MECHATRONICS STUDY PROGRAM

MODELING AND SIMULATION OF MECHANICAL SYSTEM

LECTURE : #6
MIXED SYSTEM MODELLING

MME, Batch #14

Dr. Ir. Hanny J. Berchmans, M.T.
Saturday, XXXX XX, 2023
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OUTLINE

❑ COMBINATION OF TRANSLATION & ROTATIONAL MECHANICAL SYSTEM

❑ COMBINATION OF MECHANICAL SYSTEM with ELECTRICAL SYSTEM
❑ COMBINATION OF MECHANICAL ROTATIONAL-TRANSLATIONAL SYSTEM with
ELECTRICAL SYSTEM
 COMBINATION OF TRANSLATIONAL AND
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Rack-and-pinion System

𝝎
 COMBINATION OF TRANSLATIONAL AND
MECHATRONICS STUDY PROGRAM ROTATIONAL MECHANICAL SYSTEM SIMULATION

Rack-and-pinion System

𝑆𝑦𝑠𝑡𝑒𝑚 2 → 𝑥 𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ

𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ 𝝉𝑏𝑝 (Ɵ) 𝐹𝑠 𝐹𝑏

𝑥 𝑣
𝐽𝑝 𝝉𝑘𝑝 (Ɵ) 𝑇𝑡 𝑚
𝝎
ሷ
𝑇𝑠 Ɵ 𝐽𝑝 Ɵ 𝐹𝑡

𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛:

෍ 𝝉 = 𝐽𝑝 Ɵሷ ෍ 𝐹 = 𝑚𝑥ሷ

𝑇𝑠 − 𝑇𝑡 − 𝝉𝑏𝑝 (Ɵ) − 𝝉𝑘𝑝 (Ɵ) = 𝐽𝑝 Ɵሷ 𝐹𝑡 − 𝐹𝑏 − 𝐹𝑠 = 𝑚𝑥ሷ

𝝎 = 𝑣. 𝑟 𝝉𝑏𝑝 (Ɵ) = 0 𝐹𝑏 = 𝑏. 𝑣
𝑇𝑡 = 𝐹𝑡 . 𝑟 𝝉𝑘𝑝 (Ɵ) = 0
𝑇𝑠 − 𝑇𝑡 = 𝐽𝑝 Ɵሷ
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Rack-and-pinion System

𝑆𝑦𝑠𝑡𝑒𝑚 2 → 𝑥 𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ

𝑆𝑦𝑠𝑡𝑒𝑚 1 → Ɵ 𝑇𝑠 − 𝑇𝑡 = 𝐽𝑝 Ɵሷ 𝐹𝑡 − 𝐹𝑏 − 𝐹𝑠 = 𝑚𝑥ሷ
𝐹𝑏 = 𝑏. 𝑣
𝝎 𝑆𝑦𝑠𝑡𝑒𝑚 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑡𝑖𝑜𝑛: 𝑑𝑣
𝐹𝑡 = 𝑚 + 𝐹𝑏 + 𝐹𝑠
𝑇𝑠 − 𝑇𝑡 = 𝐽𝑝 Ɵሷ 𝑑𝑡
1 𝑑𝑣 𝑑𝑣
𝑇𝑠 − (𝐹𝑡 . 𝑟) = 𝐽𝑝 . 𝐹𝑡 = 𝑚 + 𝑏. 𝑣 + 𝐹𝑠
𝑟 𝑑𝑡 𝑑𝑡
𝑑𝑣 1 𝑑𝑣 1
𝑇𝑠 − 𝑚 + 𝑏. 𝑣 + 𝐹𝑠 . 𝑟 = 𝐽𝑝 .
𝑑𝑡 𝑟 𝑑𝑡 𝑛=
𝑑𝑣 𝑑𝑣
𝑟
𝑟. 𝑇𝑠 − 𝑚. 𝑟 2 . − 𝑏. 𝑣. 𝑟 2 − 𝐹𝑠 . 𝑟 2 = 𝐽𝑝 1
𝑑𝑡 𝑑𝑡 𝑛2 = 2
𝑑𝑣 𝑑𝑣 𝑟
𝐽𝑝 + 𝑚. 𝑟 2 . = 𝑟. 𝑇𝑠 − 𝑏. 𝑣. 𝑟 2 − 𝐹𝑠 . 𝑟 2
𝑣 = 𝝎. 𝑟 𝑑𝑡 𝑑𝑡
𝑣 𝑑𝑣
𝐽𝑝 + 𝑚. 𝑟 2 = 𝑟. 𝑇𝑠 − 𝑏. 𝑣. 𝑟 2 − 𝐹𝑠 . 𝑟 2
𝑑𝝎 𝑑 ( ) 1 𝑑𝑣
Ɵሷ = = 𝑟 =
𝑑𝑡
𝑑𝑣 𝑟2 𝑇𝑠 𝑑𝑣 1
𝑑𝑡 𝑑𝑡 𝑟 𝑑𝑡 = − 𝑏. 𝑣 − 𝐹𝑠 = 𝑛. 𝑇𝑠 − 𝑏. 𝑣 − 𝐹𝑠
𝑇𝑡 = 𝐹𝑡 . 𝑟 𝑑𝑡 𝐽𝑝 + 𝑚. 𝑟 2 𝑟 𝑑𝑡 𝑛2 . 𝐽𝑝 + 𝑚
 COMBINATION OF TRANSLATIONAL AND
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Rack-and-pinion System

