Chapter-2

Introduction to Mechatronics (EPCE- 4305)

Physical System Modeling

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 Mathematical Modeling
• The mathematical description of both Static and dynamic
characteristics of a system is called a mathematical
model.
• In static model there is no energy transfer systems that
are static produce no motion, heat transfer, fluid flow, or
anything that changes.
• On the other hand a dynamic model has energy transfer
that results in power flow.
• Mathematical models of physical system are the key
elements in the design and analysis of control systems.

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 Cont…

• The dynamic behavior of the system is generally

described by ordinary deferential equations.
• Dynamic systems, whether they are mechanical,
electrical, Electro-mechanical, thermal,
hydraulic, economic, biological, etc can be
characterized by differential equations.
• The basis for any mathematical model is
provided by the fundamental physical laws that
govern the behavior of the system, for example,
Newton’s law of motion mechanical systems
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 Modeling Techniques
Mathematical modeling of systems can be done in different
ways using direct physical laws, Finite Element Method or
System Identification technique etc...
• Using physical laws like Newton’s law, energy method,
KVL, KCL…etc;
• Finite Element Method uses the governing differential
equation to derive the elemental matrices ;
• Assemble the elemental matrices to have the global
matrices;
• Whereas System Identification technique uses actual
system stimulus and response data to predict the model;
• The stimulus signal frequency must include the frequencies
of interest for better modeling.
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 Transfer Function

• Let us consider a third order linear time-invariant system described

by the differential equation of the form:

• Apply Laplace transform

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 Mechanical System
• Basic building block: spring, dashpots, and masses.
• Springs represent the stiffness of a system
• Dashpots represent the forces opposing motion, for
example frictional or damping effects.
• Masses represent the inertia or resistance to
acceleration.
• Mechanical systems does not have to be really made up
of springs, dashpots, and masses but have the
properties of stiffness, damping, and inertia.
• All these building blocks may be considered to have a
force as an input and displacement as an output.
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 Cont…

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 Translational Mechanical System
Springs
𝑭 =𝑲𝑿

Dash Pots Masses

𝐅 =𝐂 𝐯 F = ma

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Example: Automobile Suspension

Half Suspension

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Quarter Suspension 9
Translation motion Cont…

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 Rotational Mechanical System
• The mass, spring, and dashpot are the basic building
blocks for mechanical systems where forces and straight
line displacements are involved without any rotation.
• If rotation is involved, then the equivalent three building
blocks are a torsional spring, a rotary damper and the
moment of inertia (i.e. the inertia of a rotating mass).
• With a torsional spring the angle ϴ rotated is proportional
to the torque: T = k ϴ.
• With a rotary damper a disc is rotated in a fluid and the
resistive torque T is proportional to the angular velocity ꞷ.
• The moment of inertia block exhibit the property that the
greater the moment of inertia J the greater the torque
needed to produce an angular acceleration
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 Cont…
Torsional spring

Rotary damper
Moment of inertia

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Example: Rotational Mass-Spring-Damper System
• From Newton’s Second Law:
“Acceleration is produced when a force acts
on a mass”

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 Electrical Systems
• The basic building blocks of electrical building blocks are
inductors, capacitors, and resisters.

Capacitor Inductors
Resister

v(t) = R i(t)
L.T: V(s) = RI(s)

• Kirchhoff's two laws are used to develop mathematical models of

electrical circuits. They are:
I. Kirchhoff's current law: ∑ currents = 0
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Example: RLC

Apply KVL
• If ei is assumed to be the input and eo the
output, then the transfer function of this
system is

Apply L.T

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 Mixed Systems (Electro-Mechanical system)
Power Transformation:

Torque-Current:

Voltage-Speed:
where Kt: torque constant, Kb: velocity
constant For an ideal motor
Input: voltage u
Output: Angular velocity ꞷ
Electrical Subsystem (loop method):

Mechanical Subsystem

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 Fluid Systems (Liquid-level Systems)
Resistance and Capacitance of Liquid-Level Systems

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How can we find K?

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or

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Liquid-Level Systems with Interaction

• If q is considered the input and q2 the output,

the transfer function of the system is

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Thermal Systems

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• For conduction or convection heat transfer

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Thermal Resistance and Thermal Capacitance

• Since the thermal conductivity and convection

coefficients are almost constant, the thermal resistance for
either conduction or convection is constant.

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 Assumption
1. The tank is insulated to eliminate heat loss to the
surrounding air
2. There is no heat storage in the insulation and that
the liquid in the tank is perfectly mixed so that it
is at a uniform temperature

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Thank You For Your Attention!
Questions?

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