MATLAB for Automobile And Mechanical

Engineering

1
 This Lab Consists of Modules

1. STATIC ANALYSIS
2. KINEMATIC ANALYSIS
3. DYNAMIC ANALYSIS
4. VIBRATION ANALYSIS MODULE
5. CONTROL SYSTEM ANALYSIS
6. MECHANISMS SIMULATION MODULE
7. HYDRAULIC SYSTEM SIMULATION
MODULE
2
3
4
List of Experiments

5
 COURSE LEARNING OBJECTIVES
• To realize the importance of Computational efficiency in
simulation of Real time Mechanical systems.
• To Implement Statics, kinematics, dynamics and control
problems.
• To Implement Dynamics and control problems in Vibratory
systems.
• To learn vibration pattern in vibratory systems with damping and
without damping for programming effectively differential equation
problems with Ode solvers.
• To learn the simulation of Hydraulic systems.
• To learn the simulation of mechanism systems.
• To implement automation systems by virtual simulation and
analysis of Real Time systems.
6
 Expected Course Outcome
• Students should be able to understand and implement the
statics, kinematics and dynamics problems.
• Students should be able to understand the vibratory systems
motion parameters and undamped and damped vibratory
systems.
• Students should be able to implement control systems
methodology to control vibrations.
• Students should be able to learn the simulation of hydraulic
and mechanical systems.

7
BOOKS FOR REFERENCE

8
 What is Matlab?
MATLAB (Matrix Laboratory) is basically a high level language which has
many specialized toolboxes for making things easier for us.
 MATLAB is a software for doing numerical computation. It was originally
designed for solving linear algebra type problems using matrices. It’s name is
derived from Matrix Laboratory.
 MATLAB has since been expanded and now has built-in functions for
solving problems requiring data analysis, signal processing, optimization, and
several other types of scientific computations.
 It also contains excellent GUI features of functions for 2-D and 3-D
graphics and animation.
 Powerful, extensible, highly integrated
computation, programming, visualization, and simulation package.
 Widely used in engineering, mathematics, and science.
 Why?

9
 What are we interested in?

• MATLAB is too broad tool used in industry for

real time interfacing of sensors and machine
vision etc. and programming the real time
systems for active control of the system
behavior.
• For our course purpose in this Laboratory
we will have brief overview of basics and
learn what can be done with MATLAB at
beginner level.

10
Need to Perform Vibration
analysis

11
Human Vibration

12
 Resonance Frequency Ranges of Human body sections
• Eyeball, Intraocular Structure (20-90 Hz)
• Head (axial mode) (20-30 Hz)
• Shoulder Girdle (4-5 Hz)
• Chest wall (50-100 Hz)
• Arm (5-10 Hz)
• Hand (30-50 Hz)
• Abdominal Mass (4-8 Hz)
• Spinal column (axial mode) (10-12 Hz)
It may be noted that the abdominal mass mode (around 5 Hz)
makes us nauseating and is avoided in automotive design.
Top gun pilots had problem with a particular maneuver when the eyeball
socket went into resonance.

13
BASICS
Displacement

distance D
35 Metres
Time

Speed Velocity
65 m/s V
Time

0-60 m/s
in 8.6 Acceleration
second A
Time

14
 Undamped free vibration
Displacement
Displacement
d = D sinnt
D

Time

T Frequency
1
T

m
Period, Tn in [sec]
k
Frequency, fn= T1n in [Hz = 1/sec]
k
n= 2  fn =
m
15
 Continued
…
Natural frequency of a simple single degree of freedom
undamped system is given by the equation
ωN = square root of (stiffness / mass)

Usually we do not want structures to vibrate in

resonance

16
AREAS WHERE MECHANICAL ENGINEERS USE MATLAB
• Solving kinematics, kinetics and complete
dynamic systems control of Automotive
suspension , Thermal systems etc.,

17
Aero plane Suspension of landing gear

M
M

M g F s F c

Yo

d2
M ydt2 o  Mg  Fc 
Ys

Fs
Y in

18
 Components of a car

For comfortable ride in a car requires analysis of car frame and

many other components, e.g. exhaust systems (bellows),
shock absorber, tire etc.

Let us look into a shock absorber in more detail

19
 How about Shock absorber

We know what a typical shock absorber does

saves us from unpleasant vibration.

20
 Let us look at a quarter bus/truck/car model

xs
ms

ks cs

xu
mu

kt u

u = road profile input kt = ks = suspension spring constant

tire spring constant mu = cs = suspension damping constant
unsprung mass ms = sprung mass
xu = displacement of xs = displacement of sprung mass
unsprung mass
21
 Four wheeler suspension system

• Consider the following suspension system.

• Solve for y given yin

26
M

Mg

y
ys
Suspensi ystem

yin
22
Suspension Mechanism

23
CONTINUED…

24
CONTINUED…

25
CONTINUED
…

26
Conventional passive suspension

zs
sprung mass
(body) Ms

suspension spring suspension damper

zu
unsprung mass
(wheel, axle) Mu
zr
tyre stiffness K t

27
CONTINUED
…

28
CONTINUED…

29
CONTINUED…

30
Active suspension

31
 MatLab MODEL FOR
Bus suspension
Designing an automatic suspension system for a bus

32
Simulation Model for Robot

Dynamics model structure

33
MATLAB WINDOW

34
 Variables

• No need for types. i.e., no need of

declaring variables
int a;
double b;
float c;

• Accuracy and comfort is very high with MATLAB

codes.

