Lab Experiment 3

A- Study and TRY mathematical modeling of a Physical System

Objective:
The Objective of this lab is to grasp the important role of mathematical models of physical systems in the design
and analysis of control systems. We will learn how MATLAB helps in solving such models.
Mass Spring System Model:
Consider the following Mass-Spring system shown in the figure. Where Fs(x) is the spring force, Ff( ẋ ) is the
friction coefficient, x(t) is the displacement and Fa(t) is the applied force:

Where

and

According to the laws of physics

(1)
In the case where:

The differential equation for the above Mass-Spring system can then be written as follows

(2)
B is called the friction coefficient and K is called the spring constant.
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The linear differential equation of second order (2) describes the relationship between the displacement and the
applied force. The differential equation can then be used to study the time behavior of x(t) under various changes
of the applied force. In reality, the spring force and/or the friction force can have a more complicated expression or
could be represented by a graph or data table. For instance, a nonlinear spring can be designed such that

In such case, (1) becomes

(3)
Equation (3) represents another possible model that describes the dynamic behavior of the mass-damper system
under external force. Model (2) is said to be a linear model whereas (3) is said to be nonlinear.
Solving the differential equation using MATLAB: The objectives behind modeling the mass-damper system can be
many and may include
 Understanding the dynamics of such system
 Studying the effect of each parameter on the system such as mass M, the friction coefficient B, and the
elastic characteristic Fs(x).
 Designing a new component such as damper or spring.
 Reproducing a problem in order to suggest a solution.
The solution of the difference equations (1), (2), or (3) leads to finding x(t) subject to certain initial conditions.
MATLAB can help solve linear or nonlinear ordinary differential equations (ODE). To show how you can solve
ODE using MATLAB we will proceed in two steps. We first see how can we solve first order ODE and second
how can we solve equation (2) or (3).
MATLAB Modeling:
Assume the spring force Fs(x) = Kxr(t). The mass-spring damper is now equivalent to

The second order differential equation has to be decomposed in a set of first order differential equations as follows

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The ode45 solver can be now be used:
1_ create a MATLAB-function mass_spring.m
Function dXdt=mass_spring(t, X)
%flow rate
M=750; %(Kg)
B=30; %( Nsec/m)
Fa=300; %N
K=15; %(N/m)
r=1;
% dX/dt
dXdt(1,1)=X(2);
dXdt(2,1)=-B/M*X(2)-K/M*X(1)^r+Fa/M;

2_ in MATLAB write

>> X0=[0; 0]; %(initial speed and position)

>> options = odeset('RelTol',[1e-4 1e-4],'AbsTol',[1e-5 1e-5],'Stats','on');
>>[t,X]=ode45('mass_spring', [0 200],X0);

Post Lab 3(A)

Consider the mechanical system depicted in the figure. The input is given by f(t), and the output is given by y(t).
Determine the differential equation governing the system and using MATLAB, write a m-file and plot the system
response such that forcing function f(t)=1. Let m=10, k=1 and b=0.5. Show that the peak amplitude of the output is
about 1.8.

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 Creating M-
file to
Creating
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produce
M-file for the
parameter plot.
values.

2SIMULINK Block Diagram:

Output:

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Making Subplots in MATLAB:

Creating
M-file to
make
subplot.

Output:

Simulation with system parameter variation

The effect of changing B is to alter the amount of overshoot or undershoot. These are related to a
term called the damping ratio. Simulate and compare the results of the variations in B in exercise
1. Take values of B = 4, 8, 12, 25 N-s/m.

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 Create M-file to use “sim” function and produce multiple runs and
their plots

Output:

Exercise 3: System response from the stored energy with zero input
Find the response of the above system when there is no input for t ≥0, but when the initial value
of the displacement x(0) is zero and the initial velocity v(0) is 1 m/s.

