Beat Phenomenon - Vibration - Sys. Analys.

ME 421 LABORATORY EXERCISE # 6
BEAT PHENOMENON: VIBRATION SYSTEM ANALYSIS
In this laboratory exercise we will investigate beat phenomenon using a two pendulum
system. The equations of motion for the pendulum system will be derived and we will
investigate the validity of the equations by physically setting up the system and taking
data to describe the motion of the two pendulums. We will then compare the results of
our experiment to simulations we will create in MATLAB.
Figure 1 below shows the system we will be working with.
FIGURE 1: Two Pendulum System
Figure 2 is the free body diagrams of the pendulums. The equations of motion are shown
below. It can be seen that the equation of motion for the first pendulum depends on the
position of the second pendulum (φ2), and also a constant (Kt) which represents how the
motion of one pendulum effects the motion of the other. This constant is a property of
the actual system and will be found experimentally from the system we will build.
Figure 2: Free Body Diagram of Pendulums
Equation of Motion for Pendulum 1

••
J φ1 = ∑ M
••
mL2 φ1 = K T (φ 2 − φ1 ) − mgL sin (φ1 )
Because we will be using an initial condition of 10°, it is possible to use the small angle
approximation, sin(φ) = φ. Substituting and rearranging yields the following equation.
•• (mgL + K T )
φ1 = − 2
φ1 +
KT
φ2 [1]
mL mL2
Equation of Motion for Pendulum 2

••
J φ2 = ∑ M
••
mL2 φ 2 = − K T (φ 2 − φ1 ) − mgL sin (φ 2 )
•• (mgL + K T )
φ2 = − 2
φ2 +
KT
φ1 [2]
mL mL2
The dynamic model of the system is
••
φ1 = −
( mgL + KT ) φ
KT
φ2
+ [3]
2 1
mL mL2
•• K
φ2 = T2 φ1 −
( mgL + KT ) φ [4]
2
mL mL2
We are interested in finding KT from our experimental setup. To do this we must

manipulate the dynamic model of the system so we can experimentally find KT. The first
step is to add and subtract equations 3 and 4.
⎛ •• •• ⎞ g
⎜ φ1 + φ2 ⎟ + (φ1 + φ2 ) = 0 [5]
⎝ ⎠ L
⎛ •• •• ⎞ ⎛ g 2 KT ⎞ ⎛ •• •• ⎞ g ⎛ 2 KT ⎞
φ − φ
⎜ 1 2⎟ ⎜ + + 2 ⎟ ( φ − φ ) = ⎜ φ1 − φ2 ⎟ + ⎜1 + ⎟ (φ1 − φ2 ) = 0 [6]
⎝ ⎠ ⎝ L mL ⎠ ⎝ ⎠ L ⎝ mgL ⎠
1 2
Now let:
x = φ1 + φ2 and y = φ1 − φ2 [7 a, b]
x+ y x− y
φ1 = and φ2 = [8a, b]
2 2
K
ε= T [9]
mgL
Equations 5 and 6 become:
•• g
x+ x=0 [10]
L
•• g
y + (1 + 2ε ) y = 0 [11]
L
Now we have uncoupled equations that can be used to solve the dynamic model. We will
set the initial conditions of φ1 and φ2 to the same values we will be using to stimulate our
experimental setup. The solutions to equations 10 and 11 are:
at t = 0, φ1 = .25 radians, φ2 = 0
x0 = φ1 + φ2 = .25 + 0 = .25
y0 = φ1 − φ2 = .25 − 0 = .25
⎛⎛ ⎞ ⎞
x = .25cos ⎜ ⎜ g ⎟ t ⎟ [13]
L
⎝⎝ ⎠ ⎠
⎛⎛ ⎞ ⎞
y = .25cos ⎜ ⎜ g ⋅ 1 + 2ε ⎟ t ⎟ [14]
L
⎝⎝ ⎠ ⎠
We can simplify equation 14 by expanding the 1 + 2ε term in a Taylor Series about ε =

0. In particular, for small values of ε,
1 + 2ε = 1 + ε
Now equation 14 becomes,
⎛⎛ ⎞ ⎞
y = .25cos ⎜ ⎜ g ⋅ (1 + ε ) ⎟ t ⎟ [14a]
L
⎝⎝ ⎠ ⎠
Now we can find the solutions for the individual pendulums using the relationships set
forth in equations 8a and 8b. Plugging in our solutions for x and y (equations 13 and
14a) will yield the solutions to our differential equations of motion.
⎛⎛ ⎞ ⎞ ⎛⎛ ⎞ ⎞
φ1 = .125cos ⎜ ⎜ g L ⎟ t ⎟ + .125cos ⎜ ⎜ g L ⋅ (1 + ε ) ⎟ t ⎟ [15]
⎝⎝ ⎠ ⎠ ⎝⎝ ⎠ ⎠
⎛⎛ ⎞ ⎞ ⎛⎛ ⎞ ⎞
φ2 = .125cos ⎜ ⎜ g L ⎟ t ⎟ − .125cos ⎜ ⎜ g L ⋅ (1 + ε ) ⎟ t ⎟ [16]
⎝⎝ ⎠ ⎠ ⎝⎝ ⎠ ⎠
Looking at the equations 15 and 16 it can be seen that whenever g⋅ ε ⋅ t = N ⋅ π , one

L
of the pendulums will be at a standstill. The canceling vibrations cause the pendulum to
be still. From our experiment we will be able to visually notice the pendulum coming to
a stop. Each time a pendulum stops we will add one to N. The t will be the recorded
time. Using the recorded time and the following equation, KT can be calculated.
g ⋅ε ⋅ t = N ⋅π [17]
L
K
ε= T
mgL
To Do List:
1. Run the experiment and measure the time it takes for the system to complete one
slow mode of vibration while counting the number of cycles the fast mode goes
through.
-Displace one of the pendulums approximately 15° and release it. Measure the
time it takes for the second pendulum to come to two complete stops (N = 4).
Also count the number of fast mode cycles the system experiences during the
experiment. The figure below shows one slow mode of vibration, notice that both
pendulums come to rest twice.
Phi 1 - Position (rad)
0.2
0.1
0
-0.1
-0.2
0 10 20 30 40 50 60
Time (Seconds)
Phi 2 - Position (rad)
0.2
0.1
0
-0.1
-0.2
0 10 20 30 40 50 60
Time (Seconds)
2. Solve for KT using the recorded time and equation 17.
3. Write a MATLAB program to simulate the system’s behavior using ode45 with
an initial displacement angle of 15°.
4. Find the natural frequencies from the MATLAB simulation plots.
ω1 = ω f − ωs
ω2 = ω f + ωs
5. Compare and discuss the measured natural frequencies with the ones found from
the MATLAB simulations.

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ME 421 LABORATORY EXERCISE # 6

BEAT PHENOMENON: VIBRATION SYSTEM ANALYSIS

Figure 1 below shows the system we will be working with.

FIGURE 1: Two Pendulum System

Equation of Motion for Pendulum 1

Equation of Motion for Pendulum 2

We are interested in finding KT from our experimental setup. To do this we must

Equations 5 and 6 become:

We can simplify equation 14 by expanding the 1 + 2ε term in a Taylor Series about ε =

Now equation 14 becomes,

Looking at the equations 15 and 16 it can be seen that whenever g⋅ ε ⋅ t = N ⋅ π , one

2. Solve for KT using the recorded time and equation 17.

4. Find the natural frequencies from the MATLAB simulation plots.

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