SYSTEM MODELING

PRESSENTED BY:- Er. Saurabh Malpotra

 INTRODUCTION
• The word mechatronics was coined by Japanese engineers sometime in the mid-1960s and is derived from the words
mechanical and electronics. Mechatronics has now become synonymous with multidisciplinary engineering systems that
comprise mechanical, electrical, hydraulic, magnetic, and so forth, components working together in a synergistic manner.
One vital ingredient in a mechatronic system that is not part of the term itself is a computer or brain (or decision maker).
A Mechatronic system, therefore, contains multidisciplinary components integrated through a computer or decision
maker. The most commonly used defi nition for a mechatronic system is: a synergistic combination of precision
mechanical engineering, electronic control, and intelligent software in a systems framework, used in the design of
products and manufacturing processes.

• It is hard to pinpoint the origin of this defi nition since it is found in so many different sources, including the 1997 article
in Mechanical Engineering by Steven Ashley (1997). Giorgio Rizzoni, professor at Ohio State University, defi ned it as
“the confl uence of traditional design methods with sensors and instrumentation technology, drive and actuator
technology, embedded real-time microprocessor systems, and real-time software” (Rizzoni 2004). Other similar defi
nitions are
• The design and manufacturing of products and systems possessing both a mechanical functionality and an
integrated algorithmic control

• The interdisciplinary field of engineering dealing with the design of products whose function relies on the
integration of mechanical and electronic components coordinated by a control architecture

• Putting intelligence onto physical systems

• Designing intelligent machines

• These are all similar sounding statements and convey the same kind of information about mechatronics. Figure
1.1 shows a schematic that represents this field. It is obvious from all these definitions and the schematic that
mechatronics refers to a multidisciplinary field. What is not obvious is that the concept of “synergy” is a vital
part of mechatronics. Synergy implies a new way of designing these systems. In the past, electromechanical
devices were designed in a sequential manner; that is, the mechanical device was designed first by mechanical
engineers who then handed the design over to the electrical engineers to add on the electrical components.
• The electrical engineers then handed the design over to the control engineers who had to come up with a control
strategy. Synergy in mechatronics implies that engineers from different disciplines are involved in the product
design together and right from the beginning. This ensures that the process is concurrent in nature and the
product uses the best technology and is the most efficient. Figure 1.2 shows the flow of information within a
mechatronic system. At the core of the system is a mechanical system, for example, an autonomous vehicle such
as the one shown in Figure 1.3. The state of the system is determined by sensors. For this particular autonomous
vehicle, sensors such as proximity switches, sonar, and so forth, were used.

Fig. 1.1 Schematic showing the fi eld of mechatronics

1.2 Flowchart showing the flow of information in
mechatronic devices.
What is system and why model system?

• We have discussed that at the core of the mechatronic world is a mechanical system. We have all come across terms
such as engineering systems, transmission system, transportation system, digestive system, financial system,
system engineering, and so on. These are terms used in different domains with the common theme being the
concept of a “system.” A system may be defined as an entity that is separable from the rest of the universe (the
environment) through physical and/or conceptual boundaries. The system boundary is a logical separation between
what is inside the boundary and what lies in the outside world. Although a system is separable from the
surroundings, it can interact with the surroundings. Systems can receive information and energy from the outside
world and also send out information and/or energy (Figure 1.4).

• Systems may be made of interacting parts such as subsystems, and subsystems are made of components. For
example, an automobile can be considered an engineering system that interacts with the surroundings. It receives
input from the surroundings such as input from the driver, friction from the road, and wind drag; it releases exhaust
and heat, makes noise, and so forth.
• The automobile is made of many subsystems such as the drive train, transmission, brakes, and more. These
subsystems are in turn made of components such as pistons, gears, bearings, and pumps, for example. While
systems are made of components (or subsystems), a system is much more than just the sum of all its parts. Even
though the parts that make up a system can be well designed and work well independently, it does not necessarily
mean that the system will function well when these components are all put together. Ensuring that the system
functions well after assembly is not a trivial task and has to be done well. For a successful final product, a
“systems viewpoint” is therefore very important.

• Systems are dynamic as nature; that is, with the passing of time their behavior changes in response to varying
external inputs. So understanding any system’s dynamic behavior is much more important than knowing its static
behavior. An understanding of system behavior is a core requirement of taking a “system viewpoint.” Models of
systems are very useful tools for understanding dynamic behavior of systems.
 1,4 Schematic showing system, system boundary, and
inputs and outputs.

