Auto-1029: Automotive Systems & Control: Prof Pavel M. Trivailo, PHD

AUTO-1029 2014 - Lectures 4-5 Slide 1
AUTO-1029: AUTOMOTIVE
SYSTEMS & CONTROL
Prof Pavel M. TRIVAILO, PhD
E-mail: trivailo@rmit.edu.au
SAMME, RMIT University, Melbourne, Australia
c 2014
Lecturer: Prof P.M.Trivailo SAMME, RMIT
Lectures 4-5:
DYNAMICS OF AUTOMOTIVE SYSTEMS
REVIEW + NEW FEATURES:
• Assignment-1: 2-DOFS & ”Essay” (discussion)
• Review: Eigenvalues, Eigenvectors
• Review: Response to Initial Excitation
• Systems Admitting Rigid Body Motion
• Proportional Damping
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Lectures 4-5:
DYNAMICS OF AUTOMOTIVE SYSTEMS
FRFs:
• Frequency Response Functions
• Resonances and Anti-Resonances
• FRF: Basic Example: 2-DOF System
• FRF: Basic Example: 3-DOF System
• FRF: Automotive Example: 6-DOF Engine Sus-
pension System
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REVIEW:
Eigenvalues & Eigenvectors
Response due to Initial
Excitations
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ORTHOGONALITY OF
EIGENVECTORS
Orthogonality of Eigenvectors
With Respect to the Mass Matrix:

(1)
{u}T
r [m] {u}s = 0 (r 6= s).
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Orthogonality of Eigenvectors
With Respect to the Stiffness Matrix:

(2)
{u}T
r [ k ] {u}s = 0 (r 6= s).
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[u]T [m][u] = [1]
[u]T [k][u] = [ω 2].
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ORTHOGONALITY: 2-DOFS EXAMPLE

k1 = 6 N/m k2 = 2 N/m k3 = 3 N/m
r r m1 = 1 kg r r m2 = 1 kg r r

r r r r

- q1 (t) - q2(t)
" # " #
1 0 8 −2
[m] = 0 1 ; [k] = −2 5 ;
( ) ( ) ( ) ( )
u11 1 u12 2
{u}1 = u = 2 , {u}2 = u = −1 ,
21 22
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T
{u}1 [m] {u}2 =
( )T ( )
u11 u12
= u21 [m] u22 =
( )T " # ( )
1 1 0 2
= 2 0 1 −1 = 0
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USING ORTHOGONALITY TO SOLVE THE

EXCITATION by INITIAL DISPLACEMENTS
k1 = 6 N/m k2 = 2 N/m k3 = 3 N/m
r r m1 = 1 kg r r m2 = 1 kg r r

r r r r

- q1 (t) - q2(t)
" # " #
1 0 8 −2
[m] = 0 1 ; [k] = −2 5 ;
( ) ( )
5 0
Initial Excitations: {q}0 = 0 {q̇}0 = 0
" # " #
−0.4472 −0.8944 4 0
[U ] = −0.8944 0.4472 ; [D] = 0 9 ;
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{q0} = β1 {u}1 + β2 {u}2;

{u}T
1 [m] {q 0 } = {u}T [m] β {u} + {u}T [m] β {u} ;
1 1 1 1 2 2
{u}T
1 [m] {q 0 } = β 1 {u}T [m] {u} + β {u}T [m] {u} ;
1 1 2 1 2
{u}T
1 [m] {q0} = β1 × 1 + β2 × 0
( )T " # ( )
−0.4472 1 0 5
β1 = −0.8944 0 1 0 = −2.2361.
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{q0} = β1 {u}1 + β2 {u}2;

{u}T
2 [m] {q 0 } = {u}T [m] β {u} + {u}T [m] β {u} ;
2 1 1 2 2 2
{u}T
2 [m] {q 0 } = β 1 {u}T [m] {u} + β {u}T [m] {u} ;
2 1 2 2 2
{u}T
2 [m] {q0} = β1 × 0 + β2 × 1
( )T " # ( )
−0.8944 1 0 5
β2 = 0.4472 0 1 0 = −4.4721.
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2.5
β u
1 1
2
1.5
0.5
u2 q0
q2
−0.5
−1 u1
−1.5
β2 u2
−2
−2.5
−1 0 1 2 3 4 5
q
1
{q0} = β1 {u}1 + β2 {u}2 =

