Laboratory # 3 Linear motion

Flight Dynamics
Group 118/318
Paola Elizabeth Sanchez Mireles 1606951
Centro de Investigacin e Innovacin en Ingeniera Aeronutica
Facultad de Ingeniera Mecnica y Elctrica
Universidad Autnoma de Nuevo Len

Abstract The work shows the use of SIMULINK for

modeling of mechanical systems. As an example a mechanical
model of one mass-spring-damper is solved by this toolbox for the
MATLAB/ Simulink environment and also by the use of
differential equations.
Key Words: Mass Spring Damper System, Damping, Simulink
Model

I.

B. Inputs
The previous system is said to be autonomous since it is not
exposed to external influences. Non-autonomous systems do
have external inputs.
With an external force u(.) acting on the mass, we obtain

m q +c ( q )+ k q=u (t)

INTRODUCTION

Mass-spring-damped models are used to study many

practical problems in engineering. It has a linear motion, which
means its velocity, acceleration and position vary only in one
axis. In addition to design and analysis of engineering and
physical systems, these models provide insight into design of
physical experiments.
II.

BACKGROUND

A. Mathematical Model
First, One way to analyze the behavior of a dynamical
system is by means of a mathematical model. Such models are
often described by (ordinary or partial) differential equations.
Newtons second law leads to

m q +c ( q )+ k q=0 .

Fig 2. Mass-Spring-Damper System Inputs

The external force u(.) typically varies with time.
Depending on the circumstances it can be interpreted as
follows:
If we are allowed to manipulate u(.) then it is called a
control input.

u(.) is generated by nature and cannot be

If
influenced/changed by us then it is called a disturbance input.
C. Outputs
Often not all variables that appear in a model are of interest.
We choose outputs in order to describe those quantities that get
focus.

Fig 1. Mass-Spring-Damper System

q denotes the position of the mass (in a chosen
and q are
coordinate system) and varies with time. q
the velocity and the acceleration.
kq is the spring restoring force (assumed to satisfy
) is the friction force which can
Hookes law) and c c ( q
depend nonlinearly on the velocity.

If we are only interested in the po- sition of the mass, the

output y is

m q +c ( q )+ kq=u , y =q .
For some control input
y (.)
trajectory, the output
Interpretations of outputs:

y (.)

and along a system

will be a function of time.

sensors).

is a variable that can be measured (through

Refreshing our system, we obtain:

y indicate a variable which we would like to monitor

in order to investigate/analyze the properties of the system (in
simulation).

III.

SIMULINK ANALISYS

The equation is defined and introduced to SIMULINK using

integrators to simulate and operate the changes in the system.
Then we establish the coefficients and also place a scope to
obtain the graphics.
The diagram will be showed next:

Fig 5. Mass-spring-damper step graph

The stabilazing is almost the same and a change in
the beginning is due to the step function. The frecuency of our
system doesnt change.
3. Obtain the system performance for f(t) = 0, x1(0)=1, x2(0)=2, k=1 N/m, b=1 Ns/m and m=1Kg. f(t) is the ramp function
We obtain:

Fig 3. Diagram blocks in SIMULINK

1. Simulate the system for f(t) = 0, x1(0)=1, x2(0)=-2, k=1
N/m, b=1 Ns/m and m=1Kg. f(t).
Once the simulation is done, we obtain:

Fig 6. Mass-spring-damper ramp graph

Because of an increasing force the system does not stabilize at
any point.

Fig 4. Mass-spring-damper constant graph

The system stabilize nearly 50 seconds after the starting point.

4. Now we change the parameters for f(t)=0, x1(0)=-3,

x2(0)=2, k=10 N/m, b=5 Ns/m and m=2.5Kg.
We simulate our modified system with a constant, step and
ramp function.

2. Obtain the system performance for f(t) = 0, x1(0)=1, x2(0)=2, k=1 N/m, b=1 Ns/m and m=1Kg. f(t) is the step function

Fig 7. Mass-spring-damper constant graph

It is shown from the Scope1 that there is no

oscillations By changing the parameters we can see that in
the constant and step it does stabilize nearly at the same point
in time but in the ramp function it doesnt stabilize at all as
the other example.

CONCLUSION
Fig 8. Mass-spring-damper step graph

We conclude that a spring mass damper system, which is

widely used in mechanical applications, can be well
represented and simulated on a computer to reproduce real-life
situations and accurately predict different conditions and
outputs desired.
Thus it can be used to design systems, which have not been
manufactured for testing.

REFERENCES
[1]

[2]

Fig 4. Mass-spring-damper ramp graph

http://www.mathworks.com/help/ident/gs/about-systemidentification.html
2015 - NCS Pearson.
Shtessel, Yuri; Edwards, Christopher.; Fridman Leonid; Levant, Arie.
Sliding Mode Control and Observation. 2014. XVII. P. 168.