>>x=5;
>>x1=2;
35
Array, Matrix

36
Long Array, Matrix

37
Generating Vectors from functions

38
Matrix Index

39
Operators (arithmetic)

40
MatriX Operations

41
 Matrixes and vectors

• x = [1,2,3] , vector-row,
• y=[1;2;3], vector-column,
• x=0:0.1:0.8 , vector x=[0,0.1,0.2,0.3....0.8],
• A = [1,3,5;5,6,7;8,9,10], matrix,
• A(1,2), element of matrix, 1. row, 2. column,
• A(:,2), second column of matrix,
• A(1,:), first row of matrix ,
• C=[A;[10,20,30]] matrix with additional row,
• B=A(2:3,1:2), part of matrix,
• x’, transpose.

42
46
 Matrixes and vectors
• size(A), matrix size,
• det(A), determinant,
• inv(A), inverse matrix,
• eye(3), unit matrix,
• zeros(3,4), matrix of zeros,
• rand(3,5), matrix of random values,
• sum(A), sum of elements,
• A*x, matrix-vector product (if dimensions are
corresponding),
• A.*B, element multiplication of two matrixes.
• help sqrt, looking for known command,
• help, help topics are shown,
43
47
 The use of “.” -Operation
(Element by element operation)

44
To find eigen values and eigen vectors of matrices

45
 Introduction to M-files programming
Type-2
Programming
Type-1 programming Program:-
clc;
Program:- clear all;
clc; clear p=input('enter the value of p:');
t=input('enter the value of t:');
all; r=input('enter the value of r:');
p=10,000; I=(p*t*r)/100
Solution:-
t=2;
Input:
r=11; enter the
value of
I=(p*t*r)/1 p:10000
00; enter the value of t:2
Solution:- enter the value of r:11
Output:
I = 2200 I = 2200
46
 Solving Nonlinear Equations by Function
nle.m (function of the program)
function f = nle(x)
f(1) = x(1)-4*x(1)*x(1)-x(1)*x(2);
f(2) = 2*x(2)-x(2)*x(2)+3*x(1)*x(2);

Main body of the Program:-

x0 = [1 1]';
x = fsolve('nle', x0)

Solution of the program:-

x=
0.2500
0.0000 47
PERFORMING Differentation

48
Performing Integration

49
 Numerical Integration
• Numerical integration of the integral f (x) dx is called quadrature. MATLAB
provides the following built-in functions for numerical integration:

quad:
• It integrates the specified function over specified limits, based on adaptive
Simpson's rule.
• The general call syntax for both quad and quadl is as follows:
Syntax:-
integral = quad(‘function’, a, b)

dblquad: (It calculates double integration)

• MATLAB provides a function dblquad. The calling syntax for dblquad is:
Syntax:-
I = dblquad(‘function_xy’, xmin, xmax, ymin, ymax)

50
51
52
Common math functions

53
Built-in functions for handling arrays

54
MATLAB built-in array functions

55
Random numbers generation

56
Complex numbers handling functions

57
 GRAPHICS USER INTERFACE (gui) IN
MATLAB

• 2-D plotting functions

>> plot(x,y)

Example:-
» x = 1:2:50;
» y = x.^2;
» plot(x,y,'*-')
» xlabel('Values of x')
» ylabel('y')
58
 LINE SPECIFIERS IN THE plot()
COMMAND
plot(x,y,‘line specifiers’)

Line Specifier Line Specifier Marker Specifier

Style Color Type

Solid - red r plus sign +

dotted : green g circle o
dashed -- blue b asterisk *
dash-dot -. Cyan c point .
magenta m square s
yellow y diamond d
black
k

59
 Graphics and Data Display

• 3-D Plotting syntax

– Line
>> plotfunction(vector1, vector2, vector3)
Vector lengths must be the same
► Example
>> a = 1:0.1:30;
>> plot3( sin(a), cos(a), log(a) )

60
Basic function sin(x) between 0≤x≤4πTask: Plot the

61
Plot the function e-x/3sin(x) between 0≤x≤4π

62
Plot the function e-x/3sin(x) between 0≤x≤4π

63
Contd..

64
 Plot of the sine function from limits of 0 to (2* pi).
Graph of sine function in 0 to (2*pi) range
1
sin(x)
0.8
Program:-
0.6
clear all; % clear all variables
0.4
clc; % clear screen
0.2
N=30;

sin(x)
0
h=pi/
-0.2
N;
x=0:h:(2*pi); -0.4
y=sin(x); -0.6
plot(x,y) -0.8
xlabel('x') -1
0 1 2 3 4 5 6 7
ylabel('sin(x') x

title('Graph of sine function in 0 to (2*pi) range')

Hint: - Direct plotting of curves can be done by ‘fplot’ command

also Syntax: fplot (‘function’, *lower limit, upper limit)
fplot ('x*cos(x)',[0, 10*pi]); 65
 To plot the function y(x)= -3*x+4 from limits -1 to 2.