−0.4472 − 4.4721 −0.8944
= −2.2361 −0.8944 0.4472
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IMPORTANT
ADDITIONS
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ADDITION:
SYSTEMS ADMITTING
RIGID BODY MOTION
- x1 (t) - x2 (t) - x3 (t)
k1 k2
m1 s s m2 s s m3

s s s s s s

3-DOF system, admitting rigid body motion.
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   


m1 0 0 



k1 −k1 0 

   
[m] = 

 0 m2 0 ;


 [k] = −k1 k1 + k2 −k2 .






   
   
0 0 m3 0 −k2 k2
ω 2[m]{X} = [k]{X}.
ω 2 {X}T [m]{X} = {X}T [k]{X}.
{X} = {1; 1; 1}.
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 T    T   
1 1 1 0 1
       
































k1 −k1 









       
ω02
        


1

[m] 

1 

= 

1



 −k1 k1 + k2 −k2


 1

 
 
 
 
 
    
        



 1 




 1 




 1 

 0 −k2 k2 

 1 


| {z }
= 0.
The RHS of the Eq above is zero, thus the LHS

must also be zero. The only way for the LHS to be
zero is for ω0 = 0 .
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ADDITION:
PROPORTIONAL DAMPING
[m]{q̈(t)} + [c]{q̇(t)} + [k]{q(t)} = {Q(t)}

{q(t)} = [u]{η(t)}
{η̈(t)} + [C]{η̇(t)} + [ω 2]{η(t)} = {N (t)},
where [C] = [u]T [c][u].
[c] = α[m] + β[k] , (α, β are real constants),

[C ] = α[1] + β[ω 2],
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FREQUENCY
RESPONSE
FUNCTIONS
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FREQUENCY RESPONSE
FUNCTION
Frequency Response Function

for an Undamped Discrete System:
qi n ujr uir
X (3)
Hij = = 2 2
Qj r=1 ωr − ω
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MATLAB Interactive Demo by PMT: H12
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TUTORIAL:
FRF for the 2-DOF STUDY CASE
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Numerical EXAMPLE for 2dof system: H12

k1 = 6 N/m k2 = 2 N/m k3 = 3 N/m
r r m1 = 1 kg r r m2 = 1 kg r r

r r r r

- q1 (t) - q2 (t)
m1 = 1 [kg]; m2 = 1 [kg];
k1 = 6 [N/m]; k2 = 2 [N/m]; k3 = 3 [N/m];
" # " #
m1 0 1 0
[m ] = 0 m2 = 0 1 ;
" # " #
k1 + k2 −k2 8 −2
k
[ ] = −k2 k2 + k3 = −2 5 ;
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qi n
X ujr uir
Hij ( ω ) = = 2 2
Qj r=1 ωr − ω
In our case, we wish to calculate and plot H12, there-

fore the previous general expression for the Hij can
be written in the explicit form for i = 1 and j = 2,
where the summation subscript r runs from r = 1
to r = 2:
q1 2 u1r u2r
X u21 u11 u22 u12
H12( ω ) = = 2 2
= 2 2
+ 2
Q2 r=1 ωr − ω ω1 − ω ω2 − ω 2
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%% FRF: 2-DOF EXAMPLE

% Enter [m] and [k] matrices:
m=[1 0; 0 1]; k=[8 -2; -2 5];
% Solve Eigenvalue Problem

[U,D]=eig(k,m);
u11=U(1,1); u21=U(2,1);
u12=U(1,2); u22=U(2,2);
w1=sqrt(D(1,1)); w2=sqrt(D(2,2));
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% Specify the range for the w

w=0:0.01:4;
% Calculate the H12 FRF:

H12=u21*u11./(w1^2-w.^2) +...
u22*u12./(w2^2-w.^2);
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% Plot results: w versus H12

g1=plot(w,H12);
set(g1,’LineWidth’,2);
grid
xlabel(’Excitation Freq. \omega [rad/s]’)

ylabel(’H_{12}’)
% Change axis limits for better view of the FRF

axis([0 4 -3 4])
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% Mark natural frequencies w1 & w2 on the plot

l1=line(’XData’,w1,’YData’,0);
l2=line(’XData’,w2,’YData’,0);
set([l1,l2],’Marker’,’.’,’Markersize’,18,’Color’,[1 0 0]);
t1=text(’String’,’\omega_1’,’Position’,[w1,0]);
t2=text(’String’,’\omega_2’,’Position’,[w2,0]);
set([t1, t2],’VerticalAlignment’,’bottom’);
ax1=axis;
line(’XData’,[1 1]*w1,’YData’,ax1(3:4),’Color’,[1 0 0]);
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H12 = H21 for the 2DOF System

4
1
12
H
ω ω
1 2
0
−1
−2
−3
0 0.5 1 1.5 2 2.5 3 3.5 4
Excitation Freq. ω [rad/s]
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The same results can be plotted in the semi-log

coordinates, which make the changes in the FRFs
more prominent:
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% Plot results: w versus 20*log(abs(H12))

figure % open new figure
g2=semilogy(w,20*abs(H12)); grid
set(g2,’LineWidth’,2);
xlabel(’Excitation Freq. \omega [rad/s]’)
ylabel(’20*log(H_{12})’)
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% Mark natural frequencies w1 & w2 on the plot

ax2=axis;
l3=line(’XData’,w1,’YData’,ax2(3));
l4=line(’XData’,w2,’YData’,ax2(3));
set([l3,l4],’Marker’,’.’,’Markersize’,18,’Color’,[1 0 0]);
t3=text(’String’,’\omega_1’,’Position’,[w1,ax2(3)]);
t4=text(’String’,’\omega_2’,’Position’,[w2,ax2(3)]);
set([t3, t4],’VerticalAlignment’,’bottom’);

%grid off
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H12 = H21 in Semi-Log Coordinates

3
10
2
10
20*log(H )
12
1
10
0
10
ω ω
−1 1 2
10
0 0.5 1 1.5 2 2.5 3 3.5 4
Excitation Freq. ω [rad/s]
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NUMERICAL EXAMPLE for 3dof System: H12
k5 k6
u u u
k1 k2 k3 k4
u u m1 u u m2 u u m3 u u

u u u u u u

- - -
q1(t) q2(t) q3(t)
m1 = 5; m2 = 7; m3 = 2 [kg];
k1 = 105; k2 = 2k1; k3 = 0.5k1; k4 = k1;
k5 = 0.2k1; k6 = 0.4k1 [N/m];
ω1 = 124.75; ω2 = 268.82; ω3 = 302.42 [rad/s]
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u21 u11 u22 u12 u23 u13

H12( ω ) = 2 2
+ 2 2
+ 2
ω1 − ω ω2 − ω ω3 − ω 2
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w=[0:0.0001:1]*sqrt(max(diag(D)))*1.2;
H12=U(2,1)*U(1,1)./(D(1,1)-w.^2)+...
U(2,2)*U(1,2)./(D(2,2)-w.^2)+...
U(2,3)*U(1,3)./(D(3,3)-w.^2);
plot(w,H12);
grid
axis([0 max(w) [-1 1]*0.00005])
xlabel(’Excitaion Freq. \omega [rad/s]’)
ylabel(’H_{12}=H_{21}’)
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H12 = H21 for the 3DOF System

−5
x 10
5
1
21
ω1 ω2 ω3
H =H
0
12
−1
−2
−3
−4
−5
0 50 100 150 200 250 300 350
Excitaion Freq. ω [rad/s]
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The same results can be plotted in the semi-log

coordinates, which make the changes in the FRFs
more prominent:
figure
semilogy(w,abs(H12));
grid
axis([0 max(w) [0 0.001]])
xlabel(’Excitaion Freq. \omega [rad/s]’)
ylabel(’log(H_{12})’)
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H12 = H21 in Semi-Log Coordinates

