Mechatronic Systems Design

MEC301

Asst. Prof. Dr.Ing.

Mohammed Nour A. Ahmed
[email protected]
https://mnourgwad.github.io

Lecture 3: Modeling and Simulation

Copyright ©2016 Dr.Ing. Mohammed Nour Abdelgwad Ahmed as part of the course
work and learning material. All Rights Reserved.
Where otherwise noted, this work is licensed under a Creative Commons
Attribution-NonCommercial-ShareAlike 4.0 International License.

Zagazig University | Faculty of Engineering | Computer and Systems Engineering Department | Zagazig, Egypt
 Modeling

 Modeling is the process of representing the behavior of a

real system by a collection of mathematical equations
and logic.

 Models are cause-and-effect structures—they accept

external information and process it with their logic and
equations to produce one or more outputs.
 Parameter is a fixed-value unit of information
 Signal is a changing-unit of information

 Models can be text-based programming or block

diagrams
Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 2 / 85
 Math Modelling Categories

 Static vs. dynamic

 Linear vs. nonlinear

 Time-invariant vs. time-variant

 SISO vs. MIMO

 Continuous vs. discrete

 Deterministic vs. stochastic

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 Static vs. Dynamic

 Models can be static or dynamic

 Static models produce no motion, fluid flow, or any other

changes.

 Example: Battery connected to resistor v = 𝒊𝑹

 Dynamic models have energy transfer which results in
power flow. This causes motion, or other phenomena that
change in time.

 Example: Battery connected to resistor, inductor, and

capacitor

di 1
v  Ri  L   idt
dt C
Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 4 / 85
 Linear vs. Nonlinear

 Linear models follow the superposition principle

 The summation outputs from individual inputs will be equal to the
output of the combined inputs

 Most systems are nonlinear in nature, but linear models

can be used to approximate the nonlinear models at
certain point.

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 5 / 85

 Linear vs. Nonlinear Models

 Linear Systems  Nonlinear Systems

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 Time-invariant vs. Time-variant

 The model parameters do not change in time-invariant

models

 The model parameters change in time-variant models

 Example: Mass in rockets vary with time as the fuel is
consumed.

If the system parameters change with time,

the system is time varying.

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 7 / 85

 Time-invariant vs. variant

 Time-invariant  Time-variant
F(t) = ma(t) – g F = m(t) a(t) – g

Where m is the mass, a is Here, the mass varies

the acceleration, and g is with time. Therefore the
the gravity model is time-varying

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 8 / 85

 Linear Time-Invariant (LTI)

 LTI models are of great use in representing systems

in many engineering applications.
 The appeal is its simplicity and mathematical
structure.

 Although most actual systems are nonlinear and

time varying
 Linear models are used to approximate around an operating
point the nonlinear behavior
 Time-invariant models are used to approximate in short
segments the system’s time-varying behavior.
Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 9 / 85
 SISO vs. MIMO

 Single-Input Single-Output (SISO) models are

somewhat easy to use. Transfer functions can be
used to relate input to output.

 Multiple-Input Multiple-Output (MIMO)

models involve combinations of inputs and outputs
and are difficult to represent using transfer
functions. MIMO models use State-Space
equations

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 10 / 85

 System States

 Transfer functions
 Concentrates on the input-output relationship only.

 Relates output-input to one-output only SISO

 It hides the details of the inner workings.

 State-Space Models
 States are introduced to get better insight into the systems’
behavior. These states are a collection of variables that
summarize the present and past of a system
 Models can be used for MIMO models

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 SISO vs. MIMO Systems

U(t) Transfer Function Y(t)

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 Continuous vs. discrete

 Continuous models have continuous-time as the

dependent variable and therefore inputs-outputs
take all possible values in a range

 Discrete models have discrete-time as the

dependent variable and therefore inputs-outputs
take on values at specified times only in a range

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 13 / 85

 Continuous vs. discrete

 Continuous Models  Discrete Models

 Differential equations  Difference equations

 Integration  Summation
 Laplace transforms  Z-transforms

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 14 / 85

 Deterministic vs. Stochastic

 Deterministic models are uniquely described by

mathematical equations. Therefore, all past,
present, and future values of the outputs are known
precisely

 Stochastic models cannot be described

mathematically with a high degree of accuracy. These
models are based on the theory of probability

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 15 / 85

 Block Diagrams

 Block diagram models consist of two fundamental

objects: signal blocks and wires.
 A block is a processing element which operates on input
signals and parameters to produce output signals
 A wire is to transmits a signal from its origination point
(usually a block) to its termination point (usually another
block).

 Block diagrams are suitable to represent multi-

disciplinary models that represent a physical
phenomenon.
Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 16 / 85
 Block Diagram Example

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 Block Diagrams Manipulation

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 Block Diagrams Manipulation

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 Block Diagrams: Direct Method Example

Consider the transfer function:

We can introduce s state variable, x(t), in order to separate the polynomials

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 20 / 85

 State Equation

The differential equation is:

Put the needed integrator blocks:

Add the required multipliers to obtain the state equation:

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 21 / 85

 Output Equation

Repeat the same procedure for the output equation:

Connect the two sub-blocks

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 22 / 85

 Block Diagram Modeling: Analogy Approach

 Physical laws are used to predict the behavior (both static and
dynamic) of systems.
 Electrical engineering relies on Ohm’s and Kirchoff’s laws
 Mechanical engineering on Newton’s law
 Electromagnetics on Faradays and Lenz’s laws
 Fluids on continuity and Bernoulli’s law

 Based on electrical analogies, we can derive the fundamental

equations of systems in five disciplines of engineering:
 Electrical, Mechanical, Electromagnetic, Fluid, and Thermal.

 By using this analogy method to first derive the fundamental

relationships in a system, the equations then can be represented
in block diagram form, allowing secondary and nonlinear effects
to be added.
 This two-step approach is especially useful when modeling large coupled
systems using block diagrams.
Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 23 / 85
 Power and Energy Variables: Effort & Flow

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 24 / 85

Thanks for your attention.
Questions?

Asst. Prof. Dr.Ing.

Mohammed Nour A. Ahmed
[email protected]
https://mnourgwad.github.io Robotics Research Interest Group (zuR2 IG)
Zagazig University | Faculty of Engineering | Computer
and Systems Engineering Department | Zagazig, Egypt

Copyright ©2016 Dr.Ing. Mohammed Nour Abdelgwad Ahmed as part of the course work and learning material. All Rights Reserved.
Where otherwise noted, this work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.

Mohammed Ahmed (Asst. Prof. Dr.Ing.) Mechatronic Systems Design 25 / 85