Program:- plot of function f1(x)

12
clc; f1(x)
clear all; 10
x=-1:1:2;
y=-3*x+4; 8

figure
6
plot(x,y)
y=f(x)

xlabel('x') 4
ylabel('y=f(
x)') 2

grid on
0
title('plot of function f_1(x)');
legend('f_1(x)');
-2
axis([-2 4 -2 12]) -2 -1 0 1 2 3 4
x

66
 Plotting multiple plots in same window, for example plotting
sine curve and cosine curve in single window.
Test of multi-plot option in Matlab
1
sine
0.
Program:- 8 cosine
0.
clc; clear 6
0.
all; 4
N=15; 0.
2

functions
h=pi/N; 0

x=0:h:2*pi; -
0.2
plot(x,sin(x),'r- -
',x,cos(x),'g-- 0.4
') -
0.6
legend('sine',' -
0.8
cosine'); -1
0 1 2 3 4 5 6 7
grid x
xlabel('x');
title('Test of multi-plot option in Matlab');
ylabel('functi
ons'); 67
 Comparing multiple plots in single window for example
y1 = 2 cos(x), y2 = cos(x), and y3 =0.5* cos(x), in the interval 0≤ x≤ (2*pi)
Typical example of multiple plots
3
2*cos(x)
Program:- 2
cos(x)
0.5*cos(x)

x = 0:pi/100:2*pi;
1
y1 = 2*cos(x);

Cosine functions
y2 = cos(x); 0

y3 = 0.5*cos(x);
-1

plot(x,y1,'--',x,y2,'-'
,x,y3,':'); -2

xlabel('0 \leq x \leq 2\pi'); -3

0 1 2 3 4 5 6
0  x  2
ylabel('Cosine functions');
legend('2*cos(x)','cos(x)','0.5*cos(x)');
title('Typical example of multiple plots');
axis([0 2*pi -3 3]);
68
 To plot the curve of exponential of x and sin(x) in a single window
2-D Plot
Program:- 1
Si n e Wav e
clc; 0.9 De c ay i n g Exponential
< --s in( /3)
clear all; 0.8
x=0:.1:2*pi; 0.7
y=sin(x);
0.6
plot(x,y);
Sin(t)

0.5
grid on;
0.4
hold on;
0.3
plot(x, exp(-x), 'r:*');
0.2
axis([0 2*pi 0 1]);
0.1
title('2-D Plot');
xlabel('Time'); 0
0 1 2 3 4 5 6
Tim e
ylabel('Sin(t) ');
text(pi/3, sin(pi/3), '<--sin(\pi/3) ');
legend('Sine Wave','Decaying Exponential');
69
 Multiple Plots
t=0:pi/100:2*pi;
y1=sin(t); 1 1

y2=sin(t+pi/2); 0.5 0.5

subplot(2,2,1) 0 0

plot(t,y1) -0.5 -0.5

grid on -1 -1
0 2 4 6 8 0 2 4 6 8
subplot(2,2,2)
plot(t,y2);
grid on

subplot(i,j,k)
•i is the number of rows of subplots in the
plot
•j is the number of columns of subplots in the
plot 70
• k is the position of the plot
 For the given data plot the variation of x with y.
x 1 2 3 5 7 7.5 8 10

y 2 6.5 7 7 5.5 4 6 8

Program:
clc; Clear
all;
x=[1 2 3 5
7 7.5 8
10];
y=[2 6.5 7
7 5.5 4 6
71
8];
 For the given data plot the variation of x with y.
Year 1988 1989 1990 1991 1992 1993 1994

Sales (M) 127 130 136 145 158 178 211

Program:
clc;
Clear all;
year =
[1988:1:
1994];
sales =
[127,
72
130,
To plot Three dimensional spiral curve
Program:
4
- clc; 0

clear all; 3
0

z= 2

z
0

0:0.1:10* 1
0
pi; 0
1
x = exp(- 0.
5
1
0 0.
z/20).*co - -
0 5

0.5
s(z); y -1 -1 0.5
x

y = exp(-
z/20).*sin
(z);
plot3(x,y,z,'LineWidth',2)
grid on 73
To plot Three dimensional Helix curve
Program:-
clc; 4
0

clear all; 3
0

2
t=0:pi/50:10*pi; 0

1
plot3(sin(t),cos(t),t); 0

0
1
0. 1
5 0 0.
0 5
- -
0. - - 0.
5 1 1 5

74
  Plot the surface defined by the function
f(x,y)= (x-3)2 – (y-2)2 on the domain -2 ≤ x ≤ 4 and 1 ≤ y ≤ 3.

Program:-
clc;
2
clear all; 5
2
0
1
[X,Y] = meshgrid(-2:0.2:4,1:0.2:3); 10
5
Z = (X-3).^2 - (Y-2).^2; 5
mesh(X,Y,Z); 0
xlabel('x'); -
5
ylabel('y'); 3
2. 4
5 2 2
1. 0
y 5 1 - x
2

75
 Curve Fitting and interpolation
Curve fitting is the process of constructing a curve, or mathematical function,
that has the best fit (in a least square sense) to a series of data points,
possibly subject to additional constraints. Interpolation is the method of
constructing new data points within the range of a discrete set of known
data points. Extrapolation is the process of constructing new data points
outside a discrete set of known data points. Matlab has many utilities for
curve fitting and interpolation.
Interpolation:-
Given the data points (xi, yi), find yj at desired xj ≠ xi from yj = f(xj), where
f is
a continuous function to be found from interpolation.
Syntax:- ynew = interp1(x,y,xnew, method ).