−3
10
−4
10
−5
10
log(H12)
−6
10
−7
10
ω1 ω2 ω3
−8
10
0 50 100 150 200 250 300 350
Excitaion Freq. ω [rad/s]
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RESONANCES AND ANTI-RESONANCES
Hii
Ω1 Ω2
O u u u u u
ω
ω1 ω2 ω3
(a)
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Q0 cos ωt ω=Ω
j
O ?
~ ~ ~ j -
j
x
y ?
j
O j ~ ~ j -
j j
x
y ? (b)
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r √ q
Q0 sin ωt ω1 = 2 − 2 T /(mL)
√ q
ω2 =r 2 T /(mL)
√ q
ω3 = 2 + 2 T /(mL)

T u
m ?
~
m ~
m ~
T - -
O x

L -
L -
L -
L -
y ?
(a)
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y1 H11
2
1
ω1 ω2 ω3 ω
u u u
O
−1
−2
(b)
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y2 H21
2
1
ω1 ω2 ω
u u u
O
ω3
−1
−2
(c)
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y3 H31
2
1
ω1 ω2 ω3 ω
u u u
O
−1
−2
(d)
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q
Q0 sin ωt, where ω = ω2 = 2T /(mL)
y2 = 0
m ~ y3
6
T O 6 m ? 6 T
u s ~ s - -
y1 ? ? x
? ~
m

L -
L -
L -
L -
y ?
(a)
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y1, H12,
y3 H31
1 ω1 ω2
2 u u u
O ω3 ω
(b)
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y2 H22
1
ω1 ω2 ω3 ω
u u u
O
(c)
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u21u11 u22u12 u23u13

H12(ω2) = 2 2 + 2 2 + 2 2 =
ω1 − ω2 ω2 − ω2 ω3 − ω2
q √
(2) · 1 0·1 − 2·1
= 2 2 + + 2 2 6= ±∞;
ω1 − ω2 0 ω3 − ω2
u21u21 u22u22 u23u23
H22(ω2) = 2 2 + 2 2 + 2 2 =
ω1 − ω2 ω2 − ω2 ω3 − ω2
√ √ √ √
2· 2 0·0 (− 2) · (− 2)
= 2 2 + + 2 2 6= ±∞;
ω1 − ω2 0 ω3 − ω2
u21u31 u22u32 u23u33
H32(ω2) = 2 2 + 2 2 + 2 2 =
ω1 − ω2 ω2 − ω2 ω3 − ω2
√ √
2·1 0 · (−1) (− 2) · 1
= 2 2 + + 2 2 6= ±∞.
ω1 − ω2 0 ω3 − ω2
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COMMENTS on AUTOMOTIVE
SUSPENSION
   
xc.g.





q1 















 
 
 

yc.g.






q2 

















   
zc.g. q3

 
 
 

   
{q} =  = ;




θx  







q4 




 
 
 







θ y












q 5






   
 θz   q 

 
 
 
6
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For mount-1 (ax > 0 and ay > 0):
zmount1 = zc.g + ay θx − axθy =

= q3 + ay q4 − axq5
zmount1 zc.g θx θy
= + ay − ax =
Q3 Q3 Q3 Q3
q3 q4 q5
= + ay − ax =
Q3 Q3 Q3
= H33 + ay H43 − axH53 =
= H33 + ay H34 − axH35.
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TUTORIAL:
ANIMATIONS USING
MATLAB
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EXAMPLE-1:
ROTATING LINE (’ARROW’)
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%% AUTO1029 TUTORIAL 2014

% ANIMATION EXAMPLE-1: Rotating Line
% Programmed by P.M.Trivailo
%--------------------
% Draw Provision of the Arrow
R=10;
gg=line(’XData’,[0 R],’YData’,[0 0],...
’Color’,[0 0 1],’LineWidth’,4);
axis([-1 1 -1 1]*11); axis square; grid
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%% ANIMATION OF THE ROTATING LINE

th=[0:1:360]*pi/180;
for ii=1:size(th,2),
thii=th(ii);
XX=[0 R*cos(thii)]; YY=[0 R*sin(thii)];
set(gg,’XData’,XX,’YData’,YY);
drawnow
pause(0.1)
end
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EXAMPLE-2: CLOCKS by PMT
28.03.2012
12
11 1
10 2
9 3
8 4
7 5
6
RMIT, AEROSPACE ENGINEERING
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EXAMPLE-3: ANIMATED SPIRALS

