Theory of Mechatronics Design

System

Modelling and Simulation

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 INTRODUCTION
The introduction of Information Technology in the last fifty years has allowed
modelling and simulation to penetrate the majority of engineering disciplines and
natural and social sciences. Regardless of whether the matter under debate is the
design of wheel suspension for a car, the metabolism of a bacteria, or the introduction
of a new interest formula, models of these real systems are always drawn
upon to gain an understanding of the inner relationships of the system and to make
predictions about its behaviour. The simulation is often also used as a substitute for
experiments on an existing system, which is associated with a range of benefits:

In comparison to real experiments, virtual experiments often require a significantly

lower outlay in financial terms and in terms of time, because it is
generally considerably cheaper to model virtual prototypes than it is to build
real prototypes.
Some system states cannot be brought about in the real system, or at least not
in a non-destructive manner.
Normally all aspects of virtual experiments are repeatable, something that either
cannot be guaranteed for the real system or would involve considerable cost.

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 INTRODUCTION 2
Simulated models are generally completely controllable. So all input variables
and parameters of the system can be predetermined. This is normally not the
case for a real system.
Simulated models are generally fully monitorable. All output variables and
internal states are available, whereas in the real system every variable to be
monitored involves at least a significant measurement cost. In addition, each
measurement taken influences the behaviour of the system.
In some cases the time constants of the experiment and observer are incompatible,
such as the investigation of elementary particles or galaxies.
In some cases an experiment is ruled out for moral reasons, for example experiments
on humans in the field of medical technology.

However, these benefits are countered by some disadvantages:

Each virtual experiment requires a complete, validated and verified modelling

of the system.
The accuracy with which details are reproduced and the simulation speed of
the models is limited by the power of the computer used for the simulation. 3
 INTRODUCTION 3
If the velocity and acceleration of a body are both zero then the body will be
static. If the applied forces are balanced, and cancel each other out, the body
will not accelerate. If the forces are unbalanced then the body will accelerate. If
all of the forces act through the centre of mass then the body will only translate.
Forces that do not act through the centre of mass will also cause rotation to
occur. This chapter will focus only on translational systems.

The equations of motion for translating bodies are shown in Figure 1.

These state simply that velocity is the first derivative of position, and velocity is
the first derivative of acceleration. Conversely the acceleration can be
integrated to find velocity, and the velocity can be integrated to find position.
Therefore, if we know the acceleration of a body, we can determine the velocity
and position. Finally, when a force is applied to a mass, an acceleration can be
found by dividing the net force by the mass.

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INTRODUCTION 4

Figure 1 Velocity and acceleration of a translating mass

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 SYSTEM EXAMPLES
An orderly approach to system analysis can simplify the process of
analyzing large systems. The list of steps below is based on general
observations of good problem solving techniques.

1. Assign letters/numbers to designate force components (if not already

done) -
this will allow you to refer to components in your calculations.
2. Define positions and directions for any moving masses. This should
include the selection of reference points.
3. Draw free body diagrams for each component, and add forces (inertia
is
optional).
4. Write equations for each component by summing forces.
5. Combine the equations by eliminating unwanted variables.
6. Develop a final equation that relates input (forcing functions) to
outputs (results).
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 MODELING
When modelling translational systems it is common to break the
system into parts. These parts are then described with Free Body
Diagrams (FBDs). Common components that must be considered
when constructing FBDs are listed below.

gravity and other fields - apply non-contact forces

inertia - opposes acceleration and deceleration
springs - resist deflection
dampers and drag - resist motion
friction - opposes relative motion between bodies in contact
cables and pulleys - redirect forces
contact points/joints - transmit forces through up to 3 degrees of
freedom

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Control, Instrumentation, and Design

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Example

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