1
𝑏
𝑛2 . 𝐽𝑝 +𝑚

Ɵ2-Simulink Ɵ2-SimScape
𝑛2 . 𝐽𝑝

𝑏 𝑚

Ɵሶ 2-Simulink Ɵሶ 2-Simulink

𝐹𝑖𝑙𝑒:
1. 𝑅𝑎𝑐𝑘𝑃𝑖𝑛𝑖𝑜𝑛𝐺𝑒𝑎𝑟𝑆𝑦𝑠𝑡𝑒𝑚. 𝑠𝑙𝑥
2. RackAndPinionGearSystem.m
MECHATRONICS STUDY PROGRAM

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❑ COMBINATION OF TRANSLATION & ROTATIONAL MECHANICAL SYSTEM

❑ COMBINATION OF MECHANICAL SYSTEM with ELECTRICAL SYSTEM
❑ COMBINATION OF MECHANICAL ROTATIONAL-TRANSLATIONAL SYSTEM with
ELECTRICAL SYSTEM
 COMBINATION OF ELECTRICAL AND
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Electromechanical Energy Converters

▪ In electromechanical systems, the coupling between mechanical and electrical elements of the system is provided through a magnetic
field.
▪ The first process involves a current-carrying wire placed within a magnetic field. Force Fe is exerted on the wire and the differential of
the force is:
ℬ = 𝑓𝑙𝑢𝑥 𝑑𝑒𝑛𝑠𝑖𝑡𝑦 𝑜𝑓 𝑡ℎ𝑒 𝑚𝑎𝑔𝑛𝑒𝑡𝑖𝑐 𝑓𝑖𝑒𝑙𝑑
𝑑𝐅𝑒 = 𝑖. (𝑑𝐥 x 𝓑) 𝑑𝑙 = 𝑑𝑖𝑓𝑓𝑒𝑟𝑒𝑛𝑡𝑖𝑎𝑙 𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑡ℎ𝑒 𝑤𝑖𝑟𝑒
𝑖 = 𝑐𝑢𝑟𝑟𝑒𝑛𝑡
▪ Fe, l , and B are vectors and the symbol X denotes the vector cross product. In many applications, the wire-length vector is
perpendicular to the magnetic-field flux vector, and in such cases the equation can be replaced with the following scalar equation:

▪ Fe is determined by the right-hand rule. F𝑒 = 𝑖. l . ℬ. sin (90o) = 𝑖. l . ℬ

▪ Voltage em is induced in the wire, and the voltage differential is
𝑑𝑒𝑚 = 𝐯 x 𝓑 . 𝑑𝐥 𝐯 = 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑣𝑒𝑐𝑡𝑜𝑟 𝑜𝑓 𝑡ℎ𝑒 𝑤𝑖𝑟𝑒
▪ In most applications, the three vectors v, B, and l are mutually perpendicular, and the equation above simplifies to:

𝑒𝑚 = 𝑣. ℬ. 𝑙
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Translational and Rotational Electromechanical Energy Converters

▪ Because the coupling coefficient is in many

𝝎 cases α controllable, which is a feature that
makes electromechanical transducers
especially attractive for control systems
use, it is shown as an input signal.
Rotational Electromechanical
𝝎 Energy Converters
𝑃𝑒𝑙𝑒𝑐𝑡𝑟𝑖𝑐𝑎𝑙 = 𝑃𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙
𝝎
𝑖𝑡 . 𝑒𝑖 = 𝑇𝑡 . 𝜔
Symbolic diagrams with elemental equations for ideal electromechanical
transducers: (a) translational–mechanical and (b) rotational–mechanical. 𝜔 = α𝑟 . 𝑒𝑖
𝑒𝑖
𝑇𝑡 = 𝑖𝑡 .
𝜔
1
𝑇𝑡 = 𝑖𝑡 .
α𝑟
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Electromechanical Energy Converters

▪ DC models are intended primarily for use

with DC devices, they apply reasonably
well to the same devices operating on AC
if rms values of voltage and current are
used and the dynamic response of the rest
of the system is slow compared with the
periodic variation of the AC.

𝝎 ▪ When the efficiency is known, the input

current, when the unit is operating as a
motor, is given by:
1 𝑇. 𝜔
𝝎
irms = .
ηm 𝑒irms
▪ ηm is the efficiency of the unit operating as
Steady-state torque-versus-speed characteristic for a squirrel-cage AC motor a motor.
operating at constant supply frequency and voltage.
 COMBINATION OF ELECTRICAL AND
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Electric DC Motor / Rotational Electro- Mechanical Transducer

𝝎
 COMBINATION OF ELECTRICAL AND
MECHATRONICS STUDY PROGRAM ROTATIONAL MECHANICAL SYSTEM SIMULATION

Electric DC Motor / Rotational Electro- Mechanical Transducer

Simplified schematic of a 𝐹𝑒 = 𝑖. 𝑙. ℬ
DC Motor 𝐹𝑒 = 𝐹𝑜𝑟𝑐𝑒 𝑒𝑥𝑒𝑟𝑡𝑒𝑑 𝑜𝑛 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
ℬ = 𝑎 𝑢𝑛𝑖𝑓𝑜𝑟𝑚 𝑚𝑎𝑔𝑛𝑒𝑡𝑖𝑐 𝑓𝑖𝑒𝑙𝑑 𝑜𝑓 𝑓𝑙𝑢𝑥 𝑑𝑒𝑛𝑠𝑖𝑡𝑦
𝑙 = 𝑙𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑡ℎ𝑒 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑐𝑜𝑖𝑙
𝑅 = 𝑟𝑒𝑠𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
𝐿 = 𝑖𝑛𝑑𝑢𝑐𝑡𝑎𝑛𝑐𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
𝑒𝑖 = 𝑖𝑛𝑝𝑢𝑡 𝑣𝑜𝑙𝑡𝑎𝑔𝑒
𝝎 𝑖 = 𝑐𝑢𝑟𝑟𝑒𝑛𝑡
𝑇𝑒 = 𝐹𝑒 . 𝑟
𝑇𝑒 = 𝑇𝑜𝑟𝑞𝑢𝑒 𝑒𝑥𝑒𝑟𝑡𝑒𝑑 𝑜𝑛 𝑎𝑟𝑚𝑎𝑡𝑢𝑟𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
𝑟 = 𝑤𝑖𝑛𝑑𝑖𝑛𝑔 𝑟𝑎𝑑𝑖𝑢𝑠
𝑇𝑒 = 2𝑁. 𝐹𝑒 . 𝑟
𝑁 = 𝑡𝑢𝑟𝑛𝑠 𝑖𝑛 𝑡ℎ𝑒 𝑤𝑖𝑛𝑑𝑖𝑛𝑔
1 1
1 α 𝑟 = 𝑖𝑡 . = 𝑖𝑡 .
𝑇𝑡 = 𝑖𝑡 . 𝑇𝑡 𝑇𝑒
α𝑟 1 1 1
α 𝑟 = 𝑖𝑡 . = 𝑖𝑡 . =
2𝑁.𝐹𝑒 .𝑟 2𝑁.𝑖𝑡 .𝑙.ℬ.𝑟 2𝑁.𝑙.ℬ.𝑟
 COMBINATION OF ELECTRICAL AND
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Electric DC Motor / Rotational Electro- Mechanical Transducer

