Modeling and Simulation

2. Model Classes, Networks

INSTITUT FR TECHNISCHE MECHANIK / BEREICH DYNAMIK UND MECHATRONIK

KIT Universitt des Landes Baden-Wrttemberg und

nationales Forschungszentrum in der Helmholtz-Gemeinschaft www.kit.edu
 Learning outcomes

The students
know the model classes to describe engineering
systems,
are aware of the properties of models with lumped
and distributed parameters,
are able to decide for engineering problems,
whether a model with lumped or distributed
parameters is suitable.

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Abteilung Dynamik / Mechatronik
 Overview

1. What model classes are there?

2. How do they differ?
3. What are networks?

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Abteilung Dynamik / Mechatronik
 What model classes are there?
Mathematical-physical models:

Algebraic models
Description of change of state by algebraic equations,
linear or nonlinear.

Lumped parameter models

Location independent representation of the state variable by
ordinary differential equations, which may be supplemented by
algebraic constraints.

Distributed parameter models

State variables are field quantities; Description of change of
state leads to partial differential equations.

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Abteilung Dynamik / Mechatronik
 How do the model classes differ?
Example: Longitudinal vibrations of a bar
Distributed parameter model

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Abteilung Dynamik / Mechatronik
 How do the model classes differ?
Example: Longitudinal vibrations of a bar

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Abteilung Dynamik / Mechatronik
 How do the model classes differ?
Example: Longitudinal vibrations of a bar
Lumped parameter model

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Abteilung Dynamik / Mechatronik
 How do the model classes differ?
Example: Longitudinal vibrations of a bar

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Abteilung Dynamik / Mechatronik
 How do the model classes differ?
Example: Longitudinal vibrations of a bar

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Abteilung Dynamik / Mechatronik
 How do the model classes differ?

Distributed parameter model:

Starting point: continuum mechanics, balance equations
Partial differential equations; solution more difficult
Countable infinite natural frequencies and associated mode shapes
Solution consists of countable infinite mode shapes
Solution can be determined for every material point of the continuum

Lumped parameter model:

Additional model assumptions are necessary, elimination of the location
dependence of the state variables
Ordinary differential equations; solution easier
Finite number of natural frequencies and mode shapes
Solution consists of finite number of mode shapes
Solution can be determined at discrete points in space only
Approximation of the solution of a distributed parameter model (error
estimation, asymptotic behavior)

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Abteilung Dynamik / Mechatronik
 What are networks?

Representation of lumped parameter models,

e.g. in electrical engineering or hydraulic

Description of systems, in which the underlying structure can be

described by a set of nodes (the junctions) that are connected by paths.

Paths may form closed loops.

Frequently, the paths represent components.

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Abteilung Dynamik / Mechatronik
 What are networks?
Example I: Electrical networks

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Abteilung Dynamik / Mechatronik
 What are networks?
Example II: Hydraulic networks

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Abteilung Dynamik / Mechatronik
 What are networks?
Comparison: Electrical networks Hydraulic networks

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Abteilung Dynamik / Mechatronik
 Outlook

Next lecture:
Integrated description of mechanical-hydraulic-electrical systems
as lumped parameter models.

Derivation of state equations for the whole system based on

work and energy.

Consideration of constraints (coupling between the subsystems)

Next exercise:
Implementation of networks in software:
Introduction to Simulink (computer lab)

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Abteilung Dynamik / Mechatronik
 Problem of the week
Stacker crane 1. Speed limiter
2. Guide roller (endcarriage)
3. Pulley
4. End carriage (complete)
5. Mast
6. Cable duct
7. Hoisting wire
8. Platform
9. Hazard light
10. Wire drum
11. Lift drive (complete)
12. Drive (complete)
13. Drive unit heads (driven)
14. Hydraulic shock damper
15. Drive unit heads (non-driven)
16. Lifting carriage (complete)
17. Telescoping table
18. Tilt protection
19. Driver cabin
20. Load unit

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Abteilung Dynamik / Mechatronik
 Problem

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Abteilung Dynamik / Mechatronik
 Model for the bending vibrations of the mast?
1. Speed limiter
2. Guide roller (endcarriage)
3. Pulley
4. End carriage (complete)
5. Mast
6. Cable duct
7. Hoisting wire
8. Platform
9. Hazard light
10. Wire drum
11. Lift drive (complete)
12. Drive (complete)
13. Drive unit heads (driven)
14. Hydraulic shock damper
15. Drive unit heads (non-driven)
16. Lifting carriage (complete)
17. Telescoping table
18. Tilt protection
19. Driver cabin
20. Load unit

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Abteilung Dynamik / Mechatronik
 Modeling possibilities
a) Original b) Multi-body system model c) Continuum model

d) Two-dimensional model e) One-dimensional model f) One-dimensional model

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Abteilung Dynamik / Mechatronik