5.

14
When fuully loaded, the
t vehicle in
n Example 4 .3 runs over a half-sine bump
b
at 100 kkm/h. The leength of
the bum
mp is 2 m, as shown
s
in Fig
g. P5.14. Carrry out the fo
ollowing step
ps that wouldd be needed to
t
determinne the maxim
mum force ex
xerted on thee mass m by the
t springs: m = 1200kg,, k = 400 kN//m and
f =0.4..

(a) Deteermine td , thee time it wou

uld take for th
the vehicle to
o pass over th
he bump, andd write an ex
xpression
for z(t), assuming thaat the vehiclee reaches thee left edge off the bump att t = 0. That iis, write an
expressiion for z(t) foor 0 t td.
t
z (0) 0; z (td ) 22; z ( d ) 0.1; z (t ) 0, t td
2
2(m)
0.0
072( s )
td
100000(m/h)
1
) / 3600

z (t ) A sin(
More geenerally,
z (t ) A sin(

td

td

63t ), for 0 t td
t ) 0.1sin(43.6

t ) 00.1sin(43.63t ){H (t ) H (t td )}

where H
H(t) is the Heeaviside function.
(b) Deteermine the eqquation of motion for thee mass expresssed in termss of the relatiive motion w(t)
w =
u(t) z(t).
Supposee that the dasshpot and sprring are in eqquilibrium, th
he equation of
o motion caan be expresssed as Eq.
(1).

mu
m c(u z ) k (u z ) 0

(1)

Taking w
w(t) as u(t) - z(t), the equ
uation of mottion with resp
pect to relative displacem
ment w is

cw kkw mz
mw

(2)

mel Integral Method,

M
deteermine expreessions for w1(t ) for 0 t td and w2(t ) for
(c) Usinng the Duham
td t . N
Note: Since thhis is a damp
ped system, yyou may leav
ve integrals of
o the form

sin((b )cos c d in your an

nswers.

z(t) and its derivativees are expresssed as follow

ws:

z (t ) 0.1sin(43.63t ){H (t ) H (t td )}
z (t ) 4.363cos(43.63t ){H (t ) H (t td )} 4.363sin(43.63t ){ (t ) (t td )}
4.363cos(43.63t ){H (t ) H (t td )}

z (t ) 190.36sin(43.63t ){H (t ) H (t td )} 4.363cos(43.63t ){ (t ) (t td )}

190.36sin(43.63t ){H (t ) H (t td )} 4.363{ (t ) (t td )}
Plugging in the given values:
m 1200( kg ); k 400000( N / m ); c 2 mk 17.53(kN s / m ); wn 18.26( rad / s ); wd 16.73( rad / s )
If we assume that w(0) 0, w (0) 0 ,
for 0 t < td
t

w1 (t ) mz( )h(t )d
0

1
mwd

mA( t
0

)2 sin(

td

t )e wn ( t ) sin( wd (t )) d

A wn ( t )
e

sin( wd t )
td wd

t
1
190.36sin(43.63 ) e 0.418.26( t ) sin(16.73(t ))d

16.73 0
0.26e 0.418.26( t ) sin(16.73(t ))

for td < t
t

w2 (t ) mz( )h(t )d
0

1
mwd

mA( t
0

) 2 sin(

td

t )e wn ( t ) sin( wd (t )) d

A wn ( t )
A wn ( t td )
e
e
sin( wd t )
sin( wd (t td ))
td wd
td wd

td
1
190.36sin(43.63 )e 0.418.26( t ) sin(16.73(t ))d

0
16.73
0.26e 0.418.26( t ) sin(16.73(t )) 0.26e 0.418.26( t td ) sin(16.73(t td ))

RESPONSES

1) Input Function

5000

Without Impulse
With Impulse

Acceleration (m/s )

4000
3000
2000
1000
0
-1000
0

0.01

0.02

0.03

0.04
Time (sec)

0.05

0.06

0.07

0.08

2) Displacement

Numerical response overlayed with analytic solution with impulses

Displacement (m)

0.1

Simulink
Analytic

0.05

-0.05

-0.1
0

0.1

0.2

0.3

0.4

0.5
0.6
Time (sec)

0.7

0.8

0.9

N
Numerical
resp
ponse overlayed with analy
ytic solution without
w
impulsses

Displacement (m)

0.3

Siimulink
A
Analytic

0.2

0.1

-0.1
0

0.1

MA
ATLAB

1) Simulink Bloock

0.2

0.3

0.4
4

0.5
0.6
Time (sec)

0.7

0.8

0
0.9

2) Matlab Code
%%
clear all
close all
clc
m=1200;k=400000;zta=0.4;
c=2*zta*sqrt(m*k);wn=sqrt(k/m);
wd=sqrt(1-zta^2)*wn;
td=0.072;
As = [0 1;-k/m -c/m];
Bs = [0 1]';
Cs1 = [k/m c/m];
Cs2 = [1 0];
Ds = 0;
Asj = [0 1;-k/m -c/m];
Bsj = [0 0;k/m c/m];
Csj = [1 0];
Dsj = [-1 0];
fs=10000;%sampling frequency
sim('speedbump1.mdl');
plot(time,output(:,[1 2]));
%% Analytic data
% plugg in
syms tau t
dt=0.001;
%w1 0<t<td
time1=0:0.001:0.072;
w11=1/(wd)*int(190.36*sin(pi/td*tau)*(exp(-zta*wn*(t-tau)).*sin(wd*(ttau))),tau,0,t);
w11=double(subs(w11,t,time1));%without impulse
t=time1;h1=0.26*(exp(-zta*wn*t).*sin(wd*t));%first impulse
w12=w11-h1;%without impulse
%w2
syms t
time2=0.072:0.01:10;
w21=1/(wd)*int(190.36*sin(pi/td*tau)*(exp(-zta*wn*(t-tau)).*sin(wd*(ttau))),tau,0,td);
w21=double(subs(w21,t,time2));%without impulse
t=time2;
h1=0.26*(exp(-zta*wn*t).*sin(wd*t));%first impulse
h2=0.26*(exp(-zta*wn*(t-0.072)).*sin(wd*(t-0.072)));
w22=w21-h1-h2;%with impuse%%
save analyticdata
%%
load analyticdata;%load analytic data
figure
plot(time,output(:,2),'linewidth',2);hold on
plot(time1,real(w12),'r.','linewidth',2);
plot(time2,real(w22),'r.','linewidth',2);
title('Response with Delta Function')
xlabel('Time (sec)','fontname','times','fontsize',14);
ylabel('Displacement (m)','fontname','times','fontsize',14)
title('Numerical response overlayed with analytic solution with

impulses','fontname','times','fontsize',14)
legend('Simulink','Analytic');
xlim([0 1]);
figure
plot(time,output(:,1),'linewidth',2);hold on
plot(time1,real(w11),'r-.','linewidth',2);
plot(time2,real(w21),'r-.','linewidth',2);
xlabel('Time (sec)','fontname','times','fontsize',14);
ylabel('Displacement (m)','fontname','times','fontsize',14)
title('Numerical response overlayed with analytic solution without
impulses','fontname','times','fontsize',14)
legend('Simulink','Analytic');
xlim([0 1]);
%%
figure
plot(time,in(:,1),'-.','linewidth',2)
hold on
plot(time,in(:,2),'r')
xlabel('Time (sec)','fontname','times','fontsize',14);
ylabel('Acceleration (m/s^2)','fontname','times','fontsize',14)
xlim([0 0.08])
legend('Without Impulse','With Impulse');