OUTLINE

MODELLING OF
MECHATRONICS SYSTEMS
MEX3273

Course Information
Overview of modelling
Types of Systems

INTRODUCTION TO THE COURSE

Introduction to models

Prepared by: D C Wijewardene

2014

COURSE INFORMATION

COURSE INFORMATION

Academic Coordinator

Web Resource MyOUSL

B G D Achintha Madhusanka
Contact : 011 2881265/0716166779
Email : bgmad@ou.ac.lk/achintha121@yahoo.com

Course Coordinator
D T Ganegoda
Contact : 011 2881085

COURSE INFORMATION

COURSE INFORMATION

Objectives

Objectives

Primary objective is to understand the

methodologies of formulating system
models

To gain a hands on practice of using

software tools to build and simulate
system models

To be able to use various methodologies

of system representation

To explore the modeling of mixed

systems (Multi-domain systems) Only
a brief introduction

COURSE INFORMATION

COURSE INFORMATION

Content

Content

Introduction to modelling

System representation

Introduction to signals & systems

State Space representation

Fundamentals of dynamic system

modelling

Block Diagram representation

Formulation of system models

Introduction to modelling of multidomain systems

Linear graph representation

COURSE INFORMATION

SYSTEMS

Resources

What is a system?

Course note sets ( 02 Books)

Course reading (Selected text from : de
Silva, C.W..MECHATRONICS An
Integrated approach, Taylor &
Francis/CRC Press, Boca Raton. FL.2005

An entity separable from rest of the

surroundings by means of a boundary
( physical or conceptual) and having
interacting elements or subsystems
disturbances)

Referencing
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SYSTEMS

SYSTEMS
A system will react to changes in the
surroundings and also exchange
information and energy

What is a system?
Inputs

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Disturbances

Outputs
System

Energy &
Information
Boundary
Inputs

Outputs
System

Boundary
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SYSTEMS - EXAMPLES

SYSTEMS - EXAMPLES
Can you think of any other
systems?

Biological systems
Transport systems
Eco-systems
Technical systems

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MODELS

MODELS

What is a model?
A models is an abstract representation of
reality (system, object or a phenomenon)

Real system

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Modelling

Models

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Models embody system characteristics

that are important to the models users
Also, models simplify reality by
eliminating other characteristics that
are not important for their purpose

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TYPES OF MODELS

TYPES OF MODELS

Conceptual models

Physical models

A conceptual model is the mental

model people have of a system.

A physical model is a physical copy of a

object or a system

These are qualitative in nature and

helps highlight important connections
in real world systems and processes.

It can be smaller/larger or equal in size

to the real object/system
Physical models allow visualization of
the real object/system
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TYPES OF MODELS

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TYPES OF MODELS
Physical models

Physical models
A physical models may also be modeled
virtually
2D/3D models, Prototypes,
architectural models are some
examples

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TYPES OF MODELS

TYPES OF MODELS

Mathematical models

Mathematical models

Mathematical models comprises

equations that determine how a system
changes from one state to the next
(differential equations) and/or how one
variable depends on the value or state
of other variables (state equations)

Or simply, A mathematical model is an

abstract model that uses mathematical
language to describe the behavior of a
system.
Can be divided in to numerical models
and analytical models

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TYPES OF MODELS

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TYPES OF MODELS

Numerical models

Numerical models

Numerical models uses some sort of

numerical time-stepping procedure to
obtain the models behavior over time.

Examples are, FEA, CFD weather

prediction models.

The mathematical solution is

represented by a generated table
and/or graph
FAE Model

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CFD Model

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TYPES OF MODELS

TYPES OF MODELS

Analytical models

Analytical models Further explanation

Assume you have a mathematical model
and you want to understand its
behavior. That is, you want to find a
solution to the set of equations.

Analytical models have a closed form

solution, i.e. the solution to the
equations used to describe changes in a
system can be expressed as a
mathematical analytic function.

One of the ways of doing this is by using

mathematical techniques such as
trigonometry, calculus etc., to write down
the solutions. (solve the equations)
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TYPES OF MODELS

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TYPES OF MODELS

Analytical models Further explanation

Analytical models

Assume you have a mathematical model

and you want to understand its
behavior. That is, you want to find a
solution to the set of equations.

This is called the analytic solution,

because youve used analysis to figure it
out.

