Assignment No.

Group 16

Problem statement: Read about Coulomb damping (Ref: Meirovitch). Find the free vibration response of a spring-mass system subject to Coulomb damping using Matlab for the following data. m= 5 kg , k = 100 N/m, = 0.5, u0 = 0 m and 0 = 2 m/s. ------------------------------------------------------------------------------------------------------------------------------Solution: When a frictional force acts on an oscillating spring mass system, the phenomenon of coulomb damping is observed. The governing equations for the coulomb damping are written as

mx + kx = Fd for x > 0 mx + kx = Fd for x < 0

(1) (2)

Dividing by m, Eqs. (1) and (2) are reduced to the following forms (Eqs. (3) and (4), respectively):
2 2 + n x = n f d for x > 0 x 2 2 + n x = n f d x

(3) (4)

for x < 0

General solution of Eqs. (3) and (4) are given by (Eqs. (5) and (6), respectively)

x = A cos(nt ) f d x = A cos(nt ) + f d
The following initial conditions have been prescribed.

for x > 0 for x < 0

(5) (6)

x (0) = 0

x(0) = 2

(7)

With reference to the initial condition on the velocity, the mass moves in the positive x direction till its velocity becomes zero at the positive extreme of the oscillation. During its travel from the mean position to the positive extreme, the velocity is positive and hence, Eq. (3) governs the motion. Making use of the two initial conditions and Eq. (5), we arrive at the following values of amplitude and phase:

x(0) A1 = + ( fd n

(8)

1 = tan 1

x(0) f d n

(9)

Note that, the subscript 1 represents the motion of the mass from the mean position to the positive extreme. Since the velocity of the oscillating mass is zero at the positive extreme, we set the time derivative of Eq. (5) to zero in order to obtain the following values of time required to travel from the mean position to the positive extreme, and the displacement:

t1 =

1 n

(10)

x1 = A1 f d

(11)

The mass now starts from the positive extreme and travels in the negative x direction. The velocity of the mass is negative during this travel and hence Eq. (6) governs the motion. The initial conditions for this segment of travel are:

x (0) = x1

x (0) = 0

(12)

These initial conditions together with Eq. (6) give the following values of the amplitude and phase:

A2 = A1 2 f d

(13) (14)

2 = 0

The subscript 2 represents the motion of the mass from positive extreme to the negative extreme. The velocity of the mass again becomes zero, once it reaches the negative extreme. Setting the time derivative of Eq. (6) to zero, we obtain the time required to travel from the positive extreme to the negative extreme and the resulting displacement as

t2 =

(15)

x2 = 3 f d A1

(16)

At the negative extreme, since the frictional force is greater than the restoring spring force, the mass comes to rest. Figure 1 shows the comparison of the analytical solution and the numerical solution obtained using MATLAB ODE solver. An excellent agreement between the two plots is observed

Figure 1. Comparison of analytical solution and numerical solution obtained using MATLAB MATLAB Code function f = dfunc(t,x) f = zeros(2,1); f(1) = x(2); f(2) = - 9.81*0.5*sign(x(2)) - (100/5)*x(1);

% This program will use the function dfunc.m, they should % be in the same folder tspan = [0: 0.01: 4]; x0 = [0; 2]; [t,x] = ode45('dfunc', tspan, x0); disp(' t x(t) xd(t)'); disp([t x]); plot(t,x(:,1)); xlabel('t'); gtext('x(t)'); title('Displacement Plot');

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