𝝎 𝑣 = 𝜔. 𝑟 1
𝑇𝑡 = 𝑖𝑡 .
𝑒𝑚 = 𝑣. ℬ. 𝑙 = 2𝑁. 𝜔. 𝑟. ℬ. 𝑙 α𝑟
The equation for the mechanical part of
the system is:
𝜔 = α𝑟 . 𝑒𝑖
𝑑𝜔
The equation for the electrical part of 𝜔 𝐽𝑚 + 𝐽𝑖 + 𝐵𝑚 + 𝐵1 = 𝑇𝑡
𝑑𝑡
the system is: 𝑒𝑚 = 𝑑𝜔 1
𝑑𝑖𝑡
α𝑟 𝐽𝑚 + 𝐽𝑖 + (𝐵𝑚 + 𝐵1 ) = 𝑖𝑡 .
𝑒𝑖 = 𝑅. 𝑖𝑡 + 𝐿. + 𝑒12 𝑑𝑡 α𝑟
𝑑𝑡
𝑑𝑖𝑡 𝜔
𝑒𝑖 = 𝑅. 𝑖𝑡 + 𝐿. + 𝝎 𝝎
Electric DC Motor
𝑑𝑡 α𝑟 / Rotational
Electro-
Mechanical
Transducer
 COMBINATION OF ELECTRICAL AND
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Electric DC Motor / Rotational Electro- Mechanical Transducer

The equation for the electrical part of The equation for the mechanical part of
the system is: the system is: 𝑇𝑒 = 2𝑁. 𝐹𝑒 . 𝑟
𝑑𝑖𝑡 𝑑𝜔
𝑒𝑖 = 𝑅. 𝑖𝑡 + 𝐿. + 𝑒12 𝐽𝑚 + 𝐽𝑖 + 𝐵𝑚 + 𝐵1 𝜔 = 𝑇𝑡 𝐹𝑒 = 𝑖. 𝑙. ℬ
𝑑𝑡 𝑑𝑡
𝑑𝑖𝑡 𝜔 𝑑𝜔 1
𝑒𝑖 = 𝑅. 𝑖𝑡 + 𝐿. +
𝑑𝑡 α𝑟 𝐽𝑚 + 𝐽𝑖 + (𝐵𝑚 + 𝐵1 )𝜔 = 𝑖𝑡 .
𝑑𝑡 α𝑟
𝑑𝜔
𝑖𝑡 = α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 𝐵𝑚 + 𝐵1 𝜔
𝑑𝑡
𝑑𝑖𝑡 𝑑2𝜔 𝑑𝜔
= α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 (𝐵𝑚 + 𝐵1 )
𝑑𝑡 𝑑𝑡2 𝑑𝑡

Substituting all the expressions yields:

𝑑𝑖 𝜔 𝑑𝜔 𝑑2 𝜔 𝑑𝜔 𝜔
𝑒𝑖 = 𝑅. 𝑖𝑡 + 𝐿. 𝑡 + = 𝑅. α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 𝐵𝑚 + 𝐵1 𝜔 + 𝐿. α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 𝐵𝑚 + 𝐵1 +
𝑑𝑡 α𝑟 𝑑𝑡 𝑑𝑡2 𝑑𝑡 α𝑟

