Universidad de Guanajuato

Mathematical modelling of the mass-spring-damper

system - A fractional calculus approach
Modelado matemtico del sistema masa-resorte-amortiguador - Enfoque en
clculo fraccionario

J. F. Gmez*, J. J. Rosales**, J. J. Bernal*, M. Gua**

ABSTRACT
In this paper the fractional differential equation for the mass-spring-damper system in
terms of the fractional time derivatives of the Caputo type is considered. In order to be
consistent with the physical equation, a new parameter is introduced. This parameter characterizes the existence of fractional components in the system. A relation between the
fractional order time derivative and the new parameter is found. Different particular cases
are analyzed.

RESUMEN
En este trabajo se presenta la ecuacin diferencial fraccionaria del sistema masa-resorteamortiguador en terminos de la derivada fraccionaria de tipo Caputo. Con la finalidad de
ser consistentes con la ecuacin fsica, se introduce un nuevo parmetro. Este parmetro
caracteriza la existencia de componentes fraccionarias en el sistema. Se encuentra la relacin
entre el orden de la derivada fraccionaria y el nuevo parmetro. Diferentes casos particulares
son analizados.

INTRODUCTION
Fractional calculus (FC), involving derivatives and integrals of non-integer
order, is the natural generalization of the classical calculus [1-4]. Many
physical phenomena have intrinsic" fractional order description and, so,
FC is necessary in order to explain them. In many applications, FC provides
more accurate models of the physical systems than ordinary calculus do.
Since its success in description of anomalous diffusion [5], non-integer order calculus, both in one and multidimensional space, has become an important tool in many areas of Physics, Mechanics, Chemistry, Engineering,
Finances and Bioengineering [6-9]. Fundamental physical considerations
in favor of the use of models based on derivatives of non-integer order are
given in [10-12]. Fractional derivatives provide an excellent instrument for
the description of memory and hereditary properties of various materials
and processes. This is the main advantage of FC, in comparison with the
classical integer-order models -in which such effects are in fact neglected.

Recibido: 22 de febrero de 2012

Aceptado: 24 de abril de 2012

Keywords:
Fractional Calculus; mass-spring-damper system; Caputo derivative; fractional
components.
Palabras clave:
Clculo Fraccionario; sistema masa-resorte-amortiguador; derivada de Caputo;
componentes fraccionarias.

In [13] are discussed the fractional oscillator equation involving fractional time derivatives of the Riemann-Liouville type [14], considered the
linearly damped oscillator equation with the damping term generalized to a
Caputo fractional derivative. A solution is found analytically and a comparison with the ordinary linearly damped oscillator is made. Despite introducing the fractional time derivatives, the cases mentioned above seem to be
justified; there is no clear understanding of the basic reason for fractional
derivation in physics. Therefore, it is interesting to analyze a simple physical system and try to understand their fully behavior given by the fractional
differential equation.

*Departamento de Ingeniera Fsica. Divisin de Ciencias e Ingenieras Campus Len. Universidad de Guanajuato. Lomas del Bosque s/n, col. Lomas del Campestre, C. P. 37150, Len,
Guanajuato, Mxico. Phone: +52 (477) 788-5100, fax: +52 (477) 788-5107 y +52 (477) 788-5100, ext. 8410. E-mail: [email protected].
**Departamento de Ingeniera Elctrica. Divisin de Ingenieras Campus Irapuato-Salamanca. Universidad de Guanajuato. Carretera Salamanca-Valle de Santiago km 3,5 + 1,8. Comunidad de Palo Blanco, Salamanca Guanajuato, Mxico. Phone. (464) 647-9940, fax 2311, ext. 2464.

