Chapter Three
Mechatronic system Modelling
BY: KASSAW ALEMU
3.1 Definition of Modelling of systems
The process of creating a simplified representation of a real system, process, or
phenomenon to analyze understand, predict or control its behavior.
There are physical, mathematical, software and conceptual model
These models are useful for analysis and design of control systems.
Analysis of control system: Finding the output when we know the input and
mathematical model.
Design of control system: Finding the mathematical model when we know the
input and the output.
Advantages of Modeling
Prediction: Understanding how a system reacts to different inputs.
Optimization: Improving performance, such as reducing energy
consumption.
Safety & Cost: Testing systems virtually saves time and prevents
Commonly used mathematical models.
Higher order differential equation model
Transfer function model
State space model
Differential Equation Model
It is a time domain mathematical model of control systems.
Apply basic laws to the given control system.
Get the differential equation in terms of input and output by eliminating the
intermediate variable(s).
Example1:
𝑣𝑖 = 𝑅𝑖 + 𝐿𝑑𝑖/𝑑𝑡 + 𝑣𝑜
Substitute, the current passing through capacitor, in the above equation.
The above equation is a second order differential equation
Transfer Function Model
Transfer function model is an s-domain mathematical model of control systems.
Defined as the ratio of Laplace transform of output and Laplace transform of input
by assuming all the initial conditions are zero.
If x(t) and y(t) are the input and output of an LTI system, then Transfer function
(G(s) ) = Y(s) / X(s)
.
The transfer function model of this system is shown below.
State space model
State equations and output equations combined together constitute a complete dynamic
description of the system
A (System Matrix) = Relates the rate of change of states to the current states.
B (Input Matrix) = Relates the system inputs to the rate of change of states.
C (Output Matrix) = Relates the system outputs to the current states.
D(Feedthrough Matrix) =Relates the outputs directly to the inputs (often zero in physical
systems)
.
Example
Then the state equation can be calculated
3.2 Modelling of mechanical system
There are two types of mechanical systems based on the type of motion.
Translational mechanical systems
Rotational mechanical systems
Modeling of translational mechanical systems
Translational mechanical systems move along a straight line. These
systems mainly consist of three basic elements. Those are
Mass,
Spring and
Dashpot or damper.
Mass
Mass is the property of a body, which stores kinetic energy.
Apply Newton’s law of motion
Spring
Spring is an element, which stores potential energy
Dashpot
If a force is applied on dashpot B, then it is opposed by an opposing force due to
friction of the dashpot. This opposing force is proportional to the velocity of the
body.
Example2: Consider the simple mechanical system shown involving
viscous damping. Obtain the mathematical transfer function model of the
system.
Solution:
Find FBD is of the system
ii) Apply Newton’s second law of motion to a system in translation:
Assuming no external force F(t) is applied to the mass the sum of forces is:
Laplace Transform with Initial Conditions
Initial displacement: 𝑋(0) = 𝑋𝑜
Initial velocity: (starting from rest)
Collect the output X(s) terms:
Divide the output X(s) by 𝑥𝑜
Then the final transfer function becomes
Obtain the mathematical model of the above mass spring damper system by considering an
external applied force on the system? And its state space representation form? Assume all IC=0
Modeling of Rotational Mechanical Systems
Rotational mechanical systems move about a fixed axis. These
systems mainly consist of three basics elements. Those are
Moment off inertia,
Torsional spring and
Dashpot
Moment of Inertia
DASHPOT
An oil-filled damper is often called a dashpot that provides viscous friction, or damping.
If a torque is applied on dashpot B, then it is opposed by an opposing torque due to the
rotational friction of the dashpot.
This opposing torque is proportional to the angular velocity of the body.
Example 3:
𝜃2 (𝑠)
Find the T.F. 𝑇(𝑠)
for the rotational mechanical system shown in Fig.
For Inertia 𝐽1 : the applied torque 𝑇𝑡 is resisted by the damper 𝐵1 and the torsional spring
𝑘 (which depends on the relative displacement between 𝐽1 and 𝐽2 ).
For Inertia 𝐽2 :
Example 4:
Consider the rotational mechanical system shown in the figure, consisting of a moment of inertia
J, viscous damping coefficient 𝜇, and torsional spring constant k. The system is driven by an
external torque input 𝜏(𝑡)τ, and the output is the angular displacement θ(t). Derive the state-space
representation of the system.
.
Example 5:
#1. Consider the mechanical system shown in the figure below. A mass m is mounted
on a massless cart that can move in a horizontally. The cart is subjected to an input
displacement u(t), while the resulting absolute displacement of the mass is represented
by y (t). The mass is connected to the vertical support of the cart through a linear spring
with a stiffness constant k, and a viscous damper with a damping coefficient b, both
acting in parallel.
Solution:
For translational systems, Newton’s second law is used:
Take the Laplace transform of this equation, by assuming zero initial condition will give us:
Then the transfer function:
Obtain a state-space model of this system ?
Solution:
Write the system differential equation.
Put the output highest derivative at one side:
Define two states:
Differentiate the two states:
Then
Write the equations in state-space form:
Example 6:
#2. Consider the mechanical system shown in the figure, consisting of two masses,m1 and
m2, on a frictionless surface. Mass m1 is attached to a fixed wall by a spring k1. Mass m1
and m2 are connected to each other by a spring k2 and a viscous damper b in parallel. Mass
m2 is attached to a fixed wall on the opposite side by a spring k3.
a. Write the differential equations of motion for both masses? And its transfer function?
b. Represent the system in state-space form, using the positions and velocities of the masses as
state variables.
Solution
1. Equation of motion:
a)
4. Substitute by X2(s)
2. Simplifying
5. Finally
3. Laplace transform
Solution (b)
To turn the second-order differential equations (from step 2) into state-space, we define
four state variables:
Write the First-Order Equations
Based on the simplified equations in Step 2, we rearrange them to solve for the acceleration
So,
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