MECHATRONICS SYSTEM

DESIGN
(MTE 311)
Mechatronics Engineering
Federal University Oye-Ekiti

LECTURE 2

Course Lecturers: Dr. Adetoye Aribisala and Engr. B. Dahunsi

 Modeling and simulation
• Modeling is the process of representing
collection of mathematical equations the behavior of a real system by a
synonymous with physical system—that is, and logic. The term real system is
matter and energy. a system whose behavior is based on
• Models can be broadly categorized as either static or dynamic.
• In a static model, there is no energy transfer. Systems, which are static produce
no motion, heat transfer, fluid flow, traveling waves, or any other changes.
• On the other hand, a dynamic model has energy transfer which results in
power flow. Power, or rate of change of energy, causes motion, heat transfer,
and other phenomena that change in time.
• Phenomena are observed as signals, and since time is often the independent
variable, most signals are indexed with respect to time.
 Modeling and simulation
• Models are cause-and-effect structures—they accept external
information and process it with their logic and equations to produce one
or more outputs.
• Exogenous, or externally produced, information supplied to the model
either can be fixed in value or changing.
•
An external
external fixed-value
changing unitunitofof information
information isiscalled a parameter,
called an inputwhilesignal.
an
Traditionally, all model output information is assumed to be changing
and is therefore referred to as output signals.
 Modeling and simulation
• Because models are collections of mathematical and logic expressions,
they can be represented in text-based programming languages.
• Unfortunately, once in the programming language, one must be familiar
with the specific language in order to understand the model. Because
most practicing engineers are not familiar with most programming
languages, text-based modeling proved to be a poor candidate for
mechatronics.
• The ideal candidate would be picture or visual based instead of text-based
and intuitive.
 Modeling and simulation
• All block diagram languages consist of two fundamental objects: signal
wires and blocks.
•
A signal wire transmits a signal or a value from its point of origination
(usually a block) to its point of termination (usually another block).
•
An arrowhead on the signal wire defines the direction in which the signal
flows. Once the flow direction has been defined for a given signal wire,
• signals may only flow in the forward direction—not backwards.
A block is a processing element which operates on input signals and
parameters (or constants) to produce output signals.
 Modeling and simulation
• Because block functions can be nonlinear as well as linear, the collection
of special function blocks is practically unlimited and almost never the
same between vendors.
• However, there is a three-block basis that all block diagram languages
possess: summing junction, gain, and integrator blocks.
 Modeling and simulation
• Simulation is the process of solving the model and is performed on a
computer. Although simulations can be performed on analog computers,
it is far more common to perform them on digital computers.
• The process of simulation can be divided into three sections:
initialization, iteration, and termination.
• If the starting point is a block diagram-based model description, then in
the initialization section, the equations for each of the blocks must be
sorted according to the pattern in which the blocks have been connected.
 Modeling and simulation
• The iteration section solves any differential equations present in the
model using numerical integration and/or differentiation.
• An ordinary differential equation is (in general) a nonlinear equation
which contains one or more derivative terms as a function of a single
independent variable.
• For most simulations, this independent variable is time. The order of an
ordinary differential equation equals the highest derivative term present.
 Optimization
• Optimization solves the problem of distributing limited resources
throughout a system so that prespecified aspects of its behavior are
satisfied.
• In mechatronics, optimization is primarily used to establish the optimal
system configuration.
 Optimization
• In engineering applications, certain conventions in terminology are used.
Resources are referred to as design variables, aspects of system behaviour
as objectives, and system governing relationships (equations and logic) as
constraints.
 Optimization
• To illustrate the formulation of an optimization problem, consider the
following example.
• A system consists of a piece of box-shaped luggage, where the volume
characteristics are to be maximized by appropriate selection of the
height, width, and depth resources. The problem is formulated as
 Optimization
• The objective is written in functional form to show its dependence on
the design variables. This problem is easily solved mentally, since the
resources are unlimited; the volume becomes infinite.
• More challenging and realistic situations occur when limits are placed on
the resources. Consider placing a limit on the total distance resource
(width plus height plus depth) of 80 cm. The problem formulation is
presented as
 Optimization
• From basic geometry, we remember that cubic shapes have maximum
volume; therefore, the total distance resource must be distributed equally
among the height, width, and depth.
• Next, consider the addition of constraints on each of the three design
variables. We will restrict the box length to be less than 40 cm, the width
to be less than 30 cm, and the height to be less than 20 cm. The problem
formulation becomes