𝑑 2𝜔 𝑑𝜔
𝑒𝑖 . α𝑟 = 𝐽𝑚 + 𝐽𝑖 . 𝐿. α𝑟 𝟐 2 + 𝟐
𝐵𝑚 + 𝐵1 . 𝐿. α𝑟 + 𝐽𝑚 + 𝐽𝑖 . 𝑅. α𝑟 𝟐 + 𝐵𝑚 + 𝐵1 . 𝑅. α𝑟 𝟐 + 1 . 𝜔
𝑑𝑡 𝑑𝑡
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Electric DC Motor / Rotational Electro- Mechanical Transducer

𝑑𝑖 𝜔 𝑑𝜔 𝑑2 𝜔 𝑑𝜔 𝜔
𝑒𝑖 = 𝑅. 𝑖𝑡 + 𝐿. 𝑡 + = 𝑅. α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 𝐵𝑚 + 𝐵1 + 𝐿. α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 𝐵𝑚 + 𝐵1 +
𝑑𝑡 α𝑟 𝑑𝑡 𝑑𝑡2 𝑑𝑡 α𝑟
𝑑 2𝜔 𝑑𝜔
𝑒𝑖 . α𝑟 = 𝐽𝑚 + 𝐽𝑖 . 𝐿. α𝑟 𝟐 2 + 𝐵𝑚 + 𝐵1 . 𝐿. α𝑟 𝟐 + 𝐽𝑚 + 𝐽𝑖 . 𝑅. α𝑟 𝟐 + 𝐵𝑚 + 𝐵1 . 𝑅. α𝑟 𝟐 + 1 . 𝜔
𝑑𝑡 𝑑𝑡
IF WE ASSUME ei and it is constant: α = 𝑒 /𝜔 𝜔=
𝑑θ
= θሶ and
𝑑𝜔
= θሷ
𝑟 𝑖 𝑑𝑡 𝑑𝑡
𝜔 𝑑𝜔 𝜔
𝑒𝑖 = 𝑅. 𝑖𝑡 + 0 + = 𝑅. α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 𝐵𝑚 + 𝐵1 + 𝑑𝜔 𝑒𝑖 2 − 𝜔2 𝜔2
α𝑟 𝑑𝑡 α𝑟
𝐽𝑚 + 𝐽𝑖 = 2
− 𝐵𝑚 + 𝐵1
𝟐
𝑑𝜔 𝑑𝑡 𝑅. 𝜔 𝑒𝑖
𝑒𝑖 . α𝑟 = 𝑅. α𝑟 𝐽𝑚 + 𝐽𝑖 + α𝑟 𝟐 𝐵𝑚 + 𝐵1 +𝜔
𝑑𝑡 𝑑𝜔 1 𝑒𝑖 2 − 𝜔2 𝜔2
= 2
− 𝐵𝑚 + 𝐵1
𝑒𝑖 𝑒𝑖 𝟐 𝑑𝜔 𝑒𝑖 𝟐 𝑑𝑡 𝐽𝑚 + 𝐽𝑖 𝑅. 𝜔 𝑒𝑖
𝑒𝑖 . = 𝑅. ( ) 𝐽𝑚 + 𝐽𝑖 + ( ) 𝐵𝑚 + 𝐵1 +𝜔
𝜔 𝜔 𝑑𝑡 𝜔 𝜔3
𝑑𝜔 1 𝜔− 2
𝑒𝑖 𝟐 𝑑𝜔 𝑒𝑖 𝟐 𝑒𝑖
= − 𝐵𝑚 + 𝐵1
𝑒𝑖 2 = 𝑅. 𝜔. ( ) 𝐽𝑚 + 𝐽𝑖 + ( ) 𝐵𝑚 + 𝐵1 + 𝜔2 𝑑𝑡 𝐽𝑚 + 𝐽𝑖 𝑅
𝜔 𝑑𝑡 𝜔
𝑑𝜔 𝑒𝑖 2 − 𝜔2 𝜔2
𝐽𝑚 + 𝐽𝑖 + 𝐵𝑚 + 𝐵1 = 2
 COMBINATION OF ELECTRICAL AND
MECHATRONICS STUDY PROGRAM ROTATIONAL MECHANICAL SYSTEM SIMULATION