90
10
120 60
8
6
150 30
4
180 0
210 330
240 300
270
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%% ANIMATED SPIRALS
% Programmed by Prof P.M.TRIVAILO
% 2014
%-------------------
%% Create the First Spiral

th1=[0:1:360]*3*pi/180;
rr1=linspace(0,10, size(th1,2));
polar(th1,rr1);
pp1=polar(th1,rr1);
set(pp1,’LineWidth’,2,’Color’,[1 0 0]);
hold on
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%% Create the Second Spiral

th2=[0:1:360]*3*pi/180;
rr2=linspace(0,10, size(th2,2));
polar(th2,rr2);
pp2=polar(th2,rr2);
set(pp2,’LineWidth’,2,’Color’,[0 0 1]);
%% Animate the Both Spirals

for th1m=[0:1:360]*20*pi/180;
XX1=rr1.*cos(th1+th1m); YY1=rr1.*sin(th1+th1m);
XX2=rr1.*cos(th1-th1m); YY2=rr1.*sin(th1-th1m);
set(pp1,’XData’,XX1,’YData’,YY1);
set(pp2,’XData’,XX2,’YData’,YY2);
pause(0.1)
end
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EXAMPLE-4: ANIMATED MASS

5
−1
−2
−3
−4
−5
0 1 2 3 4 5 6 7 8 9 10
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%% TUTORIAL 2014
% Programmed by P.M.Trivailo
%---------------
% Enter Parameters of the trolley & spring
LL=2; HH=1; % length & hight
LLL=4; NN=10; r1=0.3; % length, no of coils, radius
r2=0.1*LL;
% Draw Provision of the Trolley

X1=LLL+[0 LL LL 0 0]; Y1=[0 0 HH HH 0]-HH/2;
gg1=line(’XData’,X1,’YData’,Y1,’Color’,[0 0 1],’LineWidth’,4);
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% Draw Provision of the Spring

X2=[0:0.01:NN]*LLL/NN; Y2=r1*sin((LLL*NN/2/pi)*X2);
th=[0:10:360]*pi/180;
X3=LLL+0.2*LL+r2*cos(th); Y3=r2*sin(th)-r2-HH/2;
X4=LLL+0.8*LL+r2*cos(th); Y4=r2*sin(th)-r2-HH/2;
axis([0 10 -5 5]);
%axis equal; grid on
axis square; grid on
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% Create displacements-array
t=[0:.005:8];
dd=3*sin(5*t);
%% run an Animation Cycle

for ii=1:size(t,2);
ddii=dd(ii);
set(gg1,’XData’,X1+ddii);
X2new=X2*(LLL+ddii)/LLL;
set(gg2,’XData’,X2new);
drawnow
% pause(0.01)
end
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OUTLOOK:
STATE-SPACE,
GENERAL RESPONSE,
MATLAB/SIMULINK
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Lectures 4-5:
GENERAL RESPONSE
BY STATE-SPACE METHOD
• Review:
EOM of the n-DOF in Matrix Form
• General Response - Damped/Undamped Systems
State-Space Method
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MATRIX EQUATION OF MOTION
Equation of Motion of a Damped n-DOF System
[m]{q̈(t)} + [c]{q̇(t)} + [k]{q(t)} = {Q(t)} (4)
Equation of Free Motion of an Undamped n-DOF System
[m]{q̈(t)} + [k]{q(t)} = {0} (5)
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EOM in STATE-SPACE FORM
Let us define a new 2n × 1 vector, {x(t)}, as

follows:
{x(t)} = [q(t) q̇(t)]T ,
where {q(t)} is the n × 1 vector of displacements

and {q̇(t)} is the n × 1 vector of velocities.
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To reformulate the EOM in terms of the new

variable {x(t)}, we write an identity for the {q̇} and
add to it the rearranged original equation (4):
{q̇} = {q̇}
{q̈} = −[m]−1[c]{q̇} − [m]−1[k]{q} + [m]−1{Q(t)}
or
{q̇} = [ 0 ] {q}+ [I ] {q̇}+ [ 0 ] Q(t);