Vol. 22 N. 5 Julio-Agosto 2012

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The present work is interested in the study of a

simple mechanical system consisting of a mass, a
damped coefficient and a spring in the framework of
the fractional derivative. The position to follow: in order to change the time derivative operator d/dt by a
fractional operator d /dt ( represents the order of the
derivative), it is necessary to introduce an additional
parameter , which must have dimension of seconds
(in the case of the time derivative) to be consistent
with the dimension of the ordinary derivative. The
parameter characterizes the presence of fractional
time components in the system.
METHODS
An oscillating system, in general, is a mechanical system consisting of three kinds of elements: a mass (m)
measured in kg, a damped coefficient measured in
Ns/m and a spring constant k measured in N/m. The
change with respect to time of the movement x (t) is
described by the second order homogeneous differential equation

d 2x (t )

dx (t )
(1)
+
+ kx (t ) = 0.
dt
dt 2
In a real oscillating system, the damped coefficient
is different from zero and the free mechanical oscillations become extinct due to the Joule effect. To
compensate for the damping mechanical oscillations,
a source v(t) should be include in the system. Therefore, the differential equation that governs the behavior of the system (mass-spring-damper) with source
has the form

d 2x (t )
2

dx (t )
+ kx (t ) = v (t ).
dt

(2)

dt
The term kx (t) is very important because lack of it
in equations (1) and (2) imply that it has no oscillating
system. For the equations (1) and (2), it will be considered the following special cases:
In the absence of the damped coefficient in the system, i.e. = 0 , it is had from (1) and (2)

d 2x (t )

dt 2
and
m

+ kx (t ) = 0,

d 2x (t )

(3)

+ kx (t ) = v (t ).
(4)
dt 2
In the case when m = 0, i.e. in the absence of mass
in the system, they are had from equations (1) and (2)
dx (t )

+ kx (t ) = 0,
(5)
dt

Vol. 22 N. 5 Julio-Agosto 2012

and

dx (t )
(6)
+ kx (t ) = v (t ).
dt
The solutions of the equations (1) and (2) are
well known.

It is important to note that fractional differential

equations corresponding to oscillating systems have
been studied before, replacing the integer time derivative by fractional one on a purely mathematical or
heuristics basis [14].
The idea is to write the equations (1) and (2) in
terms of a fractional time derivative operator. It is proposed to change the ordinary time derivative operator
by fractional one, in the following way

d
d
,
dt
dt

0 < 1,

(7)

where is an arbitrary parameter representing the

order of the fractional time derivative operator, and
in the case = 1 becomes ordinary time derivative operator. Since the time derivative operator has dimensions of inverse seconds s-1, then from (7) it is seen
that the expression

1
(8)
dt
s
it is not a time derivative operator in the usual sense,
because its dimensionality is s-. In order to be consistent with time dimensionality, it is introduced the
parameter in the following way
1
1

d
dt

1
s

(9)

such that, when = 1, the expression (9) becomes ordinary derivative operator d/dt . This dimensionality
equation is satisfied, only if the parameter has dimension of seconds, [] = s. Therefore, it is possible
to always change ordinary time derivative operator by
the fractional one in the following general form

d
1 d
1 ,
dt

dt

n 1 < n ,

(10)

where n is integer. These two expressions represent

time derivatives, as the dimensions are inverse seconds s-1. The parameter 1- can be called a fractional
time parameter representing the fractional time components in the system; its dimensionality is s1-. This
non-local time is called in the literature the cosmic
time [15]. Another physical and geometrical interpretation of the fractional operators is given in [16].

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Hopefully, that fractional time derivative operator

defined in (10) will be very useful in the construction
of fractional differential equations for the physical and
engineering problem.
On the other hand, Caputo's fractional derivative
of a function f (t ) is defined as an integral transform of
ordinary derivative to fractional one [4]:
t
1
f (n )( )
C
d ,
(11)
0 Dt f (t ) = (n ) 0
(t ) n +1

From the equation (16), it is identified

2 =

k 2(1 )
= 02 2(1 ),
m

(20)

as the fractional angular frequency, where 02 = k/m is

the fundamental frequency of the non-fractional system (i.e, when = 1).

where C indicates Caputo derivative, evaluated in 0

and order , n = 1,2,... N and n - 1 < n. It is
considered the case n = 1, i.e. in the integrand there
is only first derivative. In this case 0 < 1 is the interval of the fractional derivative.

On the other hand, from equation (14), when k = 0,

it is defined the fractional relaxation time as
m
= 1 .
(21)

This fractional relaxation time arises in the experimental studies of the complex systems [12]. When =
1 from this expression, it is had the well known relaxation time = m/.

For example, in the case f (t ) = t k , where k is arbitrary number and 0 < 1, it is had the following expression for the fractional derivative operation (which
will be useful later for solving the wave equation with
fractional time derivative C0Dt d /dt ):

Solutions of the equations (14) and (15) may be

obtained using the Laplace transform. Solutions of
the homogeneous fractional differential equations (16)
and (18) will be found in terms of the Mittag-Leffler
function [17].