Electric DC Motor / Rotational Electro- Mechanical Transducer

𝑑θ 𝑑𝜔
𝜔= = θሶ and = θሷ
𝑑𝑡 𝑑𝑡

𝜔3
𝑑𝜔 1 𝜔− 2
𝑒𝑖
= − 𝐵𝑚 + 𝐵1
𝑑𝑡 𝐽𝑚 + 𝐽𝑖 𝑅

θሶ3
1 θሶ − 2
𝑒𝑖
θሷ = − 𝐵𝑚 + 𝐵1
𝐽𝑚 + 𝐽𝑖 𝑅
MECHATRONICS STUDY PROGRAM
DC Motor Speed: Simulink Modeling

DC Motor Speed: Simulink Modeling

For this example, we will assume that the input of the
system is the voltage source (V) applied to the motor's
armature, while the output is the rotational speed of the
shaft Ɵ. The rotor and shaft are assumed to be rigid. We
further assume a viscous friction model, that is, the
friction torque is proportional to shaft angular velocity.

The physical parameters for our example are:

(J) moment of inertia of the rotor 0.01 kg.m^2

(b) motor viscous friction constant 0.1 N.m.s
(Ke) electromotive force constant 0.01 V/rad/sec
(Kt) motor torque constant 0.01 N.m/Amp
(R) electric resistance 1 Ohm
(L) electric inductance 0.5 H
MECHATRONICS STUDY PROGRAM
DC Motor Speed: Simulink Modeling

In general, the torque generated by a DC motor is proportional to the armature current and the strength of the magnetic field. In this
example we will assume that the magnetic field is constant and, therefore, that the motor torque is proportional to only the armature
current i by a constant factor Kt as shown in the equation below. This is referred to as an armature-controlled motor.

1
𝑇 = 𝐾𝑡 . 𝑖 𝑇𝑡 = 𝑖𝑡 .
α𝑟
The back emf, e, is proportional to the angular velocity of the shaft by a constant factor Ke:
𝑒 = 𝐾𝑒 . θሶ
In SI units, the motor torque and back emf constants are equal, that is, Kt = Ke; therefore, we will use K to represent both the motor
torque constant and the back emf constant.

Apply Kirchoff’s Law for Electrical Part: Apply Newton’s Law for Mechanicical Part:

𝑑2θ
෍𝑉 = 0 ෍ 𝑇 = 𝐽. 2
𝑑𝑡
𝑑𝑖 𝑑θ 𝑑2θ
𝑒 + 𝑅. 𝑖 + 𝐿−𝑉 =0 𝑇 − 𝑏. = 𝐽. 2
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑖 1 𝑑θ 2
𝑑 θ 1 𝑑θ
= (−𝑅. 𝑖 + 𝑉 − 𝐾𝑒 . ) = . (𝐾 . 𝑖 − 𝑏. )
𝑑𝑡 𝐿 𝑑𝑡 𝑑𝑡 2 𝐽 𝑡
𝑑𝑡
MECHATRONICS STUDY PROGRAM
DC Motor Speed: Simulink Modeling

The angular acceleration is equal to 1 / J multiplied by the sum of two terms (one positive, one negative). Similarly, the derivative of
current is equal to 1 / L multiplied by the sum of three terms (one positive, two negative). Continuing to model these equations in
Simulink, follow the steps given below.

Apply Kirchoff’s Law for Electrical Part: Apply Newton’s Law for Mechanical Part:

𝑑2θ
෍𝑉 = 0 ෍ 𝑇 = 𝐽. 2
𝑑𝑡
𝑑𝑖 𝑑θ 𝑑2θ
𝑒 + 𝑅. 𝑖 + 𝐿−𝑉 =0 𝑇 − 𝑏. = 𝐽. 2
𝑑𝑡 𝑑𝑡 𝑑𝑡
𝑑𝑖 1 𝑑θ 𝑑2θ 1 𝑑θ
= (−𝑅. 𝑖 + 𝑉 − 𝐾𝑒 . ) = . (𝐾 . 𝑖 − 𝑏. )
𝑑𝑡 𝐿 𝑑𝑡 𝑑𝑡 2 𝐽 𝑡
𝑑𝑡
MECHATRONICS STUDY PROGRAM

