S232953 Mark Cruickshank Prac 2 MDOF ENG432 PDF

School of Engineering and Information Technology
ASSESSMENT COVER SHEET

Student Name
Mark Cruickshank
Student ID
S232953
Assessment Title
Lab2 Three degrees of freedom systems
Unit Number and Title
ENG432 Dynamics of Engineering Systems
Lecturer/Tutor
John Motagner
Date Submitted
10/5/2015
Date Received
Office use only
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Signed: Mark Cruickshank
.Date: 10/5/2015
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Mark Cruickshank S232953 Charles Darwin University

ENG432 Dynamics of Engineering Prac2: Three Degree of Freedom Systems
ENG432 Dynamics of Engineering Systems
Prac2: 3 Degrees of Freedom Systems

Mark Cruickshank
S232953

!
Table!of!Contents!
1.!Objective.............................................................................................................................. 4!
2.!Assumptions ........................................................................................................................ 5!
3.!Known!input!values.............................................................................................................. 5!
Table!3.1!!Known!input!values ............................................................................................................................................ 6!
4.!Determining!the!spring!stiffness........................................................................................... 6!
4.1!Spring!stiffness!!Method!1 ............................................................................................................................................. 7!
4.1.1$Table$Spring$A .................................................................................................................................................................... 7!
4.1.2$Table$Spring$B .................................................................................................................................................................... 7!
4.1.3$Table$Spring$C..................................................................................................................................................................... 7!
4.1.4$Table$Spring$D .................................................................................................................................................................... 7!
4.1.5$Graph$Spring$A$$Weight$versus$displacement .................................................................................................... 8!
4.1.6!Graph!Spring!B!!Weight!versus!displacement ................................................................................................... 9!
4.1.7$Graph$Spring$C$$Weight$versus$displacement .................................................................................................... 9!
4.1.8$Graph$Spring$D$$Weight$versus$displacement................................................................................................. 10!
4.2!Spring!stiffness!!Method!2 .......................................................................................................................................... 10!
4.2.1$Results$table$$Spring$A............................................................................................................................................... 10!
4.2.2$Results$table$$Spring$B............................................................................................................................................... 10!
4.2.3$Results$table$$Spring$C ............................................................................................................................................... 11!
4.2.4$Results$table$$Spring$D............................................................................................................................................... 11!
4.3!Method!1!and!Method!2!comparisons ..................................................................................................................... 11!
4.3.1$Method$1$and$Method$2$comparison$table ......................................................................................................... 11!
4.3.2!Variation!between!Method!1!and!Method!2 ...................................................................................................... 11!
5.!Initial!displacements!of!the!sliders ..................................................................................... 12!
5.1!Free!body!diagram ........................................................................................................................................................... 12!
5.2!Equations!of!motion!for!each!Mode .......................................................................................................................... 13!
5.2.1$Equation$of$motion$system$1..................................................................................................................................... 13!
........................................................................................................................................................................................................... 13!
5.2.4!Stiffness!&!Mass!Matrices .......................................................................................................................................... 13!
5.3.1$Mass$Matrix ...................................................................................................................................................................... 13!
5.3.3$Stiffness$Matrix................................................................................................................................................................ 14!
5.3.5$Combining$All$Matrices ............................................................................................................................................... 14!
5.4!Determining!the!initial!displacements .................................................................................................................... 14!
6.!Determining!the!natural!frequencies!of!each!mode............................................................ 15!
7.!Plot!of!each!mode!vs!time ................................................................................................. 15!
7.1!Response!Mode!1 .............................................................................................................................................................. 15!
7.2!Response!Mode .................................................................................................................................................................. 16!
7.3!Response!Mode!3 .............................................................................................................................................................. 17!
7.4!Response!all!Modes!!Subplot ..................................................................................................................................... 17!
8.!Conclusion ......................................................................................................................... 18!

