying these parameters.
The contribution of this work is significantly expedient in the field of mechatronics and Control
systems and also provides a novel approach to simulation of the mechanical system in a concise and precise
method.

ACKNOWLEDGEMENTS
The authours are indebted to HAN University of Applied Sciences and Olabisi Onabanjo University
for providing facilities and support.

Int J Elec & Comp Eng, Vol. 8, No. 5, October 2018 : 3636 – 3646
Int J Elec & Comp Eng ISSN: 2088-8708  3645

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Simulink and Simelectronics based Position Control of a Coupled Mass-Spring Damper … (Okubanjo A.A)
3646  ISSN: 2088-8708

BIOGRAPHIES OF AUTHORS

A. A. Okubanjo received B.Sc Degree in Electrical & Electronics Engineering with First Class
Honour from Olabisi Onabanjo University, Nigeria in 2009 and completed M.Sc in Control Systems
Engineering from HAN University of Applied Sciences, the Netherlands in 2016. He is a lecturer in
the Department of Computer and Electrical & Electronics Engineering at Olabisi Onabanjo
University. He is a shrewd academician with interest in Control System and Instrumentation,
Renewable Energy, Mechatronics, Safety and Systems, Information technology and Image
processing. He has attended workshops, seminars and conferences related to control systems
Engineering and he has also published and submitted papers for review on the listed areas of
interests

O. K. Oyetola is a faculty member at the department of Computer and Electrical Engineering,

Olabisi Onabanjo University, Nigeria. He received B.Sc. Degree in Electrical and Electronic
Engineering from the same University in 2009. In 2016, he completed M.Tech in Electrical and
Electronic Engineering at Ladoke Akintola University, Ogbomoso, Nigeria. He is a shrewd
academician with interest in Smart grid, Energy management, Software Engineering, Cloud
computing, IoT, Big data and Digital communication.

O. O. Olaluwoye obtained his B.Sc. Degree in Electrical/Electronics Engineering from Olabisi

Onabanjo University, Nigeria in 2008. He completed his M.Tech program in Electrical and
Electronic Engineering from Ladoke Akintola University of Technology, Ogbomoso, Nigeria in
2016. He is a registered Engineer with the Council of Regulation of Engineering in Nigeria
(COREN). His research interests are in Power Systems Engineering, Renewable Systems, Software
Development Systems, Smart Grids and Systems Reliability. He has worked in the Nigerian
Electricity sector. He is currently a lecturer at Olabisi Onabanjo University, Nigeria.

Int J Elec & Comp Eng, Vol. 8, No. 5, October 2018 : 3636 – 3646