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BAE 2012
15

Spring/Mass/Damper system example

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BAE 2012
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• Example of a shock absorption system

– http://cherokeesprayer.okstate.edu/bitmaps/side.jpg
– http://nue.okstate.edu/VRT_Applicator/2003/Field_Scale_VRT2003.htm
– http://www.deere.com/servlet/com.deere.u90785.productcatalog.view.se
rvlets.ProdCatProduct?tM=FR&pNbr=4720XN
– http://www.caseih.com/products/series.aspx?&navid=105&RL=ENNA&s
eriesid=32&lineid=16&featuresid=7058
– Purpose to allow high machine speeds under undulating field
conditions
• 10 mph vs 20 mph field speeds double the machines capacity
• 20 to 40,000 acres per year coverage is necessary for the machine to be cost
effective
• Design task
– Select effective shock absorbers that will allow necessary machine
speeds while preventing frame failures and adequately smooth boom
travel.
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Damper model BAE 2012
15

Flow through an orifice Definition of pressure

Fc
P Fc
Q  Cd Ao P
 Ac

  Ac ( y  yr  yconst ) dy Fc
Ac  Cd Ao
d  Ac dy
dt Ac
d dy dy Cd Ao Fc
yr  Ac 
Orifice
dt dt dt Ac Ac
d dy
y  Ac Q dy Cd Ao
dt dt  Fc
dt Ac3
v 2
 dy 
Fc  K  
 dt 
This can be linearized using a Taylor series expansion
dy
Fc  C
dt
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Spring equation BAE 2012
15
Fs

Fs  ky

y
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Suspension schematic BAE 2012
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y  yo  ys  yin

dy d  yo  ys  yin  dyo dyin

  
dt dt dt dt

Yo

Ys

Yin
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Force balance BAE 2012
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Mg Fs Fc

F y  Ma  Mg  Fc  Fs
d 2 yo
M 2
  Mg  Fc  Fs
dt
 11/15/05 First order, linked, linear, 7
ordinary D. E.s BAE 2012
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dyo dv d 2 yo
v a 
dt dt dt 2
d 2 yo dv
M  M   Mg  Fc  Fs
dt 2 dt
dv
M   Mg  Fc  Fs
dt
dyo dv
v M   Mg  Fc  Fs
dt dt
Fs  ky dyo
dy v
Fc  C dt
dt
Need these in terms of yin and yo Fs  k ( y0  yin  ys )
y  yo  ys  yin
 dy dy 
Fc  C  o  in 
dy d  yo  ys  yin  dyo dyin  dt dt 
  
dt dt dt dt
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Simulink form BAE 2012
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• Re-arrange in integral form for Simulink

dv  Fc Fs 
M   Mg  Fc  Fs v   g   dt
dt  M M
dyo
v yo   vdt
dt
Fs  k ( y0  yin  ys ) Fs  k ( y0  yin  ys )

 dy dy   dyo dyin 
Fc  C  o  in  Fc  C  
 dt dt   dt dt 
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Simulink BAE 2012
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• Simulink Model (Matlab)  Fc Fs 
v   g   dt
 M M
yo   vdt
Fs  k ( y0  yin  ys )

 dy dy 
Fc  C  o  in 
 dt dt 
1
Y o-Y in Fs

Yin Ks
1 1
.5
s Mv v =dY o/dt s Y0
du/dt .5
dY in/dt Fc Integrator1 1/M Integrator2 Scope
Derivative C

0
Mg

Mg

v =dY o/dt
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System Diagram BAE 2012
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• Consider the following suspension system.
• Solve for y given yin

Mg

y
ys

Suspension system
example:
yin
MacPherson Strut
 11/15/05 Derivation of 11
BAE 2012
fundamental equations 15
Forces in the y direction on “M”:
d2y d ( y  ( ys  yin ))
 Fm  M dt 2  Mg  C dt
 K ( y  ( ys  yin ))

At steady state:

F m  0  Mg  0  K ( yss  ( ys  yinss ))

Subtracting the steady state equation from the original:

d2y d ( y  yin )
M 2  0C  K ( y  yss  ( yin  yinss ))
dt dt
Replacing the y in the derivitive dy d ( y  yss ) dY
terms with Y:  
dt dt dt
d 2Y d (Y  Yin )
M 2  0C  K (Y  Yin )
dt dt
 11/15/05 Manipulation and 12
BAE 2012
transform 15

d 2Y dY dYin
M 2 C  KY  C  KYin
dt dt dt
Transforming the equation:
Ms 2Y ( s)  CsY ( s)  KY ( s)  CsYin ( s)  KYin ( s)
( Ms 2  Cs  K )Y ( s )  (Cs  K )Yin ( s)
C
s 1
Y ( s) Cs  K K
 
Yin ( s) Ms 2  Cs  K M s 2  C s  1
K K
Selecting values for C, K, and M: C=0.1N-s/m, M=2kg, K=1N/m
Y (s) 0.1s  1
 2
Yin ( s) 2s  0.1s  1
 11/15/05 Use of MATLAB for 13
BAE 2012
Step input 15
Selecting values for C, K, and M: C=0.1N-s/m, M=2kg, K=1N/m
Y (s) 0.1s  1
 2
Yin ( s) 2s  0.1s  1

MATLAB
» n=[0.1 1]
n= 2
0.1000 1.0000
» d=[2 .1 1]
d= 1.8
2.0000 0.1000 1.0000
» step(n,d)
» 1.6

1.4

1.2
Amplitude

0.8

0.6

0.4
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BAE 2012
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Selecting values for C, K, and M: C=1N-s/m, M=2kg, K=1N/m

Y ( s) s 1
 2
Yin ( s ) 2 s  s  1

MATLAB
» n=[1,1]
n= 1.5
1 1

» d=[2,1,1]
d=
2 1 1

» step(n,d)

1
Amplitude

0.5
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BAE 2012
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Selecting values for C, K, and M: C=100N-s/m, M=2kg, K=1N/m

Y ( s) 100s  1
 2
Yin ( s) 2s  100s  1

MATLAB
» n=[10,1]
n= 1
100 1

» d=[2,10,1] 0.9
d=
2 100 1
0.8
» step(n,d)

0.7

0.6
Amplitude

0.5

0.4

0.3

0.2