’nearest’->
’linear’ ->Nearest neighbor interpolation
Linear interpolation (default)
-> Cubic spline interpolation
’spline -> Piecewise cubic Hermite interpolation
’ -> Same as ’pchip’
’pchip’ 76
 Generate a sine curve and interpolate with Curve generation by nearest
interpolation method
nearest interpolation
Program:- 1
nearest
clc; 0.
8
clear all; 0.
6
x= 0.
4
0:10; 0.
2
y=
sin(x)
0
sin(x); -
0.2
xi = -
0:.25:10 0.4
-
; 0.6
-
yi = interp1(x,y,xi,'nearest'); 0.8
-1
plot(x,y,'o',xi,yi) 0 1 2 3 4 5 6 7 8 9 10
x
xlabel('x');
ylabel('sin(x)');
77
title('nearest interpolation ');
 Generate a sine curve and interpolate with Curve generation by linear
interpolation method
nearest
Program:- 1 interpolation
nearest
x = 0:10; 0.
8
y = sin(x); 0.
6
0.
xi = 0:.25:10; 4
0.
yi = interp1(x,y,xi,'linear'); 2

sin(x)
0
plot(x,y,'x',xi,yi) -
0.2
xlabel('x'); -
0.4
ylabel('sin(x)'); -
0.6
title('linear interpolation '); -
0.8
-1
legend('linear') 0 1 2 3 4 5 6 7 8 9
x 10

78
 Generate a sine curve and interpolate with Curve generation by Spline
interpolation method
Program:- spline
1 interpolation
x = 0:10; spline
0.
8
y = sin(x); 0.
6
xi = 0.
4

0:.25:10; 0.
2

sin(x)
0
yi = interp1(x,y,xi,'spline'); -
0.2
plot(x,y,'o',xi,yi); xlabel('x'); -
0.4
ylabel('sin(x)'); -
0.6
-
title('spline interpolation '); 0.8
-
10 1 2 3 4 5 6 7 8 9
legend('spline'); x 10

79
  Generate a sine curve and interpolate with Curve generation by
Piecewise cubic Hermite interpolation method.
Program:- x cubic interpolation
1
= 0:10; cubi
0. c
y = sin(x); 8
0.
6
xi = 0.
4
0:.25:10; 0.
2
yi = interp1(x,y,xi,'cubic');

sin(x)
0

plot(x,y,'o',xi,yi); xlabel('x'); -
0.2

ylabel('sin(x)'); -
0.4
-
0.6
title('cubic interpolation '); -
0.8

legend('cubic'); -1
0 1 2 3 4 5 6 7 8 9 10
x

80
 To Find the solution to the following set of linear equations by Matrix
method:
2x-3y+4z = 5
x+y+4z = 10
3x+4y-2z = 0

Program:-
clc;
clear all;
A=[2 -3 4; 1 1 4; 3 4 -2];
B=*5 10 0+’;
X=inv(A)*B;
(or)
X=A\B;

81
Write program to calculate the average of the given parameters.
Program:

clc;
clear all;
game1 = input('Enter the points scored in the first game ');
game2 = input('Enter the points scored in the second game ');
game3 = input('Enter the points scored in the third game ');
average = (game1+game2+game3)/3

Solution:
Input:
Enter the points scored in the first game
Enter the points scored in the second game
Enter the points scored in the third game

Output:
average =
82
 Write program to calculate the value of the ‘y’ given value of
‘n’

Program:
clc;
clear all;
close
all;
x=
1:1:10;
term = 1./sqrt(x);
y = sum(term);

Solution

: y= 83
Control Structures

84
Control Structures

85
Control Structures

86
 Example Program to understand
if statement
% Program to find whether roots are imaginary or not%
clc;
clear all;
a=input('enter value of a:');
b=input('enter value of b:');
c=input('enter value of c:');
discr = b*b - 4*a*c;
if discr < 0
disp('Warning: discriminant is negative, roots are imaginary');
end
Solution:-
Input:
enter value of
a:1 enter value
of b:2 enter
value of c:3
Output:
Warning:
discriminant is
negative, roots 87
are imaginary
 Continued…
Program:-
clc;
clear all;
a=input('enter value of a:');
b=input('enter value of b:');
c=input('enter value of c:‘);
discr = b*b - 4*a*c;
if discr < 0
disp('Warning: discriminant is negative, roots are imaginary');
else
disp('Roots are real, but may be repeated')
end

Solution:-
Input:
enter
value of
a:1
enter value of b:3
enter value of c:2
Output:
Roots are real,
but may be
repeated 88
 Finding out the roots of quadratic equation ax2+bx+c=0.
Program:-
clear all;
clc;
a=input('Enter values for a:');
b=input('Enter values for b:');
c=input('Enter values for c:');
delta = b^2 - 4*a*c;
if delta < 0
fprintf('\nEquation has no real roots:\n\n')
disp(['discriminant = ', num2str(delta)])
elseif delta == 0
fprintf('\nEquation has one real root:\n')
xone = -b/(2*a)
else
fprintf('\nEquation has two real roots:\n') x(1)
= (-b + sqrt(delta))/(2*a);
x(2) = (-b -sqrt(delta))/(2*a);
fprintf('\n First root = %10.2e\n\t Second root = %10.2f', x(1),x(2)) end

