D2: SECOND ORDER SYSTEM RESPONSE

Attach all graphs and extra sheets of paper to the back of this handout, with
appropriate labels. Graphs must be drawn on appropriate graph paper.
D1: Free Response (15%)
Table 1: The measured time in two peak and the their difference and natural
frequencies in free response system
T1
( s )
0.364
0.076
0.276
0.096
0.280

Run No.
1
2
3
4
5

T2
(s )
0.748
0.456
0.660
0.468
0.656

Tcycle
(s)
0.384
0.380
0.384
0.372
0.376

n
( rad/s )
16.362
16.535
16.362
16.890
16.711

By assuming that damping is negligible, approximate the natural frequency;

n

d = the average natural frequency = 16.572 rad/s

Table 2: The measured amplitude in free response system

Run No.
1
2
3
4
5

A0
( mm )
12.7
10.85
11.38
12.96
13.23

AN
( mm )
2.12
1.85
2.12
2.38
2.91

A0/AN
(

)
5.99
5.64
5.37
5.45
4.55

(A0/AN)av = 5.44

Calculate the damping ratio from the logarithmic decrement:

A0
2 N
=exp
AN
1 2

A0 2

AN

A0 2
+4 2
AN

ln
ln

Therefore, the lowest damping ratio for the system is:

Sinusoidal Response (10%)

= 0.281159D2:

Table 3(left): Sinusoidal response in measuring amplitude and phase for

10 different frequencies for lowest for the lowest damping ratio
(minimum )
Table 4(right): Sinusoidal response measuring amplitude and phase for 10
different frequencies for lowest for critical damping ratio ( = 1)
Amplitu
Amplitu
de
de

f
Phase
f
Phase
( rad/s
( rad/s
|
H
(
j)
|
|
H
(
j)
|
( Hz
(rad)
( Hz )
(rad)
)
)
)
( - )
(- )
1.6
10.05
1.39
-0.397
1.6
10.05
0.95
-0.989
1.7
10.68
1.71
-0.587
1.8
11.31
0.98
-1.159
1.8
11.31
1.73
-0.631
2.0
12.56
0.82
-1.244
2.0
12.57
1.94
-0.768
2.2
13.82
0.85
-1.251
2.2
13.82
2.22
-1.025
2.4
15.08
0.74
-1.463
2.5
15.71
2.14
-1.424
2.6
16.34
0.57
-1.539
2.8
17.59
1.97
-1.878
2.9
18.22
0.67
-1.771
2.9
18.22
1.74
-2.037
3.0
18.85
0.57
-1.746
3.1
19.48
1.49
-2.211
3.1
19.48
0.6
-1.768
3.4
21.36
1.05
-2.477
3.3
20.73
0.57
-1.916

Table 5: sinusoidal response in measuring the amplitude and phase for 10

different frequencies for intermediate damping ratio ( < 1)
Amplitude
f
( Hz
1.4
1.6
1.8
2.0
2.2
2.4
2.7
3
3.2
3.3

( rad/s
)
8.80
10.05
11.31
12.57
13.82
15.08
16.96
18.85
20.11
20.73

|H ( j)|

Phase
(rad)

( - )
1.41
1.43
1.43
1.67
1.63
1.83
1.60
1.30
1.04
1.04

-0.381
-0.609
-0.702
-0.834
-1.050
-1.353
-1.680
-2.026
-2.157
-2.224

Results (35%)
i)

Derive expressions for and n in terms of k, m and c.

n =

k
m

c
2 km

2n m

From n, derive the spring stiffness expression, k =

Calculate the spring stiffness, using the value of n already determined.

(Note: Dont forget to include the mass of frame and damper)
Total mass = mass of frame + damper piston = 4.1kg
2

16.5722 = 1125.99(N/m)

K=m n = 4.1 x

H ( j ) max
ii)

2 2
2 2

1
r
+
4
z
r

(
)

max

Show that the maximum amplitude

given by

1
2 1 2

when

0 < <

1
2

is

and the frequency at which this

peak occurs is

max=n 12 2 . Use

r=

Part 1
2 2
2 2
Let y = (1- r +4 z r

y= 4r (2

-1+

Therefore, r=
For y = 8

r 2 )= 0

12 2

-4+12 r

=8

4 +12 ( 12

) = 8 -16

When

0<<

|H ( j )max|

1
2

8 -16

<0

is at maximum when y is at minimum at 0 < <

Substitute r=

12 2

1
2

into the initial equation which give:

|H ( j )max|=

1
(1r ) +4 2 r 2

= 2 12 2

2 2

Part 2
Substitute r=

12 2

into

r=

which gives max =

n 12 2

iii)

Show that

H ( j )=

rad
2

when

H ( j )=tan1

when

= n

and

and

2 r
2
1r

( )

, r is equal to 1 and

Therefore,
iv)

= n

H ( j )=

2r
2
1r

will be +

rad
2

From your amplitude and phase results for the lowest value of
damping, determine:
(1) Natural frequency from the phase plot (from the point where phase
= -/2 rad)
n = 16.5 rad/s
(2) Average of this value and the value already determined from free
response (D1)