System models may be scaled physical models or mathematical models. Scaled physical model may be physical
prototypes and provide a hands-on understanding system behavior. For many real-life systems, building
physical models may often be cost prohibitive or not possible for other reasons. At the conceptual design stage,
building a physical model is not possible either. Mathematica models are much cheaper to construct and are
extremely powerful if they
are constructed properly.
• The actual assumptions may vary from one situation to another, but some of common approximations that are
typically used for system modeling are

• Neglect small effects: Include the dominant effects but neglect effects that have relatively small influence.

• Independent environment: The environment is not affected by what happens in the system.

• Lumped characteristics: Physical properties for system components are assumed to be lumped even though they
are, in reality, distributed across the geometry.

• Linear relationships: Constitutive relationships are assumed to be linear over the range of operation of the
system even though, in reality, they may not be exactly linear.

• Constant parameters: Parameters defining component properties are assumed to be constant.

• Neglect uncertainty and noise: Any uncertainty or noise in the data are neglected.
• Mathematical system models and their solutions become powerful tools in the hands of system designers. They can
be used for answering different questions such as:

• Analysis: For given input and known system (and state variables), what would be the output?

• Identification: For given input history, the output history is known; What would the model and its state variables
be?

• Synthesis: For given input and a desired output, can a system be designed (along with its state variables) such that
the system performs the way desired?

• Mathematical Modeling Techniques Used in Practice

• Many different approaches have been used in the development of system models. One of the most common
methods is deriving the state–space equations from fi rst principles, specifically Newton’s laws for mechanics,
Kirchoff’s voltage and current laws for electrical circuits, and so forth. These different equations are then
numerically solved to obtain system responses. There are several graphical approaches that are popular among
different technical communities.
• One approach is linear graphing, where state–space equations are modeled as block diagrams connected by
paths showing the flow of information from one block to another. Figure 1.5 shows a SIMULINK model of a
permanent magnet DC motor built by joining different SIMULINK function blocks with proper information
flow paths.

• Control engineers also like to use a block diagram approach, but with the Laplace transformed form of the
governing equation. This can be called the transfer function form, and the operations are carried out in the s, or
frequency, domain rather than the time domain.

1.7 Flowchart showing the bond graph based modeling

process.
Slide 10.1

Basic system Models

• Objectives:-

• Devise Models from basic building blocks

of mechanical, electrical, fluid and thermal
systems

• Recognize analogies between mechanical,

electrical, fluid and thermal systems
Slide 10.2

Basic system Models

• Mathematical Models
• Mechanical system building blocks
– Rotational systems
– Building up a mechanical system
Electrical system building blocks
- Building up a model for electrical systems
- Electrical and mechanical analogyies
Fluid system building blocks Thermal system
building blocks
Slide 10.3

Mathematical Models
• In order to understand the behavior of systems, mathematical models are
needed. Such a model is created using equations and can be used to
enable predictions to be made of the behavior of a system under specific
conditions.

• The basics for any mathematical model is provided by the fundamental

physical laws that govern the behavior of the system.

• This chapter deals with basic building blocks and how to combine such
blocks to build a mathematical system model.
Slide 10.4

MECHANICAL SYSTEM BUILDING

BLOCKS
The models used to represent mechanical systems have the basic building blocks of:

Springs: represent the stiffness of a system

Dashpots: dashpots are the forces opposing motion, i.e. friction or damping

Masses: the inertia or resistance to acceleration

All these building blocks can be considered to have a force as an input and a
displacement as an output

Figure 10.1 Mechanical systems: (a) spring, (b) dashpot, (c) mass
Slide 10.5

MECH. SYS BLOCKS: SPRING

• The stiffness of a spring is
described by:
F=k.x k is the
stiffness
The object applying the force to constant
stretch the spring is also acted on
by a force (Newton’s third law),
this force will be in the opposite
direction and equal in size to the
force used to stretch the spring
Slide 10.6

MECH. SYS BLOCKS: DASHPOTS

c : speed of the body

It is a type of forces when we push an

object through a fluid or move an
object against friction forces.

