THEENGINEERINGPROBLEMSOLVINGPROCESS

Numerical Methods Applied to Mechatronics

MATHEMATICALMODELING,
NUMERICALMETHODS,
ANDPROBLEMSOLVING
Dr. Jorge A. Olortegui Yume, Ph.D.

Lecture No2
EscueladeIngenieraMecatrnica
UniversidadNacionaldeTrujillo
Math.Modeling,Num. Methods,Prob.Solving 2 Dr. Jorge A. Olortegui Yume, Ph.D.

SOMEDEFINITIONS SOMEDEFINITIONS
Function model
Mathematicalmodel
Dependent independent forcing
Formulationorequationexpressingessentialfeatures f , parameters,
variable variables functions
ofaphysicalsystemorprocessmathematically Dependentvariable
involving:
Characteristicreflectingsystemsbehavior/state
Independentvariables
Dependentvariables
Independentvariables Dimensionsdeterminingsystemsbehavior(e.g.,t,x).

Parameters Parameters

Forcingfunctions. Constantsreflectingsystemsproperties/composition(e.g.,m,Cp, k).

Forcingfunctions
Externalinfluencesactinguponthesystem(e.g.,Forces,Moments,)
Math.Modeling,Num. Methods,Prob.Solving 3 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 4 Dr. Jorge A. Olortegui Yume, Ph.D.
 SOMEDEFINITIONS SOMEDEFINITIONS
AnalyticalModeling
Function modelexample
Processofexpressingamodelintermsofmathematicalexpressions
Analyticalmodelforthejumpers basedonnaturallawsandprinciples.
velocity,accountingfordrag,is Theyendupin:Algebraicequations
Implicitfunctions
gm gc
vt tanh d
t Example:Bungeejumper
Diff.equations
cd m
F ma 2nd Newton' s Law
m Fg Fd ma
v t cd g
mg cd v 2 ma
Dependent independent forcing
f , parameters, mg cd v 2 m
dv
variable variables functions Diff.equation
dt
Math.Modeling,Num. Methods,Prob.Solving 5 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 6 Dr. Jorge A. Olortegui Yume, Ph.D.

SOMEDEFINITIONS SOMEDEFINITIONS
AnalyticalModeling ModelResults
Example:Bungeejumper(Analyticalsolution) Forthebungeejumperexampleform=68.1kgycd =0.25kg/s
canobtainagraphicalrepresentation

gm gc
vt tanh d
t
cd m
gm gc
vt tanh d
t
cd m
Math.Modeling,Num. Methods,Prob.Solving 7 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 8 Dr. Jorge A. Olortegui Yume, Ph.D.
 SOMEDEFINITIONS SOMEDEFINITIONS
NumericalModeling
NumericalDifferentiation
Processofexpressingamodelintermsofsimplearithmeticand
logicexpressions. Therearealsobackwarddifferenceandcentered
easytoimplementinacomputer differenceapproximations,dependingonthe
pointsused:
Example: Forward:
Bungeejumper f (x i1 ) f (x i )
f ' (x i ) O(h)
Timeratechangeofvelocity h
Backward:
canbeapproximatedas f (x i ) f (x i1 )
f ' (x i ) O(h)
h
dv v vti1 vti Centered:
f (x i1 ) f (x i1 )
dt t ti1 ti f ' (x i ) O(h 2 )
2h

Math.Modeling,Num. Methods,Prob.Solving 9 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 10 Dr. Jorge A. Olortegui Yume, Ph.D.

SOMEDEFINITIONS SOMEDEFINITIONS
NumericalModeling NumericalModeling
Example:Bungeejumper(contd) Example:Bungeejumper(contd)

Thediff.equation: dv NOTES:
mg cd v 2 m Apparently,NONEEDfornumericaldevelopmentBUT,
dt
Somemathematicalmodelsofphysicalphenomenamaybemuchmore
couldbeapproximatedas complex:CANTSOLVEANALYTICALLYBUTNUMERICALLY
vt vti
mg cd vti m i 1
2 Complexmodelsmaynotbesolvedexactlyorrequiremoresophisticated
mathematicaltechniquesthansimplealgebrafortheirsolution.
ti 1 ti
andsolvedas

vti 1 vti
1
m

mg cd vti ti 1 ti
2

Math.Modeling,Num. Methods,Prob.Solving 11 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 12 Dr. Jorge A. Olortegui Yume, Ph.D.
 BASESFORNUMERICALMODELS BASESFORNUMERICALMODELS

Conservationlawsprovidethefoundationformany
modelfunctions.
Differentfieldsofengineeringandscienceapplythese
lawstodifferentparadigmswithinthefield.
Amongtheselawsare:
Conservationofmass
Conservationofmomentum
Conservationofcharge
Conservationofenergy

Math.Modeling,Num. Methods,Prob.Solving 13 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 14 Dr. Jorge A. Olortegui Yume, Ph.D.

BASESFORNUMERICALMODELS SUMMARY OFNUMERICALMETHODS

8categoriesofnumericalmethods:
Roots ofNonlinear equations

Math.Modeling,Num. Methods,Prob.Solving 15 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 16 Dr. Jorge A. Olortegui Yume, Ph.D.
 SUMMARY OFNUMERICALMETHODS SUMMARY OFNUMERICALMETHODS
8categoriesofnumericalmethods: 8categoriesofnumericalmethods:
Linearalgebraic equations Optimization

Math.Modeling,Num. Methods,Prob.Solving 17 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 18 Dr. Jorge A. Olortegui Yume, Ph.D.

SUMMARY OFNUMERICALMETHODS SUMMARY OFNUMERICALMETHODS

8categoriesofnumericalmethods:
8categoriesofnumericalmethods:
Function aproximation or Curvefitting
Numerical Integration/Differentiation
Differentiation

Math.Modeling,Num. Methods,Prob.Solving 19 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 20 Dr. Jorge A. Olortegui Yume, Ph.D.
 SUMMARY OFNUMERICALMETHODS SUMMARY OFNUMERICALMETHODS
8categoriesofnumericalmethods: 8categoriesofnumericalmethods:
Numerical Integration/Differentiation
Numerical methods For Differential Equations
Integration
Ordinary differential equations

Math.Modeling,Num. Methods,Prob.Solving 21 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 22 Dr. Jorge A. Olortegui Yume, Ph.D.

SUMMARY OFNUMERICALMETHODS EXAMPLE

8 categoriesofnumericalmethods:
Numerical methods For Differential Equations
Partial differential equations

Math.Modeling,Num. Methods,Prob.Solving 23 Dr. Jorge A. Olortegui Yume, Ph.D. Math.Modeling,Num. Methods,Prob.Solving 24 Dr. Jorge A. Olortegui Yume, Ph.D.