Algorithm:-
Read in values of a, b, c
Calculate Δ
IF Δ < 0
Print message ‘ No real roots’→ Go END
ELSEIF Δ = 0
Print message ‘One real root’→ Go END
ELSE
Print message ‘Two real roots’
END

Solution
:- Input:
Enter values for
a: Enter values for
b: Enter values for
c: Output:

89
 Example

Program :-
n = input(‘Enter the upper limit:
‘); if n < 1
disp (‘Your answer is
end meaningless!’) Jump to here if TRUE

x = 1:n; Jump to here if FALSE

term = sqrt(x);
y=
sum(term)
90
 Example

Program:-
clc;
clear all;
A=input(‘e
nter the
value of
A: ’);
B=input(‘enter the value of B:’);
if A > B
'A is bigger'
elseif A < B
'B is bigger'
elseif A == B
'A equals B'
else
error('So
mething odd
is
happening')
end
Solutio
n:-
Input:
enter the value of A: 4
91
enter the value of B:
 Example of for loop

b.)
Problem: Draw graphs of sin(nπ x) on the interval −1 ≤ x ≤ 1 for n = 1,2,....,8.We could do this by
giving 8 separate plot commands but it is much easier to use a loop.
Program:-
x=-1:0.05:1; 1 1
for n=1:8
0 0
subplot(4,2,n);
-1 -1
plot(x, sin(n*pi*x)); -1 -0.5 0 0.5 1 -0.5 0 0.5 1
-1
end 1 1

0 0
-1 -1
-1 -0.5 0 0.5 1 -0.5 0 0.5 1
-1
1 1

0 0
-1 -1
-1 -0.5 0 0.5 1 -0.5 0 0.5 1
-1
1 1

0 0
-1 -1
-1 -0.5 0 0.5 1 -0.5 0 0.5 1
-1
92
 Example of for & while loop
% example of for loop%
Program:-
for ii=1:5
x=ii*ii end
Solution:
1 4 9 16 25

%example of
while loop%
Program:- x
=1
while x <=
10
x = 3*x nd
Solution:
x=1 x=3 x=
9 x=27

93
 While Loop EXAMPLES

Program:-
S = 1;
n = 1;
while S+(n+1)^2 < 100
n = n+1;
S = S + n^2;
end

Solution:-
[n,S] = 6 91

94
 switch Statement
EXAMPLE
Program:-
n=input(‘enter the value of n: ’);
switch(rem(n,3))
case 0
m = 'no remainder'
case 1
m = ‘the
remainder is one'
case 2
m = ‘the remainder is two'
otherwise
error('not possible')
end
Solution:-
enter the value of
n: 8 m =the remainder
95
is two
 Plotting user defined observations of the
theoretical and Experimental
observations
FORMATTING PLOTS

A plot can be formatted to have a required appearance.

With formatting you can:

 Add title to the plot.

 Add labels to axes.
 Change range of the axes.
 Add legend.
 Add text blocks.
 Add grid.
96
 Contd…

There are two methods to format a plot:

1. Formatting commands.
In this method commands, that make changes or additions to the
plot, are entered after the plot() command. This can be done in
the Command Window, or as part of a program in a script file.

2. Formatting the plot interactively in the Figure Window.

In this method the plot is formatted by clicking on the plot and
using the menu to make changes or add details.

97
 FORMATTING COMMANDS

title(‘string’)
Adds the string as a title at the top of the plot.

xlabel(‘string’)
Adds the string as a label to the x-axis.

ylabel(‘string’)
Adds the string as a label to the y-axis.

axis([xmin xmax ymin ymax])

Sets the minimum and maximum limits of the x- and y-axes.

98
 FORMATTING COMMANDS

legend(‘string1’,’string2’,’string3’)
Creates a legend using the strings to label various curves (when
several curves are in one plot). The location of the legend is
specified by the mouse.

text(x,y,’string’)
Places the string (text) on the plot at coordinate x,y relative to the
plot axes.

gtext(‘string’)
Places the string (text) on the plot. When the command executes
the figure window pops and the text location is clicked with the
mouse.

99
 Example Program
Light Intensity as a Function of Distance
1200
clc; Theory
clear all; Experiment
1000
x=[10:0.
1:22]; 800

INTENSITY (lux)
y=95000 Comparison between theory and experiment.

./x.^2; 600

xd=[10:
2:22]; 400

yd=[950
200
640 460
340 250
0
180 8 10 12 14 16 18 20 22 24
DISTANCE (cm)
140];
plot(x,y,'-','LineWidth',1.0)
title('\fontname{Arial}Light Intensity as a Function of Distance','FontSize',14)
hold
axis([8on24 0 1200])
plot(xd,yd,'ro--','linewidth',1.0,'markersize',10)
text(14,700,'Comparison between theory and experiment.','EdgeColor','r','LineWidth',2)
hold off
legend('Theory','Experiment',0)
xlabel('DISTANCE (cm)')
ylabel('INTENSITY (lux)')

100
Consider a particle moving in a straight line, and assume that its position is defined by the
equation, where x is expressed in meters and t in seconds. Write a program in MATLAB to
determine the displacement, velocity and acceleration variation with respect to time interval
from 0 to 120 seconds.