1.!Objective!
The objective of this laboratory is to demonstrate three modes of vibrations for a threedegrees of freedom mass-spring system. We expect a three-degree of freedom system
to behave differently according to the natural frequencies of each mass/node.
To summarize we would expect three conditions for a three-degree of freedom system:
Condition 1: At this frequency all masses move in the same direction, this would be the
smallest frequency. This is illustrated in the below figure.
Condition 2: At this frequency we would expect the end mass to move in the opposite
directions as opposed to the middle and furthers end mass. The two outer masses
should move with the same amplitude but in opposite directions if the stiffness of each
spring is the same.
Condition 3: At this frequency (the fastest of the other 2) the two outer masses move in
the same direction with the same amplitude if the stiffness of each spring is the same.
We have used a vacuum to assist in minimizing the friction between the track and the
slider(s), thus for this laboratory we have assumed there is no friction (by using the
vacuum). This laboratory will involve determining the following:

The weights of each slider(s)
The spring-stiffness of each of the four springs
The natural frequencies for the three individual sliders
The initial displacement distances(s) for each of the sliders.
We should be able to determine the initial displacement by calculating the mode ratios
then setting initial displacements based on these calculations. Finally we can conclude
into how accurate the experimental results are in comparison to the theoretically
determined.
Due to being an external student of this unit, I am unable to complete the practical
testing associated with this laboratory, however I can conclude on how the physical
testing would behave with respect to my results.
2.!Assumptions!
As previously mentioned, we have assumed that there is no friction between the track
and the slider; therefore this system will have no damping. Friction has been eliminated
due to the vacuum suction that is applied to the track.
We also assume the following:
All equipment measuring scales are properly calibrated, thus our measurement
tolerances are very minimal.
That all springs act in a linear manner.
3.!Known!input!values!
All known input values for this experiment are displayed in the below table:
The masses of the springs and sliders have been determined by measuring these on a
set of digital scales, we would assume an error of no more than +/- 0.001kg.

The lengths of the un-stretched springs have been determined visually, by using a metric
ruler; again we would assume an error of no more than +/- 0.002M or 2mm.
Table!3.1!!Known!input!values!
No.
Description
Value
Unit
1
2
3
4
5
6
7
8
Mass carrier
Un-stretched length spring A
Un-stretched length spring B
Un-stretched length spring C
Un-stretched length spring D
Mass slider A
Mass slider B
Mass slider C
0.0519
0.3180
0.2920
0.1880
0.0760
0.36615
0.27480
0.36850
kg
M
M
M
M
Kg
Kg
Kg
4.!Determining!the!spring!stiffness!
Determining the spring stiffness for each spring was calculated using two methods.
The first method (Method 1) involved attaching a weight to the spring and measuring the
displacement, the results were reordered.
The second method (Method 2) was determined by determining the period over 10
oscillations. The following equations express how this was calculated (Palm 2009):
2
=
T
% 2 (
k
=
=' *
mobject & T )
T=
% 2 ( 2
k = ' * mobject
&T)
As we have assumed that the springs act in a linear way, we would expect the
relationship between force and displacement to act in a linear way, provided the spring is
within the elastic zone (Hooks Law).
These calculations can be seen in the attached Microsoft Excel spreadsheet.
4.1!Spring!stiffness!!Method!1!
Method 1 his was determined by using small increments of added weight and recording
the displacement. Small increments of mass(s) were used to ensure accurate results.
The results for each given spring are displayed in the below tables:
4.1.1!Table!Spring!A!
No.
1
2
3
4
5
Mass [kg]
0
0.05032
0.05542
0.06052
0.06562
Spring A
Weight [N]
0
0.4936392
0.5436702
0.5937012
0.6437322
Distance [m]
0.318
0.531
0.566
0.596
0.628
Displacement [m]
0
0.213
0.248
0.278
0.31
Spring B
Weight [N]
0
0.4936392
0.5436702
0.5937012
0.6437322
Distance [m]
0.292
0.541
0.573
0.603
0.632
Displacement [m]
0
0.249
0.281
0.311
0.34
Spring C
Weight [N]
0
0.4936392
0.5436702
0.5937012
0.6437322
0.6937632
0.7437942
Distance [m]
0.188
0.35
0.368
0.388
0.405
0.425
0.443
Displacement [m]
0
0.162
0.18
0.2
0.217
0.237
0.255
Spring D
Weight [N]
0
0.4936392
0.5436702
Distance [m]
0.076
0.15
0.158
Displacement [m]
0
0.074
0.082
4.1.2!Table!Spring!B!
No.
1
2
3
4
5
Mass [kg]
0
0.05032
0.05542
0.06052
0.06562
4.1.3!Table!Spring!C!
No.
1
2
3
4
5
6
7
Mass [kg]
0
0.05032
0.05542
0.06052
0.06562
0.07072
0.07582
4.1.4!Table!Spring!D!
No.
1
2
3
Mass [kg]
0
0.05032
0.05542

