Experiment No.

02
SYSTEM MODELING AND SIMULATION: MECHANICAL SYSTEMS

1. Objective(s):
This activity aims to
1. introduce the modeling and simulation tools of Scilab
2. equip the students with the skills and knowledge in using Scilab model and simulate systems;
and
3. equip the students with the skill to measure the major performance indicators of a control system
2. Intended Learning Outcomes (ILOs):
At the end of this activity, the student shall be able to
1. create Scilab program that will simulate translational and rotational mechanical control systems;
and
2. determine the effects of component values to the system’s time response parameters
3. Discussion
One of the steps involved in the design of a control system is to model the system itself from its
schematic. The system’s model is very important since it will provide information on the system’s various
parameters, such as time response, error and stability information. These parameters will then help the
designer to come up with a control system that would make the system perform at its desired state.
Thus, modeling and simulation is an important step in the design of control systems.

Scilab is an open source, cross-platform numerical computational package and a high-level, numerically
oriented programming language. It is similar in its capabilities to MATLAB. It has a good implementation
of many of the required control systems functions and has a dynamic model simulator called XCos that
makes it a good tool for use by control engineers.

4. Resources:
To perform this activity, a computer workstation with Scilab is required. The control systems toolbox is
needed.
5. Procedure:
Modeling and simulation of mechanical systems.
1. In this activity, the response of the mechanical system such as the one shown below to a step input
will be simulated.

Q1.1 Find the transfer functions G1 ( s )=X 1 ( s ) / F ( s ) and G2 ( s )=X 2 ( s ) / F ( s ). Fill up the spaces
provided below.
Q1.2 Compute for the output displacement of the system x 1 ( t ) and x 2 ( t ) to a step force input and plot
them on the space provided.
Q1.3 Roughly sketch the plot of x 1 ( t ), x 2 ( t ) and the step input as seen in the waveform chart on the
space provided.
Q1.4 Interpret the waveforms. How does the position of the masses vary as a step force is applied to the
system at f ( t )? (Hint: what happens when you apply a step force to the system above?)
Q1.5 Determine what happens when the surface at which the masses moves on has friction which is
f v =1 N /m for both masses. Plot the new response on a separate sheet of paper and interpret the
results.

2. Simulate the rotational mechanical system below, plotting the responses θ1 ( t ) and θ2 ( t ) with respect
to an input step torque.

Q2.1 Interpret the waveforms. How does the angular position of the inertia vary as a step torque is
applied to the system at T ( t )?
Course: Experiment No.:
Group No.: Section:
Group Members: Date Performed:
Date Submitted:
Instructor:

6. Data and Results:

Q1.1 Find the transfer functions G1 ( s )=X 1 ( s ) / F ( s ) and G2 ( s )=X 2 ( s ) / F ( s ). Fill up the spaces
provided below.
G1 ( s )=X 1 ( s ) / F ( s )

G 2 ( s )=X 2 ( s ) / F ( s )

Q1.2 Compute for the output displacement of the system x 1 ( t ) and x 2 ( t ) to a step force input and plot
them on the space provided.
x1 ( t )
 x2 ( t )

Plot of x 1 ( t ) and x 2 ( t )

Q1.3 Roughly sketch the plot of x 1 ( t ), x 2 ( t ) and the step input as seen in the waveform chart on the
space provided.
Plot of x 1 ( t ) and x 2 ( t ) in MATLAB
 Plot of x 1 ( t ) and x 2 ( t ) in LabVIEW

Q1.4 Interpret the waveforms. How does the position of the masses vary as a step force is applied to the
system at f ( t )? (Hint: what happens when you apply a step force to the system above?)
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Q1.5 Determine what happens when the surface at which the masses moves on has friction which is
f v =1 N /m for both masses. Plot the new response on a separate sheet of paper and interpret the
results.
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2. Simulate the rotational mechanical system below, plotting the responses θ1 ( t ) and θ2 ( t ) with
 respect to an input step torque.
Plot of θ1 ( t ) and θ2 ( t )

Q2.1 Interpret the waveforms. How does the angular position of the inertia vary as a step torque is
applied to the system at T ( t )?
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7. Conclusion:

Assessment rubric for the activity’s intended learning outcomes

INTENDED
LEARNING 1 2 3 4 Points
OUTCOMES
 Create a A program for
The program returns
program that will translational The program works
The program works, results that are
simulate the mechanical system but the results are
the results are expected and with
performance of was created but doubtful or are
credible but the little or no variation
translational does not work or inconsistent when
interface is difficult to from reality and with
mechanical results vary trials are repeatedly
use user friendly
system significantly from done
interface
(MP 1) reality
Determine the
effect of
component
The data gathered
values of An investigation was A sufficient amount The data gathered
was analyzed very
translational made but contains of data were was analyzed but
well and valid
mechanical insufficient data or gathered but was not does not support the
conclusions were
system to the limited trials. synthesized properly. conclusions made.
drawn.
performance of
the system
(MP 1)
Create a
A program for The program returns
program that will The program works
rotational mechanical The program works, results that are
simulate the but the results are
system was created the results are expected and with
performance of doubtful or are
but does not work or credible but the little or no variation
rotational inconsistent when
results vary interface is difficult to from reality and with
mechanical trials are repeatedly
significantly from use user friendly
system done
reality interface
(MP 1)
Determine the
effect of
component
The data gathered
values of An investigation was A sufficient amount The data gathered
was analyzed very
rotational made but contains of data were was analyzed but
well and valid
mechanical insufficient data or gathered but was not does not support the
conclusions were
system to the limited trials. synthesized properly. conclusions made.
drawn.
performance of
the system
(MP 1)
Total Score
Mean Score = (Total Score /4)

Percentage Score = (Total Score / 16) x 100%

Assessment rubric for the conduct of laboratory experiments

 Performance Indicators 1 2 3 Points
Members do not follow Members follow good Members follow good
Conduct experiments in good and safe and safe laboratory and safe laboratory
accordance with good and laboratory practice in practice most of the practice at all times in
safe laboratory practice. the conduct of time in the conduct of the conduct of
experiments. experiments. experiments.
Members are able to
Members are able to
Members are unable to operate the equipment
Operate equipment and operate equipment and
operate the equipment and instruments with
instruments with ease instrument with
and instruments. ease and with minimum
supervision.
supervision.
The group has
Analyze data, validate complete data,
The group has
experimental values against validates experimental
The group has complete data but has
theoretical values to determine values against
incomplete data. no analysis and valid
possible experimental errors, theoretical values, and
conclusion.
and provide valid conclusions. provides valid
conclusion.
Total Score
Mean Score = (Total Score /3)

Percentage Score = (Total Score / 9) x 100%