Thus the relation between the

displacement x of the piston,
i.e. the output and the force as input
is a relationship
depending on the rate of change
of the output
Slide 10.7

MECH. SYS BLOCKS: MASSES

• F=ma
m: mass, a: acceleration
 Slide 10.8

ENERGY IN BASIC MECHANICAL BLOCKS

• The spring when stretched stores energy, the energy being released
when the spring springs back to its original length.

The energy stored when there is an extension x is:

E= kx2/2=

Energy stored in the mass when its moving with a velocity v, its called kinetic
energy, and released when it stops moving:
E=mv2/2

No stored energy in dashpot, it dissipates energy=cv2

Slide 10.9
BASIC BLOCKS OR ROTATIONAL
SYSTEM
•For rotational system, the equivalent three building blocks are: a
Torsion spring, a rotary damper, and the moment of inertia With such
building blocks, the inputs are torque and the
outputs angle rotated
With a torsional spring
With a rotary damper a disc is rotated in a fluid and the
resistive torque T is:

The moment of inertia has the property that the greater the
moment of inertia I, the greater the torque needed to produce an
angular acceleration
Slide 10.10

Energy in rotary system

• The stored energy in rotary system:

• For torsional spring:

• Energy stored in mass rotating is :

• The power dissipated by rotary damper when

rotating with angular velocity is:
 Slide 10.11

SUMMARY OF MECHANICAL BUILDING BLOCKS

Table 10.1 Mechanical building blocks Bolton, Mechatronics PowerPoints, 4th Edition, © Pearson Education Limited 2008
 Slide 10.12

BUILDING UP A MECHANICAL SYSTEM

Many systems can be considered to be a mass, a spring and dashpot
combined in the way shown below

Figure 10.2 (a) Spring–dashpot–mass, (b) system, (c) free-body diagram

Slide 10.13

dx d2 x
F  kx  c m 2
• The net forced applied to dt dt
the mass m is F-kx-cv d 2x dx
or m 2  c  kx  F
V: is the velocity with which dt dt
the piston (mass) is 2nd order differential equation
describes the relationship
moving between the input of force F to
the system and the output of
The net fore is the force displacement x
applied to the mass to cause
it to accelerate thus:
net force applied to mass
=ma =
 Slide 10.14

EXAMPLE OF MECHANICAL SYSTEMS

The model in b can be used
for the study of the behavior
that could be expected of the
vehicle when driven over a
rough road and hence as a
basis for the design of the
vehicle suspension model

The model in C can be

used as a part of a larger
model to predict how the
driver might feel when
driving along a road

Figure 10.3 Model for (a) a machine mounted on the ground, (b) the chassis of a
car as a result of a wheel moving along a road, (c) the driver of a car as it is
driven along a road
Bolton, Mechatronics PowerPoints, 4th Edition, © Pearson Education Limited 2008
Slide 10.15

ANALYSIS OF MECHANICAL
SYSTEMS
The analysis of such systems is carried out by drawing a free-body diagram for
each mass in the system, thereafter the system equations can be derived

Figure 10.4 Example

Bolton, Mechatronics PowerPoints, 4th Edition, © Pearson Education Limited 2008

Slide 10.16

• Procedure to obtain the differential equation relating the inputs to the outputs
for a mechanical system consisting of a number of components can be
written as follows
 Slide
Example: derive the differential equations for
10.1
the system in Figure
7
Consider the free body diagram For the
mass m2 we can write

For the free body diagram of mass m1 we can

write

Figure 10.5 Mass–spring

system
Slide 10.19

ELECTRICAL SYSTEM BUILDING BLOCKS

Figure 10.7 Electrical building blocks

Slide 10.20

Table 10.2 Electrical building blocks

Slide 10.21

Figure 10.8 Resistor–capacitor system

Slide 10.22

Figure 10.9 Resistor–inductor–capacitor system

Slide 10.23

Figure 10.10 Resistor–inductor system

Slide 10.24

ELECTRICAL SYSTEM MODEL RESISTOR–

CAPACITOR–INDUCTOR SYSTEM

Bolton, Mechatronics PowerPoints, 4th Edition, © Pearson Education Limited 2008

Slide 10.25

Electrical and Mechanical Analogy

F I
Velocity Volt
C dashpot 1/R
Spring inductor
Mass capacitor

Bolton, Mechatronics PowerPoints, 4th Edition, © Pearson Education Limited 2008

Figure 10.12 Analogous systems
Slide 10.26

Bolton, Mechatronics PowerPoints, 4th Edition, © Pearson Education Limited 2008