Rahul Pancholi 09001012

Experiment No. 2

Second Order Under Damped System Dynamics

Aim- To find the effect of inertia and viscous drag on damping coefficient () of a second order under damped system. Apparatus1. A simple pendulum fabricated using ball bearing with rod at the center to fix it and an outer cover on it to attach rod of suitable length and bob of desired cross sectional area and weight. 2. Digital stop watch to measure the period of oscillation. 3. Steel scale to measure the angle of the pendulum. 4. At least three plates of same area and different weight and at least three plate of same weight and different cross sectional area. Procedure1. Attach rod of 50 centimeters to the outer ring on the ball bearing. 2. Attach a suitable plate to the other end of the rod. Keep the plate parallel to the direction of the movement of pendulum. 3. Raise the pendulum to one side to its maximum possible height and release it. 4. Measure the number of oscillations till the amplitude decays to the desired level. 5. Repeat step number 3 and 4 for plate perpendicular to the direction of movement of pendulum. 6. Repeat step number 2 to 5 for the remaining all plates. TheoryThere are two types of second order systems. The first one is inherently second order systems. These systems are formed by combination of inertia, viscous drag, restoring force. The other one is made up by connecting two first order processes in series. If these two processes are connected in interacting manner then the behavior is either an over damped (when time constant of both process are

Rahul Pancholi 09001012

sufficiently near each other) or pseudo first order when time constant of one of the processes is sufficiently small in comparison with that of other. When these two processes are connected in noninteracting manner then only under a special condition that time constant of both the processes are same it exhibit critically damped behavior otherwise it exhibits over damped behavior. Thus when one is interested in studying the behavior of second order under damped system there is no other alternative but to have an inherently second order system consisting of inertia, viscous drag and restoring force. In case of damped vibrator consider the block at some instant of time when it is to right Y=0 and is moving towards right (positive direction). Under this condition, the position Y and the velocity [dY/dT] both are positive. At this particular instant the following forces are acting on the block 1. The force exerted by the spring (acting to the left) of magnitude KY where K is a positive constant called Hooks constant of spring. The dimensions of K will be *force/length+.

2. The viscous force (acting to the left) is of the magnitude C (dY/dt), where C is a positive constant called the viscous drag coefficient. The dimensions of C will be *(force*time)/length+. 3. The external force F(t) (acting to the right). Newtons second law of motion, which states that the net force acting on the mass is equal to the rate of change of momentum, [mass*acceleration] will be applied to the above situation to F(t) KY C(dY/dt) = (W/gc ) d(dY/dt)/dt ...*1+

Rahul Pancholi 09001012

Where W Gc C K F(t) = = = = = mass of block gravitational constant viscous damping Hooks law constant driving force a function of time [Kgmass] [Kgmass/Kgforce * m/sec2] [Kgforce*sec/ m] [Kgforce/m] [Kgforce]

Notice that the above equation is already in the form of deviation variables in Y. Force balance equation [1] may be rearranged to separate the input and output variables to give W/gc [d2Y/dt2] + C dY/dt + KY = F(t) Dividing equation *2+ by K gives W/gcK [d2Y/dt2] + C/K [dY/dt] + Y = F(t)/K = X(t) Taking Laplace transform and rearranging equation [3] gives Y(s)/X(s) = 1/ { [W/gc*K]*S2 + [C/K]*S + 1 } If equation [4] is compared with standard second order transfer function we get = [W/(gc*K) ]1/2 and 2 = C/K giving us = C/2 * *gc /(W*K)]1/2 *5+ *4+ *3+ ...*2+

It can be concluded from equation *5+ that increasing viscous drag will increase damping coefficient while increasing weight [inertia] will decrease damping coefficient. Thus if one is interested in studying the effect of inertia and viscous drag on damping coefficient then damped vibrators with different weight and different viscous dampeners will be required. The second example of under damped system is manometer. In case of manometer mass of the manometric fluid is the inertia, head loss due to friction is the viscous drag and the height of the manometric fluid is the restoring force. If we analyze the transfer function of manometer its time constant is given by = * L/2*g+1/2

Rahul Pancholi 09001012

And damping coefficient is given by = *g**(2*g)1/2 + / *D2*(g)1/2 Thus for studying the effect of inertia and viscous drag on damping coefficient we need number of manometers with different diameter, fluids of different densities and viscosities, which is difficult. Additional disadvantage of manometer is its time constant. Time constant of manometer is given by

(L/2*g]1/2. Even if the total length of manometric fluid is 100 centimeters the time constant will be 0.225 seconds and measuring the height of manometric fluid as function of time is very difficult job. This difficulty can be overcome by making use of resistance wire in mercury (manometric fluid) and attaching dividing resistance and measuring voltage drop across dividing resistance on oscilloscope. The other factor is the value of damping coefficient which is given by { [g*(2)1/2]* *L1/2+ } / **d2*g]. Thus to have sufficiently low value of the fluid should have very low value of viscosity coupled with very high density. Additionally the manometer tube diameter should be sufficiently large. To achieve all these mercury [density 13.6 gm/cc and viscosity 1.6 c.p.] in association with manometer of about 8 to 10 mm I.D. can be used. However, for the demonstration the effect of inertia and viscous drag on the damping coefficient a third system of simple pendulum can be utilized. In case of pendulum the weight of bob is inertia, the crosssectional area of bob, perpendicular to the direction of movement of bob, will govern the viscous drag and the gravitational force is the restoring force. This experiment has an additional advantage that period of oscillation is in the range of 1 to 2 seconds which can be measured very easily. Thus keeping in mind these factors simple pendulum was fabricated making use of a ball bearing. The plates of bob were fabricated using different weights (52, 83 and 122 grams) and same cross sectional area (50 square centimeters) to study the effect of inertia. To study effect of viscous drag plates of same weight (about 83 grams) with different cross sectional area (50, 96.6 and 126 square centimeters) were also fabricated. Experiments were carried out on this pendulum for different decay ratios. Results are as given below.

Rahul Pancholi 09001012

Observation Table Length of Rod = 50 cm

Plate Weight (gm) Area (cm^2) Amplitude ratio 0.2748 52.23 50 0.3365 0.2748 122.86 50 0.3365 0.2748 83.67 50 0.3365 0.2748 83.91 96.6 0.3365 0.2748 85.3 126 0.3365

Parallel Number of peaks 74 70 132 122 104 94 102 90 104 90 0.00555 0.00495 0.00311 0.00284 0.00395 0.00369 0.00403 0.00385 0.00395 0.00385

Cross Number of peaks 22 18 40 34 32 26 18 14 14 10 0.0187 0.0193 0.0103 0.0102 0.0128 0.0133 0.0228 0.0248 0.0294 0.0347

Rahul Pancholi 09001012

Calculation After the completion of 1 st oscillation Peak angel achieved after 1 st oscillation / angle on the starting = Overshoot (O.S.) After the completion of n th oscillation Peak angle achieved after n th oscillation / angle on the starting = (O.S.)n So O.S. can be found out from this, as we know the amplitude ratio at our desired number of oscillation. Then, ln ( O.S.) = - / (1 2)1/2 Value of can be calculated from the above equation

Result 1- From the observation table it is clear that as the inertia (mass) of pendulum increases damping coefficient () decreases. 2- In parallel oscillations area has no virtual effect on the value of damping coefficient whereas in cross oscillations damping coefficient increases as the area increases. 3- As we increase amplitude ratio damping coefficient will decrease.