4
5
6
7
0.06052
0.06562
0.07072
0.07582
0.5937012
0.6437322
0.6937632
0.7437942
0.165
0.173
0.181
0.189
0.089
0.097
0.105
0.113
From each of the above tables, weight was plotted against displacement in Microsoft
Excel, a trend line was set through the origin to obtain the spring stiffness, these can be
seen in the below graphs.
4.1.5!Graph!Spring!A!!Weight!versus!displacement!

!!!
4.1.6%Graph%Spring%B%%Weight%versus%displacement
4.1.7!Graph!Spring!C!!Weight!versus!displacement!

4.1.8!Graph!Spring!D!!Weight!versus!displacement!
4.2!Spring!stiffness!!Method!2!
The results for method 2 are displayed in the below tables:
4.2.1!Results!table!!Spring!A!
No
1
2
3
Time [sec]
12.15
12.28
12.37
Period [T]
1.215
1.228
1.237
Spring A
Wn [rad/sec]
5.171345932
5.116600413
5.079373733
Mass [kg]
0.0502
0.0502
0.0502
Average
K [N/m]
1.342
1.314
1.295
1.317
Mass [kg]
0.0502
0.0502
0.0502
Average
K [N/m]
1.435
1.506
1.450
1.464
4.2.2!Results!table!!Spring!B!
No
1
2
3
Time [sec]
11.75
11.47
11.69
Period [T]
1.175
1.147
1.169
Spring B
Wn [rad/sec]
5.347391751
5.477929649
5.374837731

4.2.3!Results!table!!Spring!C!
No
1
2
3
Time [sec]
9
8.96
8.88
Period [T]
0.9
0.896
0.888
Spring C
Wn [rad/sec]
6.981317008
7.012483602
7.07565913
Mass [kg]
0.0502
0.0502
0.0502
Average
K [N/m]
2.447
2.469
2.513
2.476
4.2.4!Results!table!!Spring!D!
No
1
2
3
Time [sec]
8
7.78
7.87
Period [T]
0.8
0.778
0.787
Spring D
Wn [rad/sec]
7.853981634
8.07607366
7.983717036
Mass [kg]
0.1002
0.1002
0.1002
Average
K [N/m]
6.181
6.535
6.387
6.368
4.3!Method!1!and!Method!2!comparisons!
As seen in the below table, the results for both methods are displayed, as we can see all
of the springs for both methods showed a linear relationship between force and
displacement.
We can see that Method 1 (determined by measuring the deflection per given weight)
appears to have a larger magnitude then that of method 2. The last column is the
absolute difference between both methods. Whilst conducting Method 2, we found that
determining the exact place where the oscillation peaks/finishes and the timing between
these periods considerably hard to maintain, thus we would assume this difference in
results is a related to this.
4.3.1!Method!1!and!Method!2!comparison!table!
Spring Stiffness Comparison: Method 1 and Method 2
Spring
type
A
B
C
D
Result - Method 1
[N/m]
1.9225
1.9225
2.9609
6.6253
Result - Method 2
[N/m]
1.317
1.464
2.476
6.368
Abbs difference
[N/m]
0.6052
0.4585
0.4847
0.2577
4.3.2!Variation!between!Method!1!and!Method!2!

