Republic of the Philippines

BOHOL ISLAND STATE UNIVERSITY MAIN CAMPUS

COLLEGE OF ENGINEERING AND ARCHITECTURE
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CONTROL ENGINEERING
ME 412
st
1 Semester, A.Y. 2023 – 2024

Spring-Mass-Damper System

ACE SUGARY R. LEGASPI

HANCEL HENLEY AMMAR DELFIN
GLENN MARC A. MEJASCO
JERALD FERNANDEZ
SPRING-MASS-DAMPER MODEL
 SCHEMATIC DIAGRAM

Below is the schematic diagram for the spring-mass-damper system with the components
and direction of the force.

DAMPER 1 DAMPER 2

SPRING

MASS

FORCE
 SPRING CONSTANT CALCULATION
Spring constant (K):
𝐹 Where:
𝐾=
𝛿
K – Spring Constant
F – Force applied
𝛿 – Deformation
Force (F):

𝐹 =𝑚×𝑔 Where:
F – Force
m – Mass
g – Gravitational acceleration

For spring 1:
𝐹 = (0.2 𝐾𝑔) (9.81 𝑚/𝑠 2 )
𝐹 = 1.962 𝑁

Length of Spring With no load

= 14 cm
Length of Spring With load
= 19 cm

Deformation
𝛿 = 𝐿𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑠𝑝𝑟𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝑙𝑜𝑎𝑑 – 𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑠𝑝𝑟𝑖𝑛𝑔 𝑤𝑖𝑡ℎ 𝑛𝑜 𝑙𝑜𝑎𝑑
𝛿 = 19 𝑐𝑚 – 14 𝑐𝑚
𝛿 = 5 𝑐𝑚
𝛿 = 0.05 𝑚

Spring constant (K)

𝐾 = 1.962 𝑁 / 0.05 𝑚
𝐾 = 39.24 𝑁/𝑚
 COEFFICIENT OF VISCOUS FRICTION CALCULATION

Length of damper before the load

= 12.6 cm
= 0.126 m

Length of damper after the load

= 25.3 cm
= 0.253 m

Solving for x:
𝑥 = 0.253 𝑚 – 0.126 𝑚
𝑥 = 0.127 𝑚

Solving for the velocity:

𝑥
𝑣=
𝑡

0.04 𝑚
𝑣=
0.4 𝑠

𝑚
𝑣 = 0.1
𝑠
Solving for coefficient of viscous friction:

𝐹
𝑓𝑣 =
𝑣

(0.45 𝑘𝑔)(9.81 𝑚/𝑠 2 )

𝑓𝑣 = 2
𝑚
0.1
𝑠

𝑓𝑣 = 22.0725

𝑁
𝑓𝑣1 = 𝑓𝑣2 = 22.0725 𝑚
𝑠
 TRANSFER FUNCTION CALCULATION

MASS SPRING DAMPER SYSTEM MODEL

fv1 fv2

Ms2

F(t)

Solving for the transfer function of the system:

fv1 K fv2

Ms2

f(t) MASS X(t)

 K X(s)
fv1 X(s)
fv2 X(s)

Ms2 X(s)

f(s) MASS X(s)

Ʃ𝐹 = 0
𝐹(𝑠) = [ 𝑀𝑠 2 + 𝑓𝑣𝑠 + 𝐾] 𝑋(𝑠)

𝐹(𝑠) = (𝑀𝑠 2 + 𝑓𝑣1 + 𝑓𝑣2 + 𝐾) 𝑋(𝑠)

𝑋(𝑠) 1
= 2
𝐹(𝑠) 𝑀𝑠 + 𝑓𝑣1 𝑠 + 𝑓𝑣2 𝑠 + 𝐾

Where:
Ms2 = 0.25 kg

Fv1 = 22.0725 N-s/m

Fv2 = 22.0725 N-s/m

K = 39.24 N/m

Substituting the values:

𝑋(𝑠) 1
=
𝐹(𝑠) 0.25𝑠 2 + 22.0725𝑠 + 22.07255𝑠 + 39.24

𝑋(𝑠) 1
= 2
𝐹(𝑠) 0.25𝑠 + 44.145𝑠 + 39.24

Therefore, the transfer function of the system is:

𝑋(𝑠) 1
= 2
𝐹(𝑠) 0.25𝑠 + 44.145𝑠 + 39.24
 DISPLACEMENT EQUATION
To determine the displacement equation of the system we need to take the inverse
LaPlace of the transfer function:

TRANSFER FUNCTION:
𝑋(𝑠) 1
= 2
𝐹(𝑠) 0.25𝑠 + 44.145𝑠 + 39.24

𝑚
𝐹(𝑡) = (0.25 𝑘𝑔)(9.81 )
𝑠
𝑓(𝑡) = 2.4525 𝑁
Taking the Inverse Laplace:
𝐿−1 [ 𝑓(𝑡) = 2.4525 ]

2.4525
𝐹(𝑠) =
𝑠

𝐹(𝑠)
𝑋(𝑠) = 2
0.25𝑠 + 44.145𝑠 + 39.24

2.4525
𝑋(𝑠) = 𝑠
0.25𝑠 2 + 44.145𝑠 + 39.24

2.4525
𝑋(𝑠) = 2
𝑠(0.25𝑠 + 44.145𝑠 + 39.24)

Simplifying the denominator:

2.4525
𝑋(𝑠) = 2
𝑠(𝑠 + 176.58𝑠 + 156.96)

Solving for the factors of 𝑠 2 + 83.4𝑠 + 156.96 :

Using the quadratic equation

−𝑏 ± √𝑏 2 − 4𝑎𝑐
𝑠=
2𝑎
Where:
𝑎 = 1
𝑏 = 176.58
𝑐 = 156.96
Substituting the values

−176.58 ± √(176.582 − 4(1)(156.96))

𝑠=
2(1)
𝑠1 = −0.89
𝑠2 = −175.69

The transfer function will become:

2.4525
𝑋(𝑠) =
𝑠(𝑠 + 0.89)(𝑠 + 175.69)

Since this equation cannot be solved directly using Inverse Laplace transform, we must
first expand the equation using partial fraction expansion.

Using partial fraction expansion:

2.4525 𝐴 𝐵 𝐶
𝑋(𝑠) = = + +
𝑠(𝑠 + 0.89)(𝑠 + 175.69) 𝑠 𝑠 + 0.89 𝑠 + 175.69

Solving for A, B and C:

For s 0
2.4525
𝐴 =
(𝑠 + 0.89)(𝑠 + 175.69)
2.4525
𝐴 =
(0 + 0.89)(0 + 175.69)
𝐴 = 0.01568

For s -0.89
2.4525
𝐵=
𝑠(𝑠 + 175.69)
2.4525
𝐵=
−0.89(−0.89 + 175.69)
𝐵 = −0.01576
For s -175.69
2.4525
𝐶=
𝑠(𝑠 + 1.93)
2.4525
𝐶=
−175.69(−175.69 + 1.93)
𝐶 = 7.9858389 × 10−5

Substituting the values, the transfer function will become

0.01568 0.01576 7.9858389 × 10−5

𝑋(𝑠) = − +
𝑠 𝑠 + 0.89 𝑠 + 175.69
Taking the inverse Laplace of both sides to get the displacement equation x(t)

−1
0.01568 0.01576 7.9858389 × 10−5
𝑥(𝑡) = 𝐿 [ 𝑋(𝑠) ] = 𝐿 − 1 [ − + ]
𝑠 𝑠 + 0.89 𝑠 + 175.69

From the Laplace transform table:

Therefore, the displacement equation for this system will be:

𝑥(𝑡) = 0.01568 − 0.01576𝑒 −0.89𝑡 + (7.9858389 × 10−5 )𝑒 −175.69𝑡

 DISPLACEMENT-TIME GRAPH

DISPLACEMENT (m)
TIME (s) THEORETICAL ACTUAL
0 0 0
0.20 0.02490 0.02
0.40 0.04641 0.04
0.60 0.06441 0.05
0.70 0.07727 0.06

THEORETICAL VS ACTUAL
0

0
0.07727
0
DISPLACEMENT (cm)

0.06441
0 0.06
0 0.05
0.04641
0 0.04
0
0.02490
0 0.02
0

0 0 0
0 0.20 0.40 0.60 0.70
TIME (seconds)

THEORETICAL ACTUAL