Program:-
clc;
clear all;
syms t;
t=0:0.1:
120;
x=6.*t.^
2-t.^3;
v=12.*t-3.*t.^2;
a=12-6.*t;
plot(t,x);
xlabel(‘time in
seconds’);
ylabel(‘displace
ment in m’);
title(‘displacem
ent of a
particle along
its motion’);
%plot(t,v);
%xlabel(‘time 101
in seconds’);
A particle moves along a straight line with variable acceleration. If the displacement is
measured in m, and given by the relation interms of time taken t, as below, determine the
displacement, velocity and acceleration of the particle
S=t3 +2t2+7t+3
Program:-
clc;
clear all;
syms t;
t=0:0.1:120;
x=t.^3+2*t.^2+7.*t+3;
v=3.*t.^2+4.*t+7;
a=6.*t+4;
plot(t,x);
xlabel(‘time in
seconds’);
ylabel(‘displacement
in m’);
title(‘particle behavior
along its motion’);
%plot(t,x,'.'t,v,'o',t,a,'+
'); 102
%xlabel(‘time in
Spring/Mass/Damper system
example

103
107
PROBLEM
SOLV
ED BY
USIN
G
MATL
AB
AND
SIMU
104
LINK
INTRODUCTION

105
PROBLEM

106
PROBLEM

107
 Function of the Program

function f=programone (t,z)

m=3;
c=8;
k=100;
dzdt=[
z(2); -
(c/m)*
z(2)-
(k/m)*
108
z(1)];
 Main body of the Program

% For a single degree of freedom system in free

vibration
clc;
clear all;
%Enter initial conditions
z0=[5;15];
%Enter time span for solution
tspan=[0 10];
%Call solver
[t,z+=ode45(‘programone',tsp
an,x0);
%Set up plot 109
 Result

single degree of freedom spring mass damper system behaviour

6
displacement
5

3
displacement in mm

-1

-2

-3
0 5 10 15
time in seconds
110
 SIMULINK

• Simulink is an interactive tool for dynamics system modeling and

analysis.
• Simulink is a Matlab add-on that allows one to simulate a variety of
engineering systems.
• Used for modeling, simulating, and analyzing the behavior of dynamic
systems.
• Basically it is a tool for model-based design.
• Simulink is a graphical extension to MATLAB for modeling and simulation
of various engineering systems.
• In Simulink, systems are drawn on screen as block diagrams.
• Simulink offers a variety of components that are assembled to provide a
full system simulation.
• Many elements of block diagrams are available, such as transfer
functions, summing junctions, etc., as well as virtual input and output
devices such as function generators and oscilloscopes.
• Simulink is integrated with MATLAB and data can be easily transferred
between the programs. 111
 Simulink

• Simulink can be used to solve any initial value ODE.

• Modelling/designing dynamic systems including
nonlinear dynamics.
• Modelling/designing control systems including
nonlinear controller plants.
• User creates device model by means of standard blocks
and carries out calculations.
• There are additional block libraries for different scopes
as SimMechanics – mechanical devices modeling,
• SimHydraulics– Hydraulic systems modeling.

112
113
 GENERAL FLOW IN SIMULINK

• A typical Simulink model includes Sources, Systems and Sinks.

Sources Systems Sinks

1. Sinewaves 1. Interconnection 1. Displays scopes

2. Function of Linear and 2. FFT scopes
Generators Nonlinear blocks 3. To MATLAB
3. From MATLAB workspace
workspace 4. To disk files
4. From Disk Files
114
 How to start Simulink

Type Simulink in the

Command window.

Create new model under

file/new/model.

115
119
 Simulink- libraries

• Continuous; integrator, transfer function..

• Discrete; discrete transfer function, unite delay,
memory..
• Math operations; gain, product, sum, trigonometric
functions..
• Sinks; blocks that have only input, scope, to
worspace..
• Sources; blocks that have only output, generators,
constant,...
• User defined functions: S-function, S-function
builder,..
116
Beljak, february 2007 120
 Simulink – creating a model

• Model is created by choosing the blocks from different

libraries, dragging them to model window and linking
them.
• The parameters of block (shown on picture, sine wave
parameters), can be reached with double click on the
block.

117
121
 Simulink- configuration parameters

• Numerical solver method, start time, stop time

(it can be also set directly)...

118
122
An Introduction to Simulink
Configuration Parameters
Simulink is designed to be a front-
end tool for integrating ordinary
differential equations (ODEs).

119
 Connecting blocks

1. Hold down the Control key down.

2. Click on the “source” icon.
3. Click on the “sink” icon.
4. Press the left mouse key to make
the connection.

120
 Displaying Output

Can use the “scope” attached to any signal.

• Use the “Autoscale” function that appears as
binoculars in order to look at the results of the
entire simulations.
• Click on the “X”, the “Y” or the “zoom”
functions to look at any specific part of the
simulation.