(12)

where (k ) and (k + 1- ) are the Gamma functions. If

= 1, the expression (12) yields to ordinary derivative
C 1k
0 Dt t

dt k
= kt k 1.
dt

(13)

Then, using definition (11), the homogeneous solution of the equation (16) is given by
(22)
where
(23)

RESULTS
Now, it is possible to write the ordinary differential
equations (1-6) in the fractional form. Using the expression (10), the fractional differential equations corresponding to equations (1) and (2) are given by

is the Mittag-Leffler function and x(0) = x0.

First case: = 1, the expression (23) becomes hyperbolic cosine

,(14)
and

Then in this case, it is had periodic function given by

, (15)

from these equations can be deduced the particular

cases, when = 0
m d 2 x (t )
+ kx (t ) = 0,
0 < 1,
(16)
2(1 )

dt 2
,

d x (t )

1 dt

d x (t )

dt

+ kx (t ) = 0,
+ kx (t ) = v (t ),

0 < 1,
0 < 1.

(25)

with angular frequency,

. The expression
(25) is the well known solution of the integer differential equation (3).
Second case: = 1/2, from (22), it is given

(17)

and m = 0

(24)

(18)
(19)

(26)
Note that the parameter -which characterizes the
fractional order time derivative- can be related to
the parameter -which characterizes the existence,
in the system, of fractional excitations [18]-[19]. For
example, for the system described by the fractional
equation (16), it is possible to write the relation

Vol. 22 N. 5 Julio-Agosto 2012

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,
m /k

0<

m
.
k

(27)

Then, the magnitude = 1 - characterizes the existence of fractional structures in the system. It is easy
to see that when = 1, then
and therefore = 0, that means that in the system there are not
fractal structure. However, in the case
,
grows and tends to unity, because in the system are
increasingly fractal excitations. Taking account the
expression (27), the solution (22) of the equation (16)
can be rewritten through , as follows
.

(28)

forces as in the case of a damped harmonic oscillator.

A simple fractional oscillator behaves like a damped
harmonic oscillator.
Solution of the equation (18) is given by
,

(29)

which in the case = 1, reduces to

x0 (t ) = x0e

kt

(30)

which is the well known solution of the integer differential equation (5). In this case the relation between
and is given by

k
k
,
0< .
(31)

The solution (29) of the fractional equation (18),

taking account the relation (31), may be written as
=

(32)

Figure 1. Mass-Spring System, = 1, = 0,96, = 0,92, = 0,8, = 0,75, = 0,50

and = 0,25.

Figure 1, shows the solution of (28) for different

values of .
Respect to the figure 1, the displacement of the
fractional oscillator is essentially described by the
Mittag-Leffler function for the considered initial conditions. The function is

It is showed by numerical calculations that the displacement of the fractional oscillator varies as a function of time and how this time variation depends on
the parameter . Also, it is proved that, if is less than
1, the displacement shows the behavior of a damped
harmonic oscillator. As a result, in consistent with the
case of simple harmonic oscillator, the total energy
of simple fractional oscillator will not be a constant.
The damping of fractional oscillator is intrinsic to the
equation of motion, and not introduced by additional

Vol. 22 N. 5 Julio-Agosto 2012

Figure 2. Damper-Spring System, = 1, = 0,96, = 0,92, = 0,8, = 0,75, = 0,50

and = 0,25.

Figure 2, shows the solution of (32) for different

values of .
The equations (17) and (19) are fractional linear
non-homogeneous differential equations, then, the
general solution is given by the sum of the homogeneous (16) and (18) solutions and particular solutions.
These solutions may be obtained applying direct and
inverse Laplace transform. As result, the solution for
the fractional non homogenous equation (17) is given by

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(33)

Figure 3, shows the solution of (36) for different

values of .
From equation (36), it is clear that in the case =
1, it is had
(37)

where it has been used the expression (27).