Firstly, both these experiments were conducted based on human judgment, thus we can
illustrate that due to human judgment there would be a discrepancy with results. Also
due to the age of the springs, there are some springs that are deformed IE have been
loaded with weight or possibly stretched past their elastic limit, that may have also
contributed between any discrepancies in results. These deformations are displayed in
the below photo:
!4.3.2a!Photo!of!the!springs!used!
The above photo is springs D to A, with spring D being the springs to the top of the
photo.
5.!Initial!displacements!of!the!sliders!
5.1!Free!body!diagram!
A free body diagram of the system can be seen in the below figure:

5.2!Equations!of!motion!for!each!Mode!
From the above free body diagram, we can represent the system by using Newtons
second law of motion, as per the following equations:
5.2.1!Equation!of!motion!system!1!
m1 x1 = k2 ( x 2 x1 ) k1 x1
m1 x1 = (k1 + k 2 )x1 + k 2 x 2
m1 x1 + (k1 + k 2 )x1 k2 x 2 = 0
m2 x2 = k 2 ( x 2 x1 ) + k 3 (x 3 x 2 )
m2 x2 + k2 ( x 2 x1 ) k 3 (x 3 x 2 ) = 0
m2 x2 k1 x1 + (k 2 + k2 )x 2 k 3 x 3 = 0
m3 x3 = k 4 x 3 k 3 (x 3 x 2 )
m3 x3 + k4 x 3 + k 3 (x 3 x 2 ) = 0
m3 x3 + k3 x 2 + (k 3 + k4 )x 2 = 0
5.2.4!Stiffness!&!Mass!Matrices!
From the above three equation the following matrices can be found to form the below
equation:
[ M ] x + [ k ] x = 0
5.3.1!Mass!Matrix!

"m1 0
$
$ 0 m2
$# 0
0
0%
'
0'
m3 '&
5.3.3!Stiffness!Matrix!
#k1 + k 2
%
% k 2
%$ 0
k 2
k2 + k 3
k 3
0 &
(
k 3 (
k 3 + k 4 ('
5.3.5!Combining!All!Matrices!
"m1 0
$
$ 0 m2
$# 0
0
0 % " x1 % #k1 + k 2
'$ ' %
0 ' $ x2 ' = % k 2
m3 '& $# x3 '& %$ 0
k 2
k2 + k 3
k 3
0 & " x` %
($ '
k 3 ( $ x 2 '
k 3 + k 4 (' $# x 3 '&
5.4!Determining!the!initial!displacements!
We have used the attached Matlab file to determine the mode ratios for each of the three
modes. The initial displacements are based on these ratios. For each mass per given
mode the initial displacement can be seen in the below table in meters.
No.
Mass no.
Displacement
[m]
Mode Ratios from

Matlab
MODE 1
1
Mass A
0.05
Mass B
0.045185
0.9037
Mass C
0.017925
0.3585
MODE 2
1
Mass A
-0.042025
-0.8405
Mass B
0.04351
0.8702
Mass C
0.034695
0.6939
MODE 3
1
Mass A
0.02077
0.2077
Mass B
-0.08737
-0.8737
Mass C
0.10671
1.0671

The negative values indicate that the mass is moved in the opposite direction. The last
column of the above table is the mode ratio. This has been multiplied by the same
number to form the initial displacement per each mode.
6.!Determining!the!natural!frequencies!of!each!mode!
The natural frequencies for each mode has been calculated using Matlab, please refer to
the back of this report for the Matlab program
The natural frequencies for all three masses can be seen in the below table.
Mass item no.
Natural frequency
Mass A
2.4555 rad/sec
Mass B
2.4496 rad/sec
Mass C
6.560 rad/sec
7.!Plot!of!each!mode!vs!time!
Each of the three modes response in the time domain was plotted against time, these
can be seen in the below diagrams.
!
!
!
!
!
!
!
!
7.1!Response!Mode!1!