121
122
SIMULINK DESIGN PROCEDURE

123
SIMULINK DESIGN PROCEDURE

124
SIMULINK DESIGN

125
Single degree of freedom system in SIMULINK

126
RESULT

127
 DESIGN PROBLEM

• Build a Simulink model that solves the

following differential equation
– 2nd-order mass-spring-damper system
– zero ICs
– input f(t) is a step with magnitude 3
– parameters: m = 0.25, c = 0.5, k = 1

mx cx  kx f (t)

128
Simulink Design

129
DEMONSTRATION WITH SIMPLE EXAMPLE

130
SIMULINK DESIGN

131
Test to identify the level of understanding Problem:- By considering nonlinear damping

132
Simulink design

133
STATE SPACE ANALYSIS

m=1;k=2;c=0.5;

134
Continued…

135
Continued…

136
 CONVERSIONS IN MATLAB
Transfer function to state space [A,B,C,D]=tf2ss([num],[den]);

State-space to transfer function [num,den]=ss2tf(A,B,C,D);

Transfer function to zero/poles [z,p,k]=tf2zp([num],[den]);

Zero/poles to transfer function [num,den]=zp2tf(z,p,k);

State space to zero/poles [z,p,k]=ss2zp(A,B,C,D,iu);

Zero/poles to state space [A,B,C,D]=zp2ss(z,p,k);

137
 SOLUTION ATTINMENT MADE EASY BY
LAPLACE TRANSFORM

138
EXAMPLE

139
SIMULINK DESIGN

140
PROBLEM FOR EXAM

141
FIRST STEP

142
SIMULINK DESIGN

143
Problem2

144
Simulink design

145
UNDERSTANDING CONTROL PROBLEM

146
UNDERSTANDING CONTROL PROBLEM

147
PROBLEM (OSCILLATOR)

148
SIMULINK DESIGN

149
 EXAMPLE
MODELLING COMPOUND PENDULUM

150
SIMULINK DESIGN

151
UNDERSTANDING STATE SPACE TRANSFORM

152
CONTINUED
…

153
APPLYING STATE SPACE TRANSFORM FOR M-C-K SYSTEM

154
PROCEDURE

155
CONTINUED…

156
SIMULINK DESIGN

157
 EXAMPLE
CASCADED M-C-K SYSTEM

158
 EXAMPLE
MODEL OF MECHANICAL ACCELEROMETER

159
REAL TIME CHALLENGING PROBLEM Landing gear Suspension schematic

 dyin
y  yo  ys  yin

dy d yo  ys  yin  dyo

 
dt dt dt
Yo
dt

Ys

Y in 160
Force balance
M

Mg Fs Fc

F y  Ma  Mg  Fc 
Fs d yo  Mg  F 
2

M dt 2 c

Fs 161
 Simulink design


v   g
Fc Fs  k(y 0  yin  ys )
  M MF dt
s

 dyo
Fc  C 
dyin 
yo    dt dt
vdt 
1
Y o-Y Fs
in
Yin Ks
1 1
.5
s Mv v =dY s Y0
du/dt .5 o/dt
dY Fc Integrator1 1/M Integrator2 Scope
in/dt
Derivative C

0
Mg

Mg

v =dY
o/dt

162
163
164
165
166
167
168
169
170
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174
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176
177
178
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180
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183
184
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186
187
188
189
190
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192
193
194
195
196
197
198
199
SELF PRACTISE-1

200
SELF PRACTISE-2

201
INTRODUCTION
TO
SimMechanics

202
 Introduction

• SimMechanics provides a multi body Simulation

environment for Mechanical Systems like robots, vehicle
suspension systems, construction equipment and any
mechanism and machinery etc.
• We model systems using blocks representing bodies, joints,
constraints, and force elements and then SimMechanics
formulates and solves the equations of motion for the
complete mechanical system.
• Models from CAD systems, including mass, inertia, joint,
constraint, and 3D geometry can be imported into
SimMechanics.
• An automatically generated 3D animation lets you visualize
the system dynamics.

203
204
 NOT JUST
ANIMATION….!
IT DOES LOT OF BACK GROUND
COMPUTATIONAL MECHANICS
WORK

205
Four bar mechanism

206
CONTINUED…

207
SLIDER CRANK MECHANISM

208
Simulation of four cylinder engine

209
Stewart platform simulation

210
Simulink design of stewart platform

211
Landing gear system

212
CONTINUED….

213
 simmechanics
CAD models should be saved in STL format

214
Demonstration
of
fou
r
bar

me
ch
ani
sm

215
Sim mechanics design

216
MODELING SIMPLE PENDULUM

217
Sim mechanics design

218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
SIMULINK DESIGN

234
235
SIMULINK DESIGN WITH SENSOR @ JOINT

236
237
238
239
240
241
MODELING FOUR BAR MECHANISM

242
243
244
245
SIMULINK DESIGN

246
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250
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252
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254
255
256
257
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259
260
261
262
263
264
CONTINUED…

265
266
267
268
SOLUTION OF THE
TEST
PROBLEM
(FOUR BAR
MECHANISM)