OUTLINE

❑ COMBINATION OF TRANSLATION & ROTATIONAL MECHANICAL SYSTEM

❑ COMBINATION OF MECHANICAL SYSTEM with ELECTRICAL SYSTEM
❑ COMBINATION OF MECHANICAL ROTATIONAL-TRANSLATIONAL SYSTEM with
ELECTRICAL SYSTEM
 DC Motor-Rotational-Translational
MECHATRONICS STUDY PROGRAM

HOMEWORK: DEVELOP SIMULINK &

SIMSCAPE MODEL

𝝎
 DC Motor-Rotational-Translational
MECHATRONICS STUDY PROGRAM

𝑆𝑦𝑠𝑡𝑒𝑚 1 → 𝑖 𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ
𝑆𝑦𝑠𝑡𝑒𝑚 1 → 𝑖 𝑆𝑦𝑠𝑡𝑒𝑚 3 → 𝑥
Apply Newton’s Law for Mechanical Part:

𝑑2θ
෍ 𝑇 = 𝐽𝑚 . 2 𝝉𝑏𝑔(Ɵ)
𝑆𝑦𝑠𝑡𝑒𝑚 2 → Ɵ 𝑑𝑡
𝑑θ 𝑑2θ 𝐽𝑔 𝝉𝑘𝑔(Ɵ) 𝑇𝑟
𝑇𝑡 − 𝑏𝑚 . = 𝐽𝑚 . 2
𝑑𝑡 𝑑𝑡
𝑑2θ 1 1 𝑑θ ሷ
𝝎 =
𝑑𝑡 2 𝐽𝑚
. (𝑖𝑠 .
α𝑟
− 𝑏𝑚 .
𝑑𝑡
) 𝑇𝑡 Ɵ 𝐽𝑔 Ɵ
1
𝑛= ෍ 𝝉 = 𝐽𝑔 Ɵሷ
𝑟
𝝎 = 𝑣. 𝑟 1 1 1 1
𝑇𝑡 = 𝑖𝑠 . Ɵሷ = . 𝑖𝑠 . − 𝑇𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ 𝑛 2
= 𝑇𝑡 − 𝑇𝑟 − 𝝉𝑏𝑔(Ɵ) − 𝝉𝑘𝑔 (Ɵ) = 𝐽𝑔 Ɵሷ
𝑇𝑟 = 𝐹𝑟 . 𝑟 α𝑟 𝐽𝑔 α𝑟 𝑟2
1 1 𝝉𝑏 (Ɵ) = 𝑏𝑔 . Ɵሶ
𝑔
Ɵሷ = . (𝑖𝑠 . − (𝐹𝑟 . 𝑟) − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ)
𝐽𝑔 α𝑟 𝝉𝑘𝑔 (Ɵ) = 𝑘𝑔 . Ɵ
𝑆𝑦𝑠𝑡𝑒𝑚 3 → 𝑥
෍ 𝐹 = 𝑚𝑥ሷ 1 1 𝑑𝑣 𝑇𝑡 − 𝑇𝑟 − 𝑏𝑔 . Ɵሶ − 𝑘𝑔 . Ɵ = 𝐽𝑔 Ɵሷ
Ɵሷ = . 𝑖𝑠 . − 𝑚 + 𝑏𝑝 . 𝑣 + 𝐹𝑡 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ 1
𝐹𝑡 𝐽𝑔 α𝑟 𝑑𝑡 𝑖𝑠 . − 𝑇𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ = 𝐽𝑔 Ɵሷ
𝐹𝑏 𝐹𝑟 − 𝐹𝑏 − 𝐹𝑡 = 𝑚𝑥ሷ α𝑟
1 𝑑𝑣 1 1 𝑑𝑣
𝑥 𝑣 𝐹𝑏 = 𝑏𝑝 . 𝑣 = . (𝑖𝑠 . − ((𝑚 + 𝑏𝑝 . 𝑣 + 𝐹𝑡 ). 𝑟) − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ) 1
𝑚 𝑑𝑣 𝑟 𝑑𝑡 𝐽𝑔 α𝑟 𝑑𝑡 𝐽𝑔 Ɵሷ = 𝑖𝑠 . − 𝑇𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ
α𝑟
𝐹𝑟 = 𝑚 + 𝐹𝑏 + 𝐹𝑡 1 1
𝑑𝑡
𝑑𝑣 Ɵሷ = . (𝑖𝑠 . − 𝑇𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ)
𝐽𝑔 α𝑟
𝐹𝑟 𝐹𝑟 = 𝑚
𝑑𝑡
+ 𝑏𝑝 . 𝑣 + 𝐹𝑡
 DC Motor-Rotational-Translational
MECHATRONICS STUDY PROGRAM