7.2!Response!Mode!!

7.3!Response!Mode!3!
!
!
!
7.4!Response!all!Modes!!Subplot!

All three response have been put into the above sub-plot, to illustrate how the behavior
of the system changed as the initial displacement changed increased and/or
decreased.
8.!Conclusion!
The spring rates from Method 1 were chosen due to the lower level of error whilst
measuring. As previously stated, being an external student for this unit, the as calculated
initial distances of all three modes has not been physically tested, thus we can only
assume that these results would be within the range as expected. We would expect to
see some small amount of error due to the surface having a minimal amount of friction;
therefore I would assume the system would have a small amount of damping as a result.
The responses of the modes appear to behave as expected, although we have not
physically tested these results we can see at the lowest frequency the masses move in
the same direction, this mode also appear to have small amount of phase shift and even
amplitudes. The amplitudes are not of the same magnitude due to the springs having
different stiffness values; the last spring that attaches to mass 3 has the highest stiffness
value, approximately 2.5 times the stiffness of springs that attach to mass 1 and 2. The
response of mode 2 appeared to have the most accurate period, with minimal phase
shift.
As demonstrated, in this part of the experiment and from a design perspective, we can
see how the natural frequency of the systems components, the stiffness of the springs
and the initial displacements of the masses can have an affect on multiple degrees of
freedom systems behavior. The results would have looked quite different if the springs
were placed into different positions IE changing spring D with spring B.

ENG432_WS6c
10/05/2015 7:14 pm
Contents
Known inputs
Matrics
Test K matrix for determininant.
Eigenvalue formation
Mode coordintates to physical coordinates
The below are for the three cases:
The below values will determine the displacment offsets %% note these are only ratios!!:
Printing values to the screen
Setting dx/dt matrices
Time vecotor
Create unit vectors for x01, x02 and x03
Solving for the ODE's
Plotting the vectors
Plotting the Responses for all modes into a subplot
close all; clear all; clc
Known inputs
% Stiffness input values [N/m]:
k1 = 1.9225; % this is spring A
k2 = 1.9225; % this is spring B
k3 = 2.9609; % this is spring C
k4 = 6.6253; % this is spring D
% Mass input values for
m1 = 0.36615; % this is
m2 = 0.27480; % this is
m3 = 0.36850; % this is
the sliders [kg]

mass A
mass B
mass C
Matrics
K = [k1+k2 -k2 0;-k2 k2+k3 -k3;0 -k3 k3+k4]; % This is the stiffness matrix
M = [m1 0 0; 0 m2 0;0 0 m3]; % This is the mass matrix
Test K matrix for determininant.

% If det = 0, [K] does not have an inverse.
detK = det(K);
% This has a determinant thus we can proceed with Eigenvalue formation:
file:///Volumes/MARK%20USB/html/ENG432_WS6c.html
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ENG432_WS6c
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Eigenvalue formation
[P,Lambda] = eig(inv(M)*K); % This is the eigen vector
omega = sqrt(Lambda)*[1 1 1]'; %This is the natural frequency for each given slider
P=P./(P(1,:):P(1,:):P(1,:)); % This is the mode matrice
Mode coordintates to physical coordinates

The below are for the three cases:
ro1 = [1 0 0]'; % Assuming mode 1 equals one and remianing modes (2&3) are equal to zero
The below values will determine the displacment offsets %% note these are only ratios!!:
Xo1 = P*ro1; % This will give the physical coordinates - MODE 1
Printing values to the screen