{q̈} = −[m]−1[k] {q}+ −[m]−1[c] {q̇}+ [m]−1 Q(t).
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These Eqs. can be presented in the compact form

(so called state space form):
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State-Space EOM for n-DOF System

(form one)
{ẋ(t)} = [A]{x(t)} + [B]{Q(t)},
 
q(t) 
where {x(t)} = ;
q̇(t) 2n×1

[0] | [I ]

(6)
 
[A] = 





;
−[m]−1[k] | −[m]−1[c] 2n×2n
 

[0] 
[ B ] =  
 .
[m]−1 2n×n

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Alternatively, the same equations of motion of the

vibrating system can be written in the similar form
for the different 2n × 1 vector,
{x̃(t)} = [{q̇(t)} {q(t)}]T
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State-Space EOM for n-DOF System

(form two)
˙
{x̃(t)} = [A]{x̃(t)} + [B]{Q(t)},
 
q̇(t) 
where {x̃(t)} = ; 
q(t) 2n×1

−[m] −1[c] | −[m]−1[k]

(7)
 
[ A ] =  


;
[I ] | [0] 2n×2n
 
[m] −1
 
[ B ] =  


.
[0] 2n×n
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The methods for solving the first-order differential

equations are very well developed in mathematics
and are implemented in the highly efficient
mathematical computer software, like MATLAB.
Therefore, the reformulation of the differential
equations of the vibrating system in any of the
form (6) or (7) are very often used in practical
applications, enabling an engineer to easily
integrate many complex matrix equations of
motion for damped and undamped systems using
computer packages.
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The eigenvalue problem for the state-space

equation is formulated as follows:
{x(t)} = eλt{u},
[ A ]{u} = λ{u}, or ([ A ] − λ[ I ]){u} = {0}.
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EXAMPLE 1: 1-DOF MASS-SPRING

DAMPED SYSTEM’s EOM in
STATE-SPACE FORM
m q̈(t) + c q̇(t) + k q(t) = u(t)
First we need to express the differential EOM of

the system as a set of simultaneous first order
eqs.
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To do so, we define the position and velocity of

the mass as the state-variables x1 and x2, so that
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x1(t) = q(t) and x2(t) = q̇(t). Then
ẋ1 = x2;
k c 1
ẋ2 = − x1 − x2 + u
m m m
The state-space form of the EOM is:

      
 ẋ1   0 1   x1   0 
 =  + u (8)
 
 
ẋ2 −k/m −c/m x2 1/m
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If the output of the system is y = x1 = q (system’s

position), it can be expressed in the matrix form
(also known as output equation):
 

 x1 
y= 1 0 
  (9)
x2
Eqs (8-9) can be written in the compact form:
ẋ = A x + B u
y = Cx+Du
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where A, B, C and D are the state-variable-form

matrices:
   
0 1   0 

A= 
 ; B = 
 ; C =
 1 0 ; D = 0.
−k/m −c/m 1/m
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EXAMPLE 2: SIMPLE CRUISE CONTROL

MODEL
We will write the EOM for the speed and forward
motion of the car assuming that the engine
imparts a forward force u.
Solution For simplicity we assume that the

rotational intertia of the wheels is negligible and
that there is friction retarding the motion of the
car, friction that is proportional to the car’s speed.
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The car then can be approximated for modelling

purposes using the free-body diagram. The
cooredinates of the car’s position q(t) is the
distance from the reference line and chosen so that
positive is to the right.In this case the intertial
acceleration is simply the second derivative ox q(t)
because the car position is measured with respect
to an inertial reference. The EOM is found as
follows:
m q̈(t) + c q̇(t) = u(t)

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First we need to express the differential EOM of

the system as a set of simultaneous first order
eqs.
To do so, we define the position and velocity of

the mass as the state-variables x1 and x2, so that
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x1(t) = q(t) and x2(t) = q̇(t). Then
ẋ1 = x2;
c 1
ẋ2 = − x2 + u
m m
The state-space form of the EOM is:

      
 ẋ1   0 1   x1   0 
 =  + u (10)
 
 
ẋ2 0 −c/m x2 1/m
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If the output of the system is y = x1 = q (system’s

position), it can be expressed in the matrix form
(also known as output equation):
 

 x1 
y= 1 0 
  (11)
x2
Eqs (10 - 11) can be written in the compact form:
ẋ = A x + B u
y = Cx+Du
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where A, B, C and D are the state-variable-form

matrices:
   
0 1 
  0 

A= 
; B = 
 ; C =
 1 0 ; D = 0.
0 −c/m 1/m
c 2014

Auto-1029: Automotive Systems & Control: Prof Pavel M. Trivailo, PHD

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Auto-1029: Automotive Systems & Control: Prof Pavel M. Trivailo, PHD

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AUTO-1029 2014 - Lectures 4-5 Slide 1

Prof Pavel M. TRIVAILO, PhD

SAMME, RMIT University, Melbourne, Australia

With Respect to the Mass Matrix:

With Respect to the Stiffness Matrix:

[u]T [m][u] = [1]

[u]T [k][u] = [ω 2].

ORTHOGONALITY: 2-DOFS EXAMPLE

USING ORTHOGONALITY TO SOLVE THE

{q0} = β1 {u}1 + β2 {u}2;

{q0} = β1 {u}1 + β2 {u}2;

{q0} = β1 {u}1 + β2 {u}2 =

3-DOF system, admitting rigid body motion.

ω 2 {X}T [m]{X} = {X}T [k]{X}.

{X} = {1; 1; 1}.

The RHS of the Eq above is zero, thus the LHS

[m]{q̈(t)} + [c]{q̇(t)} + [k]{q(t)} = {Q(t)}

[c] = α[m] + β[k] , (α, β are real constants),

Frequency Response Function

MATLAB Interactive Demo by PMT: H12

Numerical EXAMPLE for 2dof system: H12

In our case, we wish to calculate and plot H12, there-

%% FRF: 2-DOF EXAMPLE

% Solve Eigenvalue Problem

% Specify the range for the w

% Calculate the H12 FRF:

% Plot results: w versus H12

xlabel(’Excitation Freq. \omega [rad/s]’)

% Change axis limits for better view of the FRF

% Mark natural frequencies w1 & w2 on the plot

H12 = H21 for the 2DOF System

The same results can be plotted in the semi-log

% Plot results: w versus 20*log(abs(H12))

% Mark natural frequencies w1 & w2 on the plot

line(’XData’,[1 1]*w1,’YData’,ax2(3:4),’Color’,[1 0 0]);

H12 = H21 in Semi-Log Coordinates

NUMERICAL EXAMPLE for 3dof System: H12

u21 u11 u22 u12 u23 u13

H12 = H21 for the 3DOF System

The same results can be plotted in the semi-log

H12 = H21 in Semi-Log Coordinates

RESONANCES AND ANTI-RESONANCES

u21u11 u22u12 u23u13

For mount-1 (ax > 0 and ay > 0):

zmount1 = zc.g + ay θx − axθy =

%% AUTO1029 TUTORIAL 2014

%% ANIMATION OF THE ROTATING LINE

EXAMPLE-2: CLOCKS by PMT

RMIT, AEROSPACE ENGINEERING

EXAMPLE-3: ANIMATED SPIRALS

%% Create the First Spiral

%% Create the Second Spiral

%% Animate the Both Spirals

EXAMPLE-4: ANIMATED MASS

% Draw Provision of the Trolley

% Draw Provision of the Spring

%% run an Animation Cycle

MATRIX EQUATION OF MOTION

Equation of Motion of a Damped n-DOF System

[m]{q̈(t)} + [c]{q̇(t)} + [k]{q(t)} = {Q(t)} (4)

Equation of Free Motion of an Undamped n-DOF System

[m]{q̈(t)} + [k]{q(t)} = {0} (5)

EOM in STATE-SPACE FORM