One of the ways of doing this is by using

mathematical techniques such as
trigonometry, calculus etc., to write down
the solutions. (solve the equations)
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It is also referred to as a closed form

solution.

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TYPES OF MODELS

TYPES OF MODELS

Important!

Statistical models

Closed form solutions are only

applicable to simple models. For more
complex models, the math becomes
much too complicated. Then you have
to use numerical methods of solving the
equations

Includes statistical characterization of

numerical data, estimating the
probabilistic future behavior of a system
based on past behavior, extrapolation or
interpolation of data based on some
best-fit, error estimates of observations,
or spectral analysis of data or model
generated output.
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TYPES OF MODELS

BUILDING BLOCKS OF MODELS

In this course we will be mainly looking

at analytical models!

Typically, an analytical model will

comprise of variables
There can be many types of
variables in a analytical model.
Therefore the variables are generally
represented by vectors variables

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BUILDING BLOCKS OF MODELS

BUILDING BLOCKS OF MODELS

Decision Variables (Independent

variables)

State Variables (Variables that describes

the state of a system)

Input Variables

Output Variables (Variables that are

dependent on the state of the system)

Exogenous Variables (Constants or

parameters)

Random Variables (Noise or

disturbances)

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CLASSIFICATION OF ANALYTICAL
MODELS/SYSTEMS

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MODELLING OF SYSTEMS

Dynamic vs. static

Distributive parameter vs. lumped
parameter
Linear vs. non-linear

Model

Output

Deterministic vs. Probabilistic

(Stochastic)

Input

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SOLUTION TECHNIQUES

SOLUTION TECHNIQUES

Analytical models are formed by

obtaining mathematical relationships of
the variables discussed previously, and
several forms of solution techniques are
used for analyzing these models

State-space method
Linear graphs
Bond graphs
Transfer function models
Frequency domain models

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IMPORTANCE OF MODELLING

IMPORTANCE OF MODELLING

Modelling of systems help us to develop

a tool to conduct simulation and predict
and investigate the behavior of the
system to various inputs and
disturbances

The result of the simulation can be

used for;
taking necessary control or corrective
actions
predicting the behavior of a complex
system such as the weather
enhancing the design of a product

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ADVANTAGES OF MODELLING

ADVANTAGES OF MODELLING

Some systems states cannot be brought

about in the real system, or at least not
in a non-destructive manner

Simulated models are usually completely

controllable. Therefore all input
variables and parameters of the system
can be pre-determined

In comparison to real experiments,

virtual experiments are less costly
In some cases real experiment is ruled
out for moral reasons

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ADVANTAGES OF MODELLING

LIMITATIONS OF MODELLING

Simulated models are generally fully

monitorable. All output variables and
system states are available, whereas in
real systems this would require
sophisticated measuring devices to
monitor such variables and parameters
determined

Every simulated modelling experiment

requires a complete, validated and
verified modelling of the system

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The accuracy to which details are

reproduced and the simulation speed of
the model is limited by the power of the
computer used for the simulation

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MODEL DEVELOPMENT

MODEL DEVELOPMENT

Verification

Conceptual
Model

Analysis

Implementation

Analysis

Executable
Model

The Process of obtaining a conceptual

model by applying suitable relationships of
nature, equations, or verbal descriptions
to the real system

Simulation

Real System

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MODEL DEVELOPMENT

MODEL DEVELOPMENT

Implementation

Simulation

Transformation from the conceptual

model to a executable (simulatable)
model.
This mainly involves the setting up of
instructions that describes the systems
response to an external stimuli

Processing of the instructions in the

executable model usually by using a
computer

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MODEL DEVELOPMENT

MODEL DEVELOPMENT

Qualification
Determining a correct field of application
to the conceptual model.
A conceptual model is adequately
qualified for a pre-determined field of
application if it produces the required
degree of correspondence with the real
system

Verification
Investigates whether the executable model
reflects the conceptual model within the
specified limits of accuracy.
Verification basically transforms the
conceptual models field of application to
the executable model

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MODEL DEVELOPMENT

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MODEL DEVELOPMENT

Validation
Gives us information whether the
executable model is suitable for fulfilling
the envisaged task within its field of
application

Verification ensures that the system model

is right, whereas, Validation is about
modelling the right system

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SUMMARY
Course Information
Introduction to systems
Overview of models and types of
models
Introduction to model
development
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