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Output:

B- IMITATE the modeling of Physical System using SIMULINK

Objective:
The Objective of this exercise is to use graphical user interface diagrams to model the
physical systems for the purpose of design and analysis of control systems. We will learn
how MATLAB/SIMULINK helps in solving such models.
Simulink:
This lab introduces powerful graphical user interface (GUI), Simulink of MATLAB. This
software is used for solving the modeling equations and obtaining the response of a system to
different inputs. Both linear and nonlinear differential equations can be solved numerically
with high precision and speed, allowing system responses to be calculated and displayed for
many input functions.
SUM (Math library)
A dialog box obtained by double-clicking on the SUM block performs the configuration of
the SUM block, allowing any number of inputs and the sign of each.

GAIN (Math library)

A gain block is shown by a triangular symbol, with the gain expression written inside if it
will fit. If not, the symbol - k - is used. The value used in each gain block is established in a
dialog box that appears if the user double-clicks on its block.

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INTEGRATOR (Continuous library)
The block for an integrator as shown below looks unusual. The quantity 1/s comes from the
Laplace transform expression for integration. When double-clicked on the symbol for an
integrator, a dialog box appears allowing the initial condition for that integrator to be
specified. It may be implicit, and not shown on the block, as in Figure (a). Alternatively, a
second input to the block can be displayed to supply the initial condition explicitly, as in part
(b) of Figure. Initial conditions may be specific numerical values, literal variables, or
algebraic expressions.

(a) implicit initial condition (b) explicit initial condition

CONSTANTS (Source library)
Constants are created by the Constant block. Double- clicking on the symbol opens a dialog
box to establish the constant’s value. It can be a number or an algebraic expression using
constants whose values are defined in the workspace and are therefore known to MATLAB.

STEP (Source library)

A Simulink block is provided for a Step input, a signal that changes (usually from zero) to a
specified new, constant level at a specified time. These levels and time can be specified
through the dialog box, obtained by double-clicking on the Step block.

SIGNAL GENERATOR (Source library)

One source of repetitive signals in Simulink is called the Signal Generator. Double-clicking
on the Signal Generator block opens a dialog box, where a sine wave, a square wave, a ramp
(sawtooth), or a random waveform can be chosen. In addition, the amplitude and frequency
of the signal may be specified. The signals produced have a mean value of zero. The
repetition frequency can be given in Hertz (Hz), which is the same as cycles per second, or in
radians/second.

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SCOPE (Sinks library)
The system response can be examined graphically, as the simulation runs, using the Scope
block in the sinks library. This name is derived from the electronic instrument, oscilloscope,
which performs a similar function with electronic signals. Any of the variables in a Simulink
diagram can be connected to the Scope block, and when the simulation is started, that
variable is displayed. It is possible to include several Scope blocks. Also, it is possible to
display several signals in the same scope block using a MTJX block in the signals & systems
library. The Scope normally chooses its scales automatically to best display the data.

(A scope block with MUX block)

Two additional blocks will be needed if we wish to use MATLAB to plot the responses
versus time. These are the Clock and the To Workspace blocks.
CLOCK (Sources library)
The clock produces the variable “time” that is associated with the integrators as MATLAB
calculates a numerical (digital) solution to a model of a continuous system. The result is a
string of sample values of each of the output variables. These samples are not necessarily at
uniform time increments, so it is necessary to have the variable “time” that contains the time
corresponding to each sample point. Then MATLAB can make plots versus “time.” The
clock output could be given any arbitrary name; we use “t” in most of the cases.

To Workspace (Sinks library)

The To Workspace block is used to return the results of a simulation to the MATLAB
workspace, where they can be analyzed and/or plotted. Any variable in a Simulink diagram
can be connected to a ToWorkspace block. In our exercises, all of the state variables and the
input variables are usually returned to the workspace. In addition, the result of any output
equation that may be simulated would usually be sent to the workspace. In the block
parameters drop down window, change the save format to ‘array’.

In the Simulink diagram, the appearance of a block can be changed by changing the
foreground or background colors, or by drop shadow or other options available in the format
drop down menu. The available options can be reached in the Simulink window by
highlighting the block, then clicking the right mouse button. The Show Drop Shadow option
is on the format drop-down menu.

