MECH 215 Instrumentation and

Measurement
Week 2, Lecture 3
Measurement System Behavior
(Second Order Systems)

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 Measurement System Models
Second-order systems a2 y + a1 y + a0 y = F (t )
2
dy d y
Note that y = and y = 2
dt dt
1 2 (Equation of
or y + y + y = KF (t )
n 2
n motion)

where n =
a0
= natural frequency
a2
a1
= = damping ratio
2 a0 a 2
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 Measurement System Models

The homogeneous solution to the equation of

motion
1 2
y + y + y = KF (t )
2
n n
(which defines the transient response when KF(t) = 0),

will depend on the roots of the characteristic

equation.
1 2
+
2
+1 = 0
2
n n

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 Measurement System Models

The characteristic (quadratic) equation has two

roots.

1, 2 = n n 1
2

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 Measurement System Models
Recall that

d2y dy
M 2 +C + Ky = F (t )
dt dt

n is the natural frequency, n = K

M
is the damping ratio, = C
=
C
2 KM (2 Mn )

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 Measurement System Models

There are three special cases of transient vibration.

1. Underdamped <1
2. Critically Damped =1
3. Overdamped > 1

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 Measurement System Models

Underdamped <1

1, 2 = n n 1 2

n t

y (t ) = A e sin( 1 n t + )
2

Oscillation with frequency n

Amplitude decays exponentially

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 Measurement System Models

2
Underdamped, =0.15
1.5

1
x(t)

0.5

-0.5

-1
0 0.5 1 1.5 2 2.5 3
Time (s)

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 Measurement System Models

Critically Damped =1

1t 2 t
y (t ) = Ae + Bte

Quick restoration to equilibrium state

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 Measurement System Models

Critically damped, =1.0

1.5

1
x(t)

0.5

-0.5

-1
0 0.5 1 1.5 2 2.5 3
Time (s)

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 Measurement System Models

Overdamped >1

1t 2 t
y (t ) = Ae + Be

Exponential decaying without oscillation

A, and B are initial conditions

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 Measurement System Models

Overdamped, =3.0
1.5

1
x(t)

0.5

-0.5

-1
0 0.5 1 1.5 2 2.5 3
Time (s)

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 Measurement System Models

2
Underdamped, =0.15
Critically damped, =1.0
Overdamped, =3.0
1.5

1
x(t)

0.5

-0.5

-1
0 0.5 1 1.5 2 2.5 3
Time (s)

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 Measurement System Models

In the case of a step function input... F (t ) = AU (t )

Underdamped <1

y (t ) = KA KAe n t


1 2
( ) (
sin n 1 2 t + cos n

1 2t

)
Critically Damped =1

y (t ) = KA KA (1 + n t )e nt

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 Measurement System Models

Overdamped >1

+ 2 1 + 2 1 n t 2 1 2 1 t
y (t ) = KA KA e
+ e n

2 2 1 2 2 1

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 Measurement System Models

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 Harmonic (undamped)

Da
mp
ing
In c
r ea
se
Exponential (overdamped)

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 Measurement System Models

Note that for the underdamped case, the transient

response is oscillatory about the steady state
value with a period of

2
1 d = n 1
Td = =
2
where
d fd

d is called the ringing frequency or the damped frequency.

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 Measurement System Models

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 Measurement System Models

In the case of a Sine function input...

F (t ) = A sin(t )

there is only one solution (combined transient and

steady state)
KA sin [ t + ( )]
y (t ) = transient response +
[ ]
1/ 2
2
1 ( / n ) + [2 / n ]
2 2

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 Measurement System Models

The steady state solution to the equation of motion.

Steady state solution ( F (t ) = F0 sin(t ) ).

F0
y (t ) = sin( t )
(
C + K M
2
)
F0
y (t ) = sin( t )
2

2

2

1 + 2
n n

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 Measurement System Models

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 Measurement System Models

Magnitude Ratio

M ( ) =
1

[ ]
1/ 2

1 ( / n ) + [2 / n ]
2 2 2

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 Measurement System Models

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 Measurement System Models

Phase Shift

2 / n
( ) = tan
1


1 ( / n )
2

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 Next Time

Data Analysis

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