Taking account the expression (31), the solution of
the fractional non homogeneous equation (19) has
the form
(34)
.
It easy to see that, in the case = 1, the solution
(34), becomes
(35)

In this case, they are had damping vibrations

due to the presence of the damped coefficient 0.
The solution (37) is performed in R < 2 km and has
two constants of integrations as it should be for second ordinary differential equations (1) (/2m = is the
coefficient of damping of vibrations). In this case, the
parameter and have the following relation
. (38)
Then, the solution takes the form (36)
(39)

,
which represents the general solution of the ordinary
integer equation (6).
Now it is possible to pass to the general solutions
of equations (14) and (15) for a mechanical system
having all mechanical elements; mass m, damped coefficient and spring k. The solution of the equation
(14) has the form
(36)

where
(40)
Because of condition
choose as an example

, it is possible to
. (41)

Finally, the solution (36) takes the following form

(42)
For the case
(14) has the form

, the solution of the equation

(43)
.

In the case when = 1, it is had

x1(t ) = x 0e /2m (1+

1 4m / 2k )t ,

(44)

where x(0) = x 0 is the movement in the spring in t = 0.

The solution (44) corresponds to the equation (1) and
characterize the change of movement x(t) on the spring
and has aperiodic character.
Taking the following relations
(45)
Figure 3. Solution of (36) for different values of , = 1, = 0,96, = 0,92, = 0,8,
= 0,75, = 0,50 and = 0,25.

the solution (43) takes the form

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(46)

where
.

(47)

If the condition
is fullfilled, it is given the
following region range of values
,

(48)

it is possible to choose
,

It has been presented a new fractional differential equation for the oscillating systems. The proposed
equation gives a new universal behavior for the oscillating systems characterizing the existence of the fractal
structures on the system. It was also found out that
there is a relation between and depending on the
system in studies.

(49)

In all simulations, the computational time is

around 42,43 s using an Intel Core 2 Duo, 1,8 GHz,
2,99 GB RAM.

(50)

With the approach presented here, it will be possible to have a better study of the transient effects in
the mechanical systems.

then, the solution (46) can be written as

.

applications of fractional calculus have gained considerable popularity [20-21]. In spite of these various
applications, there are some important challenges.
For example, physical interpretation for the fractional
derivative is not completely clarified yet [15].

Figure 4, shows the solution of (50) for different

values of .
Figures 3 and 4 show the complete solution of the
system mass-spring-damper. Figure 3 and 4 show
that the energy is conserved in the oscillator -is conservative when = 1-, while the fractional oscillator
(1/2 < < 1) show a dissipative nature.

The discussion of the solutions (28) and (32), the

general case of the equation (14) with respect to the
parameter , the classification of fractal systems depending on the magnitude of and a complete analysis of the solutions (33) and (34) for different value of
will be made in a future paper.
It is hoped that this way of dealing with fractional
differential equations may help to understand the behavior of the fractional order systems better.
ACKNOWLEDGMENTS
The authors acknowledge fruitful discussions with V.
I. Tkach. This work was supported by CONACYT and
PROMEP, under the Grant: Fortalecimiento de CAs
2011, UGTO-CA-27.
REFERENCES
[1] Oldham, K. B. and Spanier, J. (1974). The Fractional Calculus. Academic
Press. New York.

Figure 4. Solution of (50) for different values of , = 1, = 0,96, = 0,92, = 0,8,

= 0,75, = 0,50 and = 0,25.

CONCLUSSION
Fractional calculus is a very useful tool in describing
the evolution of systems with memory, which typically are dissipative and to complex systems. In recent
decades, it has attracted interest of researches in several areas of science. Specially, in the field of physics

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Vol. 22 N. 5 Julio-Agosto 2012

[2] Miller, K. S. and Ross, B. (1993). An Introduction to the Fractional Calculus and
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(Quasser), M. K. and Albiss, B. A. (2006). Fractional Calculus and Applied
analysis 9(1): pp. 33-41.

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[6] Agrawal, O. P., Tenreiro-Machado, J. A. and Sabatier, I. (2004). Fractional Derivatives and Their Applications. Nonlinear Dynamics 38. Springer-Verlag.
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[13] Ryabov, Ya. E. and Puzenko, A. (2002). Damped oscillations in view of the
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[14] Naber, M. (2010). Linear Fractionally Damped Oscillator. International Journal

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and Crdova, T. (2011). RC Circuit of Non-integer Order. Symposium on
Fractional Signals and Systems. Institute Polytechnic of Coimbra: pp. 51-59.
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