Design of Mechanical Systems
MATLAB Tutorial Week 1 : Introduction
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Introduction
Useful links: http://www.mathworks.com/products/edu cation/teaching_mech.shtml This link is the official Mathworks page and gives useful information regarding Modeling of Mechanical Systems using MATLAB and Simulink. Book : Mastering MATLAB 6 By: D. Hanselman & B Littlefield
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What is MATLAB?
MATLAB is a tool for doing numerical computations with matrices and vectors. It is very powerful and easy to use. In fact, it integrates computation, visualization and programming all together in an easy-to-use environment and can be used on almost all the platforms: windows, Unix, and Apple Macintosh, etc. MATLAB stands for Matrix Laboratory.
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What can we do with MATLAB?
We can use Matlab to design, simulate and visualize Mechanical Systems. Analyze their performance etc
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Running Matlab in DSV
Switch on to your local machine by pressing the button on the lower left hand corner of the monitor Login to your account on DSV Right Click, Scroll down and select Tools and then Terminal Enter matlab at the Unix Prompt
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Getting started:
MATLAB Desktop: Launch Pad: displays all the tools and applications associated with MATLAB; Workspace: consists of the variables you create during a MATLAB session; Command History: double click them to evaluate them; Current Directory browser: shows you where you are. Editor/Debugger: pops up when you create M-files (click on New button to launch it.)
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Matrix
MATLAB works with essentially only one kind of object a rectangular numerical matrix with possible complex entries.
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Entering Matrix
Matrices can be Entered manually; Generated by built-in functions; Loaded from external disk (using load command)
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An Example
A = [1, 2, 3; 7, 8, 9] Use ; to indicate the end of each row Use comma or space to separate elements of a row
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+ addition - subtraction * multiplication ^ power transpose \ left division, / division x = A \ b is the solution of A * x = b x = b / A is the solution of x * A = b inv inverse of a matrix
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Matrix operations:
Subscripts:
Subscripts: the element in row i and column j of A is denoted by A(i, j). Example: A = magic(3); A(1,1) + A(1,2) + A(1,3)
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The Colon Operator :
The colon : is one of MATLAB s most important operators. It has many formats: i = 3 : -2 : -11 is a row vector containing integers from 3 to 11 with a increment of 2. Subscript expressions involving colons refer to portions of a matrix: A(1:3 , 2) is the first to the third elements of the second column of A.
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Problem
Given a 4 x 5 Matrix A = [ 1 2 3 4 5 56783 91232 2 4 1 7 1]; (i) Write a command to extract the Matrix shown inside the Box (ii) Write a command to extract the first 3 columns of the matrix A
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Solution
(i) (ii)
B = A(2:3,2:4) B = A(:,1:3)
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Working with Matrices:
MATLAB provides four functions that generate basic matrices: Zeros: all zeros. A = zeros(1,3) Ones: all ones. A = ones(2,4) Rand: uniformly distributed random elements. A = rand(3,5) Eye(N): N x N identity matrix A = eye(4)
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Concatenation: join small (compatible) matrices to make bigger ones: B = [A A-2; A*2 A/4] Deleting rows and columns: B(:,2) = [ ] Repeating Matrices: repmat(A, 2, 2)
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MATLAB provides a large number of standard elementary mathematical functions, including abs, sqrt, exp, and sin. For a list of the elementary mathematical functions, type: help elfun For a list of more advanced mathematical and matrix functions, type help specfun help elmat For a list of data analysis functions, type help datafun For a list of functions in Simulink Toolbox, type help simulink 18
Functions:
Suppressing Output:
If you simply type a statement and press Enter, MATLAB automatically displays the results on screen. If you end the line with a semicolon ;, MATLAB performs the computation but does not display any result. Example: C = randn(5,1) v.s. C = randn(5,1);
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Programming with MATLAB:
Files that contain code in the MATLAB language are called Mfiles. You create M-files using the MATLAB editor, then use them as you would any other MATLAB functions or command. There are two types of M-files: Scripts and Functions.
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Scripts
Scripts: a bunch of code grouped together; doesnt accept argument or return output. Practice: create a file called magicrank.m that calculates the rank of magic squares: r = zeros(1,20); for n = 1:20 r(n) = rank(magic(n)); end bar(r) Add the file into search path and type the statement: magicrank
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Functions:
Functions are M-files that can accept input arguments and return output arguments. The name of the M-file and of the function should be the same. Example : Matlab File add.m
function Sum = add(arg1, arg2)
: :
Sum = arg1 + arg2;
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Flow Control:
MATLAB has following flow controls: If statement Switch statement For loops While loops Continue statement Break statement
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if elseif else end
If A > B greater elseif A < B less elseif A = = B equal else error(Unexpected situation) end
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for end
for i = 1:m for j = 1:n H(i,j) = 1/(i+j) end end
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Graphics: plot
x = 0 : .01 : 2*pi; y = sin(x); plot(x,y) y2 = sin(x-.25) y3 = sin(x-.5) plot(x,y,x,y2,x,y3)
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ToolBoxes
MATLAB has toolboxes for specific programming applications:
1. 2. 3. 4. 5.
Simulink Neural Network Optimization Control Systems Virtual Reality etc
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