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Mass Spring System Model:
Consider the following Mass-Spring system shown in the figure. Where F s(x) is the spring
force, Ff( ẋ ) is the friction coefficient, x(t) is the displacement and Fa(t) is the applied force:

The differential equation for the above Mass-Spring system can then be written as follows

(1)
For Non-linear such case, (1) becomes

(2)
Modelling of a Second Order System:
Construct a Simulink diagram to calculate the response of the Mass-Spring system. The input
force increases from 0 to 8 N at t = 1 s. The parameter values are M = 2 kg, K= 16 N/m, and
B =4 N.s/m.
Steps:
 Draw the free body diagram.
 Write the modeling equation from the free body diagram
 Solve the equations for the highest derivative of the output.
 Draw a block diagram to represent this equation.
 Draw the corresponding Simulink diagram.
 Use Step block to provide the input fa(t).
 In the Step block, set the initial and final values and the time at which the step occurs.
 Use the “To Workspace” blocks for t, fa(t), x, and v in order to allow MATLAB to
plot the desired responses. Set the save format to array in block parameters.
 Select the duration of the simulation to be 10 seconds from the Simulation >
Parameters entry on the toolbar
Given below is a file that will set up the MATLAB workspace by establishing the values of
the parameters needed for the Simulink simulation of the given model.
M-file for parameter values:
% This file is named exl_parameter.m.
% Everything after a % sign on a line is a comment that
% is ignored by M This file establishes the
% parameter values for exl_model.mdl.
%

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M=2; %kg
K= 16; %N/m
B=4; % Ns/m
Simulink block diagram:

Plotting the outputs in MATLAB:

The file to create the plots of the output is given below. Create the file and save it by the
name given below.
M-file to produce the plot
% This file is named exl_plot.m.
% It makes a plot of the data produced by exl_model.mdl.
plot(t,x); grid % Plots x for the case with B=4.
xlabel(’Time (s)’);
ylabel (‘Displacement (m) ')
A semicolon in a physical line ends the logical line, and anything after it is treated as if it
were on a new physical line. A semicolon at the end of a line that generates output to the
command window suppresses the printing of that output.
Program Execution:
Follow the following steps to execute these files:
 Enter the command exl_parameter in the command window. This will load the
parameter values of the model.
 Open the Simulink model exl_model.mdl and start the simulation by clicking on the
toolbar entry Simulation> Start.
 Enter the command exl_plot in the command window to make the plot.
Making Subplots in MATLAB:
When two or more variables are being studied simultaneously, it is frequently desirable to
plot them one above the other on separate axes, as can be done for displacement and velocity

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in. This is accomplished with the subplot command. The following M-file uses this command
to produce both plots of displacement and velocity.
M-file to make subplots
% This file is named exl_plot2.m.
% It makes both plots, displacement and velocity.
% Execute exlparameter.m first.
subplot(2,l,1);
plot(t,x); grid % Plots x for the case with B=4. xlabel (‘Time (s) ‘) ;
ylabel (‘Displacement (m) ‘); subplot(2,1,2);
plot(t,v); grid % Plots v for the case with B=4. xlabel(’Time (s)’);
ylabel(’Velocity (m per s)’);

Post Lab 3(b)

Rerun the designed model for following variations.

1. Simulation with system parameter variation

The effect of changing B is to alter the amount of overshoot or undershoot. These are related
to a term called the damping ratio. Simulate and compare the results of the variations in B.
Take values of B = 4, 8, 12, 25 N-s/m.

2. System response from the stored energy with zero input

Find the response of the above system when there is no input for t ≥0, but when the initial
value of the displacement x(0) is zero and the initial velocity v(0) is 1 m/s.
Set input = 0
Add initial conditions to integrating blocks

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 Result:

Comments:

_______________________________________________________________________________

_______________________________________________________________________________

_______________________________________________________________________________

Lab Instructor Signature: ______________________

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