Average natural frequency =

16.5+16.572
2

= 16.536 rad/s

(3) Estimate from the value of maximum amplitude.

|H ( j)max|=

(HINT: use equation

|H ( j)max|
2.22=
And

1
2 1 2

= 2.22

1
2 1 2
4 2 (1 2)

2
,2 1 = 0.4505

= 0.202906

4
- 0.050726 = 0

2
And let = x
2
x- x - 0.050726 = 0

x=0.946401 or x= 0.053599

=0.972831 or

Therefore,

=0.231515

=0.231515

(4) Estimate from the bandwidth approximation (use your average

value of n).
Bandwidth = 2

Bandwidth = 19.5-10.2 = 9.3

10.3 = 2*16.536 *

= 0.311

(5) Estimate from the frequency at max amplitude (use your average
value of n).
At Max amplitude =2.2,
=16.536

max

= 13.82301 and average n

 max=ave 12 2

max 2

ave

= 1

13.82301 2

16.536

=
1

= 0.388

(6) Determine the average value of from the four estimates (cases 3,
4, 5 and free response).

average=

v)

0.281159+ 0.231515+0.311+0.388
4

= 0.303

Determine the value of for the intermediate case using the frequency
at the maximum amplitude (use n from free response).
At Max amplitude =2.4,

15.07964 2

16.572

=
1

= 0.290

max

= 15.07964 and average n =16.536

Discussions (25%)
vi)

Comment on the shape of your amplitude and phase curves

Amplitude plots
For lowest damping ratio, it has the greatest changes and fluctuations
in amplitude when the angular frequency increases. Moreover, it has
the largest amplitudes in those 3 oscillations. From the shape of curve,
it shows that there is little damping applied during oscillations
because the maximum amplitude (about 2.25) is reached and greater
than 1 when the forcing frequency approach to natural frequency of the
system
For intermediate damping ratio, it has fewer fluctuations compare to
the curves with lowest damping ratio. From the curve, the maximum
amplitude (about 1.8) with intermediate damping is smaller than the
one with lowest damping and this implies that more damping is applied
to the system.
For critical damping ratio, the amplitude of the oscillation decreases
when the angular frequency increases. The amplitude doesnt increase
to maximum when the angular frequency approaches the natural
frequency of the system.

Phase plots
For lowest damping ratio, it has the greatest decline in phase compare to
other two damping ratio when the angular frequency increases.
For intermediate damping ratio, it is similar to the curve with lowest
damping ratio but it has slower decreases in phase than the lowest
damping ratio.
For critical damping ratio, it has a gently decreases in phase when the
angular frequency increases and also has minimum change in phase in
those three oscillations
vii)

Do the phase curves intersect at a common phase of /2 rad? If not,

please explain.

where phase=

The intersect point is close (about - 1.52) but not exactly at common phase of
/2 rad. This suggests that there may be some errors during the
experiments. Such as the parallax errors rise when taking readings from the
meter and low precision on the display meter which reduce the accurate of
the data. Moreover, the friction generated during the oscillation on the
instrument affects the result (e.g. time and amplitude) and cause error.

Conclusions (15%)
1) In the free response test, the average natural frequency of the system
model under free response is determined which is equal to 16.785rad/s.
Moreover, the lowest damping ratio for the system is also determined in
decaying oscillatory response by logarithmic decrement when damper
applied to the system and it is equal to 0.281.Furthurmore, it found out
that the amplitude of the system decays exponentially during damping
until the oscillations died out
2) For the sinusoidal response test, three types of damping were applied to
the system and the effect on the phase and amplitude from each type of
damping are noticed. The critical damping has the greatest effect on the
system where no oscillation occurs during the test. For the intermediate
and lowest damping, it found out that the amplitude of the oscillation
reaches to maximum when the driving frequency/angular frequency reach
to the natural frequency of the system. Moreover, the average lowest
damping ratio and the intermediate damping ratio at maximum amplitude
were determined and they are equal to 0.303 and 0.290.From the

damping ratio, it notice that greater damping is produced the

maximum amplitude decreases in the oscillation when the damping
ratio increases

3) From the phase against angular frequency graph, the intercept point
between phase curves with different type of damping is determined which
is equal to -1.52 rad and it is slightly higher than theoretical value (=/2
rad).

Amplitude against angular frequency for three different oscillations

2.5

1.5
Lowest Damping Ratio
Amplitude H(j)

Critical Damping Ratio

Intermediate Damping Ratio

0.5

0
0

10

15

20

25

Angular frequency (rad/s)

Figure 1: Plot shows the amplitude against angular frequency for three
different oscillations

Phase against angular frequency for three different oscillations

0
0
Lowest Damping
-0.5 Ratio

5
10
15
Intermediate Damping Ratio

20
25
Critical Damping Ratio

-1
Phase (rad) -1.5
-2
Pi/2

-2.5
-3
Angular frequency (rad/s)

Figure 2: Plot of phase against angular frequency for different oscillations