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Mathematical
Model
Spring-
Pendulum Measurement
Analysis
Mathematical
Analysis
YES Is The
Design
Comparison
Changes Adequate ?
NO
spring
= a r e r + a e
r magnitude change
vr
r direction change
r + r magnitude change
v
r 2 direction change
Spring Pendulum Dynamic System Investigation K. Craig 7
Rigid Body Kinematics
Y
XY: R reference frame (ground) y
xy: R1 reference frame (pendulum) x
x cos sin 0 X
X
y = sin cos 0 Y
O
z 0 0 1 Z k
i cos sin 0 I
m P
j = sin
+r
cos 0 J
0 0 1 K
k
GP R GO R G R1 G R1 G OP R G R1 G OP R1 G P R G R1 R1 G P
R
a = a + ( R
)
r + r + a + 2 v
R G R1
= k = K
G OP
r = ( A + r ) j = ( A + r ) sin I + cos J
R G R1 k = K
=
R1 G P
v = rj = r sin I + cos J
R1 G P
a = rj = r sin I + cos J
After substitution and evaluation:
R GP
a = i ( A + r )
+ 2r + j r + ( A + r ) 2
Spring Pendulum Dynamic System Investigation K. Craig 9
Mathematical
Model t
r
F = ma r = m
r ( A + r )
2
F = ma = m ( A + r )
+ 2r
1 2
T = m r + ( A + r )
2 2
Kinetic Energy
2
1 2
V = kr mg ( A + r ) cos A Potential Energy
2
u^2
theta
square
theta position
Product
r
r position
1/s 1/s
Integrate Integrate t
r acc r vel Clock time
Sum
Initial 0.2
Conditions
radial and angular position (rad or m) 0.1
0 = 0.274 rad
r0 = 0.046 m 0
-0.1
-0.2
-0.3
-0.4
0 10 20 30 40 50 60
time (sec)
Initial 0.2
Conditions 0.15
r0 = 0.115 m 0.05
-0.05
-0.1
-0.15
-0.2
-0.25
0 10 20 30 40 50 60
time (sec)
Initial
Conditions
0.2
0 = 0.274 rad
radial and angular position (rad or m) 0.1
r0 = 0.046 m 0
-0.1
-0.2
-0.3
-0.4
0 10 20 30 40 50 60
time (sec)
Initial 0.15
0 = 0.021 rad
0.05
r0 = 0.115 m
0
-0.05
-0.1
-0.15
-0.2
0 10 20 30 40 50 60
time (sec)
0.2 0.2
0.1 0.1
0 0
-0.1 -0.1
-0.2 -0.2
-0.3 -0.3
-0.4 -0.4
0 10 20 30 40 50 60 0 10 20 30 40 50 60
time (sec) time (sec)
0 = 0.274 rad
Initial Conditions:
r0 = 0.046 m
Spring Pendulum Dynamic System Investigation K. Craig 18
Comparison
Simulation Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m Experimental Results with Initial Conditions: theta = 0.021 rad, r = 0.115 m
0.25 0.2
0.2
0.15
0.15
0.1
radial and angular position (rad or m)
0.05
0.05
0 0
-0.05
-0.05
-0.1
-0.1
-0.15
-0.15
-0.2
-0.25 -0.2
0 10 20 30 40 50 60 0 10 20 30 40 50 60
time (sec) time (sec)
0 = 0.021 rad
Initial Conditions:
r0 = 0.115 m
Spring Pendulum Dynamic System Investigation K. Craig 19
Nonlinear Resonance
a f
mr m A + r 2 + kr + Ft mg cos = 0 Nonlinear Equations
a f
A + r
+ 2 r + g sin = 0 of Motion
2 F I
mr + kr = maA + r f F + mgG 1 J
2
3
sin +"
t
H 2!K 3!
F I
aA + rf + gGH 3!JK = 2r
3 2
cos 1 +"
2!
a f 2
k F
r + r = A + r t + g g
2
m m 2!
a f 3
A + r
+ g = 2 r + g
3!
Spring Pendulum Dynamic System Investigation K. Craig 20
a f a f r = r + r
2
k F
r + r + r = A + r + r 2 t + g g
m m 2! = +
a f 3
A + r + r
+ g = 2 r + g =0
3! mg Ft
r=
a f 2
k
r + r = A + r + r 2 g k
m 2!
g 2 r g 3
r
+ = +
A+r A + r A + r 3! A + r
a f 2
r + 2r r = A + r + r 2 g k
=
2
r
2! m
2
r 3
r
g
+ =
2
+
2 =
2
A+r 3! A + r A+r
3
+ = 2 x +
2
2
x
3!
a f 2
x + 2r x = 1 + x 2 2
2!
a f 3
1 + x
+ = 2 x +
2
2
3!
2
x + 2r x = 2 2 + x 2
1 2!
1 x + x 2 x 3" 2 2 3
1+ x 2 x
+ = +
1 + x 1 + x 1 + x 3!
Spring Pendulum Dynamic System Investigation K. Craig 22
2
x + 2r x = 2 2 + x 2
2!
a f a f
a f
3
+ 1 x = 2 x 1 x + 1 x
2 2
3!
2
x + 2r x = 2 2 + x 2
2!
a f a f 3
+ 2 = 2 x 1 x + 2 x + 2 1 x
3!
2
x + 2r x = 2 2 +" Neglecting nonlinear terms
2
third order and higher
+ 2 = 2 x + 2 x +"