269
TEST OF UNDERSTANDING

270
 CHALLENGING MINI PROJECT OPEN
TO ALL

HYBRID DRIVEN FIVE-BAR PLANAR MECHANISM

PUBLISHED IN INTERNATIONAL JOURNAL OF ADVANCED ROBOTICSYSTEMS

271
Hint-1 for designing
s
i
m
u
l
i
n
k

d
e
s
i
g
n

272
Hint-2 for designing simulink design

273
SIMULINK DESIGN

274
SOLUTION

275
 CHALLENGING
MINI PROJECT
OPEN
PENDULUM ON
CART

276
 Solving by matlab

• Equation of motion are derived as

277
 Simulink design
for forward dynamics

278
Forward dynamics By simmechanics

279
Inverse dynamics by
sim mechanics

280
Implementation of control system models with simulink design

281
SIMULATION OF
SIN
GLE
LIN
K
ROB
OT
AR
M

282
283
SIMULINK DESIGN

284
285
286
287
288
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Elevator system

290
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296
 OPEN WEB
RESOURCES
www.mathworks.com/
www.mathtools.net/MATLAB
www.math.utah.edu/lab/ms/matlab/matlab.html
web.mit.edu/afs/athena.mit.edu/software/matlab/
www.utexas.edu/its/rc/tutorials/matlab/
www.math.ufl.edu/help/matlab-tutorial/
www.indiana.edu/~statmath/math/matlab/links.html

www.eng.cam.ac.uk/help/tpl/programs/matlab.html

297
 OPEN WEB
RESOURCES
Messner and Tilbury, “Controls Tutorial for MATLAB and SIMULINK: A Web-based
approach,” Prentice-Hall, 1999.
 Sigmon and Davis, MATLAB Primer, 6th Edition, CRC Press, 2001

 Gockenback, “A Practical Introduction to MATLAB,” 2nd Edition, CRC Press, 2005.

 http://www.mathworks.com/access/helpdesk/help/techdoc/matlab.html

 http://www.mathworks.com/access/helpdesk/help/toolbox/simulink/

 http://www.mathworks.com/access/helpdesk/help/pdf_doc/matlab/getstart.pdf

 http://www.mathworks.com/access/helpdesk/help/pdf_doc/matlab/using_ml.pdf

 http://www.mathworks.com/access/helpdesk/help/toolbox/control/control.shtml

 http://www.mathworks.com/academia/student_version/

 http://www.mathworks.com/academia/student_version/companion.html
 http://travis.eng.man.ac.uk/barry/control2/lab/SIMULINK.htm
 http://matlab.kimhua.co.kr/digest/dec98/nonlinear.html
298
 OPEN WEB

RESOURCES
http://www.scsolutions.com/feedback.html

 http://www.math.mtu.edu/~msgocken/intro/intro.html

 http://www-personal.engin.umich.edu/~tilbury/tutorials/matlab_tutorial.html

http://www.eng.fsu.edu/~cockburn/matlab/matlab_help.html

http://www.engin.umich.edu/group/ctm/working/mac/simulink_basics/

http://www.messiah.edu/acdept/depthome/engineer/Resources/tutorial/matlab/simu.html

http://rclsgi.eng.ohio-state.edu/courses/me780/handouts/simulink.pdf

http://www.mae.ncsu.edu/homepages/buckner/simulink2.pdf

http://www.tutorgig.com/showurls.jsp?group=896&index=0

http://www.rpi.edu/dept/chem-eng/WWW/faculty/bequette/lou/simtut/simtut_html.html

http://www.math.siu.edu/matlab/tutorials.html
299
 OPEN WEB
RESOURCES
 http://wolfman.eos.uoguelph.ca/~jzelek/matlab/ctms/

 http://www.engin.umich.edu/group/ctm/

 http://www.me.cmu.edu/matlab/html/

 http://www.math.utah.edu/lab/ms/matlab/matlab.html

 http://www.indiana.edu/~statmath/math/matlab/

 http://spicerack.sr.unh.edu/~mathadm/tutorial/software/matlab/

 http://www.math.ufl.edu/help/matlab-tutorial/matlab-tutorial.html

 http://www.cs.ubc.ca/spider/cavers/MatlabGuide/guide.html

 http://www.class.umd.edu/enme/403/0101/t1.html

 http://www.math.mtu.edu/~msgocken/intro/intro.html

 http://www.engin.umich.edu/group/ctm

300
 OPEN WEB RESOURCES
• Mathworks Information
• Mathworks: http://www.mathworks.com
• Mathworks Central: http://www.mathworks.com/matlabcentral
• http://www.mathworks.com/applications/controldesign/
• http://www.mathworks.com/academia/student_center/tutorials/l
aunchpad.html
• Matlab Demonstrations
• Matlab Overview: A demonstration of the Capabilities of Matlab
http://www.mathworks.com/cmspro/online/4843/req.html?13616
• Numerical Computing with Matlab
http://www.mathworks.com/cmspro/online/7589/req.html?16880
• Select Help-Demos in Matlab

301
 OPEN WEB RESOURCES

• Matlab Help
• Select “Help” in Matlab. Extensive help about Matlab, Simulink and toolboxes
• Matlab Homework Helper
http://www.mathworks.com/academia/student_center/homework/
• Newsgroup: comp.soft-sys.matlab
• Matlab/Simulink student version (program and book ~£50)
http://www.mathworks.com/academia/student_center
• Other Matlab and Simulink Books
• Mastering Matlab 6, Hanselman & Littlefield, Prentice Hall
• Mastering Simulink 4, Dabney & Harman, Prentice Hall
• Matlab and Simulink Student Version Release 14
• lots more on mathworks, amazon, …. It is important to
have one reference book.

302
Thank
You…
Any Queries ?

303