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    ME 563 Mechanical Vibrations Lecture #11: Single Degree of Freedom Free Response (Matlab)

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    nils4586
    This document discusses using MATLAB to analyze the free response of single degree of freedom systems. It describes representing systems using state variable models or transfer functions and defining the equations of motion, inputs, outputs, and initial conditions in MATLAB. The state variable approach involves writing the second order equation of motion as first order equations and representing them in matrix form. The free response is then obtained by calling the initial function in MATLAB.

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    ME 563 Mechanical Vibrations Lecture #11: Single Degree of Freedom Free Response (Matlab)

    Uploaded by

    nils4586
    139 views9 pages
    This document discusses using MATLAB to analyze the free response of single degree of freedom systems. It describes representing systems using state variable models or transfer functions and defining the equations of motion, inputs, outputs, and initial conditions in MATLAB. The state variable approach involves writing the second order equation of motion as first order equations and representing them in matrix form. The free response is then obtained by calling the initial function in MATLAB.

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    This document discusses using MATLAB to analyze the free response of single degree of freedom systems. It describes representing systems using state variable models or transfer functions and defining the equations of motion, inputs, outputs, and initial conditions in MATLAB. The state variable approach involves writing the second order equation of motion as first order equations and representing them in matrix form. The free response is then obtained by calling the initial function in MATLAB.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    139 views9 pages

    ME 563 Mechanical Vibrations Lecture #11: Single Degree of Freedom Free Response (Matlab)

    Uploaded by

    nils4586
    This document discusses using MATLAB to analyze the free response of single degree of freedom systems. It describes representing systems using state variable models or transfer functions and defining the equations of motion, inputs, outputs, and initial conditions in MATLAB. The state variable approach involves writing the second order equation of motion as first order equations and representing them in matrix form. The free response is then obtained by calling the initial function in MATLAB.

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    ME 563

    Mechanical Vibrations
    Lecture #11
    Single Degree of Freedom
    Free Response (Matlab)

    Free Response (Matlab)


    When using Matlab to analyze the free response of a system,
    we can either:
    - Derive the analytical solution and program this solution into
    Matlab along with the parameters of the model.
    - Allow Matlab to numerically integrate the equation of
    motion to obtain the response.
    However, Matlab requires that we define the system before it
    will solve for the response solution. There are two options:
    - State variable model
    - Transfer function model

    State Variable Modeling


    Consider the disc on an incline with no forcing function:

    This equation is of second order; however, integrators are


    generally written to solve first order equations. To convert
    this equation of motion to a first order equation, the system
    states are defined as follows:
    Then the equation of motion is rewritten as follows:

    First-Order Equations
    This equation is one of the two state variable equations we
    need. If we start with one second order equation, then we
    must have two first order equations to define the system.
    The second equation is a kinematic identity:

    Then the two equations can be expressed in matrix form as:

    State Variable Formulation


    We must also define the input force (as zeros in this case)
    using the following formulation:

    This equation is written in general as follows:

    {q}21 = [ A] 22{q}21 + [ B] 21 f (t)

    Input

    State matrix

    Input matrix

    State vector

    State Variable Formulation


    We must also define the outputs of interest. Sometimes, the
    outputs are just the state variables (displacements, etc.), but
    in other cases the outputs are functions of the states (forces).
    We use the following formulation to define the outputs, y:

    Or:

    { y}21 = [C ] 22{q}21 + [ D] 21 f (t)Input


    Direct feed-through matrix
    Output matrix

    State vector

    Other Output Examples


    If we are interested in the forces acting on the mass, what is
    the appropriate output equation in state variable form?

    What about if we are interested in the acceleration as when


    we measure the acceleration experimentally?

    Free Response in MATLAB


    Once the equations of motion are written in state variable
    form, then we can define the system in MATLAB:
    sys = ss(A,B,C,D);
    Then we can simulate the response using
    initial(sys,[x0 xd0]);
    where x0 and xd0 are the initial conditions on displacement
    and velocity.
    We can also including time vectors in the argument or in the
    output from the function for plotting purposes.

    Free Response in MATLAB


    MATLAB also allows us to define the system using the
    transfer function:
    sys = tf(NUM,DEN);
    where the NUM and DEN vectors define the polynomials of
    the transfer function between the input and output of the
    system. In the single degree of freedom case,
    sys = tf([1],[Meff C M]);
    Then we call the initial function as described previously.

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