1 𝑑𝑣 1 1 𝑑𝑣
= . 𝑖𝑠 . − 𝑚 + 𝑏𝑝 . 𝑣 + 𝐹𝑡 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ
𝑟 𝑑𝑡 𝐽𝑔 α𝑟 𝑑𝑡
𝑑2θ
1 𝑑𝑣 1 1 𝑑𝑣 𝑑𝑣 ෍ 𝑇 = 𝐽𝑚 .
= . 𝑖𝑠 . − 𝑚𝑏 + 𝑏𝑝 . 𝑣 + 𝑚𝑐 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ 𝑑𝑡 2
𝑟 𝑑𝑡 𝐽𝑔 α𝑟 𝑑𝑡 𝑑𝑡
𝑑θ 𝑑2θ
1 𝑑𝑣 1 𝑑𝑣 1 1 𝑇𝑡 − 𝑏𝑚 . = 𝐽𝑚 . 2
+ (𝑚𝑏 + 𝑚𝑐 ) . 𝑟 = . 𝑖𝑠 . − 𝑏𝑝 . 𝑣 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ 𝑑𝑡 𝑑𝑡
𝑟 𝑑𝑡 𝐽𝑔 𝑑𝑡 𝐽𝑔 α𝑟 2
𝑑 θ 1 1 𝑑θ
𝑑𝑣 1 1 1 1 = . (𝑖𝑠 . − 𝑏𝑚 . )
. ( + (𝑚𝑏 + 𝑚𝑐 ). 𝑟) = . 𝑖𝑠 . − 𝑏𝑝 . 𝑣 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ 𝑑𝑡 2 𝐽𝑚 α𝑟 𝑑𝑡
𝑑𝑡 𝑟 𝐽𝑔 𝐽𝑔 α𝑟
𝑑𝑣 𝑟 1 1
. (1 + (𝑚𝑏 + 𝑚𝑐 )) = . 𝑖𝑠 . − 𝑏𝑝 . 𝑣 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ
𝑑𝑡 𝐽𝑔 𝐽𝑔 α𝑟
𝑑𝑣 1 1 1
= . 𝑖 . − 𝑏𝑝 . 𝑣 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ
𝑑𝑡 𝐽𝑔 (1 + 𝑟 (𝑚𝑏 + 𝑚𝑐 )) 𝑠 α𝑟
𝐽𝑔
𝑑𝑣 1 1
= 𝑖𝑠 . − 𝑏𝑝 . 𝑣 . 𝑟 − 𝑏𝑔 . Ɵሶ − 𝐾. Ɵ
𝑑𝑡 (𝐽𝑔 + 𝑟 (𝑚𝑏 + 𝑚𝑐 )) α𝑟
𝑏𝑔 = 0

𝑑𝑣 1 1
= 𝑖𝑠 . − 𝑏𝑝 . 𝑣. 𝑟 − 𝐾. Ɵ
𝑑𝑡 (𝐽𝑔 + 𝑟 (𝑚𝑏 + 𝑚𝑐 )) α𝑟
MECHATRONICS STUDY PROGRAM

QUESTIONS???

Dr. Ir. Hanny J. Berchmans, M.T.

+62811831965
[email protected]