Lambda
omega
P
Xo1
Xo2
Xo3
K
detK
%
%
%
%
%
%
%
%
Print
Print
Print
Print
Print
Print
Print
Print
on
on
on
on
on
on
on
on
screen
screen
screen
screen
screen
screen
screen
screen
Lambda =
5.7560
0
0
0
15.9370
0
0
0
32.5930
-0.8405
0.2077
omega =
2.3992
3.9921
5.7090
P =
1.0000
Page 2 of 7
ENG432_WS6c
0.9037
0.3585
10/05/2015 7:14 pm
0.8702
0.6939
-0.8737
1.0671
-1.9225
4.8834
-2.9609
0
-2.9609
9.5862
Xo1 =
1.0000
0.9037
0.3585
Xo2 =
-0.8405
0.8702
0.6939
Xo3 =
0.2077
-0.8737
1.0671
K =
3.8450
-1.9225
0
detK =
110.8574
Setting dx/dt matrices

dx1dt = @(t1,x1) [x1(4), x1(5), x1(6), (k2*x1(2)-(k1+k2)*x1(1))/m1, (k2*x1(1)-(k2+k3)*x1(2)
+k3*x1(3))/m2, (k3*x1(2)-(k2+k4)*x1(3))/m3]';
+k3*x2(3))/m2, (k3*x2(2)-(k2+k4)*x2(3))/m3]';
+k3*x3(3))/m2, (k3*x3(2)-(k2+k4)*x3(3))/m3]';
Time vecotor
tspan = [0 10]; % creating time vector
Create unit vectors for x01, x02 and x03

% I have manually copied and pasted this vector and added three zeros to
Page 3 of 7
ENG432_WS6c
10/05/2015 7:14 pm
% ensure matrix is dimmensionally correct. There is probablly another easier wat to do this
.
x010 = [0.05; 0.045185; 0.017925; 0; 0; 0];
x020 = [-0.042025; 0.04351; 0.034695;0;0;0];
x030 = [0.02077; -0.08737; 0.10671;0;0;0];
Solving for the ODE's

[t1,x1] = ode45(dx1dt,tspan,x010);
Plotting the vectors

figure(1) % new figure
plot(t1,x1(:,1:3)); % this is for mode 1
title('Time domain response for Mode 1');
xlabel('Time [sec.]');
ylabel('Amplitude');
legend('x1', 'x2', 'x3')
grid on
legend('x1', 'x2', 'x3')
grid on
legend('x1', 'x2', 'x3')
grid on
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Plotting the Responses for all modes into a subplot

subplot(3,1,1); % this is for mode 1
plot(t1,x1(:,1:3));
legend('x1', 'x2', 'x3')
grid on
subplot(3,1,2); % This is for mode 2

plot(t2,x2(:,1:3));
legend('x1', 'x2', 'x3')
grid on
subplot(3,1,3); % This is for mode 3
plot(t3,x3(:,1:3));
legend('x1', 'x2', 'x3')
grid on
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ENG432_WS6c
10/05/2015 7:14 pm
Published with MATLAB R2014a
Page 7 of 7

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ASSESSMENT COVER SHEET

Lab2 Three degrees of freedom systems

Unit Number and Title

ENG432 Dynamics of Engineering Systems

Signed: Mark Cruickshank

Mark Cruickshank S232953 Charles Darwin University

ENG432 Dynamics of Engineering Systems

Prac2: 3 Degrees of Freedom Systems

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

The weights of each slider(s)

The spring-stiffness of each of the four springs

The natural frequencies for the three individual sliders

The initial displacement distances(s) for each of the sliders.

tolerances are very minimal.

That all springs act in a linear manner.

Mark Cruickshank S232953 Charles Darwin University

These calculations can be seen in the attached Microsoft Excel spreadsheet.

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mode Ratios from

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

Mark Cruickshank S232953 Charles Darwin University

close all; clear all; clc

the sliders [kg]

Test K matrix for determininant.

Mode coordintates to physical coordinates

Printing values to the screen

Setting dx/dt matrices

Create unit vectors for x01, x02 and x03

Solving for the ODE's

Plotting the vectors

Plotting the Responses for all modes into a subplot

subplot(3,1,2); % This is for mode 2

Published with MATLAB R2014a

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