Efficient Modeling and Simulation

of Multidisciplinary Systems
across the Internet
Heman Mann
Computing and Information Centre
Czech Technical University in Prague

TUTORIAL
2
Tutorial objectives
After attending this tutorial you should be able to:
understand the difference between various approaches to
modeling and their suitability to different tasks
be able to apply the concepts of multipole modeling in
different physical domains
be motivated to try the simulation software system DYNAST
freely accessible across the Internet
be aware of the importance of physical-level simulation for
reliable control design
be prepared to introduce a unified approach to engineering
dynamics at you school (if you are a teacher)
interested in visiting the DynLAB web-based course on
modeling and simulation (to be fully completed soon)


3
Kernel engineering tools

Modeling = procedure to simplify investigation of their dynamic behavior
Simulation = imitation of dynamic behavior of real systems
Analysis = relating system behavior to a changing variable or parameter
Diagnostics = indicating the reason for a system failure

Why engineers need these tools?
to better understand behavior of existing dynamic systems
to predict, verify and optimize behavior of designed systems
to detect, localize and diagnose faults in engineering products

4
Multidisciplinary approach
Contemporary engineering crosses borders between traditional
disciplines:
different physical domains
electrical, magnetic, mechanical, fluid, thermal, ...
different levels of modeling abstraction
conceptual, functional, physical, virtual prototyping, (digital) control,
diagnossis, ...
different levels of modeling idealization
(non)linear, time (in)variable, parameter (in)dependent,
different model descriptions
equations, transfer functions, block diagrams, multipoles, ...

5
Efficiency of simulation
In the past:
efficiency of simulation was evaluated with regard to its demand of
computer time only
Nowadays:
the computer time is so inexpensive that the cost of simulation is
dominated by the cost of personnel qualified to be able
to prepare the input data
to supervise the computation
to interpret the results
Therefore:
efficient simulation software should provide
automated equation formulation
robust computational algorithms
user-friendly interface

6
Design procedure
Design proceeds through several levels of abstraction
conceptual
functional (e.g., control design)
physical (e.g., real or virtual prototyping)
technological
Different system descriptions are used
geometric (blue
topological (geometric dimensions of subsystems are not shown, only
their interactions)
behavioral (internal interactions of subsystems are not shown, only
their external behavior)
Design proceeds through several levels of granularity
(perpendicular to the design-space diagram)
7
Design space
trajectory of ideal design procedure (real one in many loops)
blocks multipoles
design space
8
Modeling & simulation procedure
1. System definition
system separation from its surroundings
system decomposition into subsystems
identification of subsystem energy interactions
2. Model development
subsystem abstraction and idealization
identification of subsystem parameters
3. Formulation of
equations for subsystems
equations for subsystem interactions
combined and reduced equations
4. Equation solution
5. Interpretation of the solution
9
Simulation using Simulink
1. System definition
system separation from its surroundings
system decomposition into subsystems
2. Model development
subsystem abstraction and idealization
parameter identification
3. Formulation of
equations for subsystems
equations for subsystem interactions
combined and reduced equations
4. Composition of a block diagram
5. Block-diagram analysis
6. Interpretation of the solution
10
Block Diagram Algebra
11
Block diagram applications
Graphical representation of
causes-effects relations
inputs: causes
outputs: effects
explicit equations
inputs: independent variables
outputs: dependent variables
control structures
inputs: excitations, disturbances
outputs: desired variables



12
Copying lathe (1)
Geometric description
13
Copying lathe (2)
Behavioral description (block
diagram for control design)
master-shape
waveform
workpiece-shape
waveform
force exerted by
cylinder
14
Copying lathe (3)
Topological description (multipole
diagram for physical design)
source of
pressure
source of master-
shape waveform r
cylinder mass
model of workpiece resistance
slide-bed friction
F
15
Multipole diagrams
can be set up based on mere inspection of the modeled
real systems without any equation formulation or block-
diagram construction
equations underlying the system models can be not only
solved, but also formed automatically by the computer
they project geometric configuration of real dynamic
systems onto their topological configuration
they portray graphically energy interactions between
subsystems in the systems
they can be combined with block diagrams, which
represent a special case of multipole diagrams)


16
Multipole modeling
Principles of multipole modeling
Concept of across and through variables
Postulates of continuity and compatibility
Advantages of multipole modeling


17
Investigation of dynamic behavior
Dynamic behavior of a dynamic system is governed
by the flow of energy and matter between subsystems of the
system and between the subsystems and the surroundings
by storing energy in the subsystems or releasing it later as
well as by changes from one form to another.

Therefore, before starting any dynamic investigation of a system
we should clearly
separate the system from its surroundings
decompose the system into its disjoint subsystems
18
Multidisciplinary system (1)
Tachometer
Bus
line
Electronic
amplifier
Hydraulic
motor
Output
synchro
Input
synchro
Compensating
network
Hydraulic
valve
Load
Demodulator
Gear
Control
Source of
pressure
Shaft
19
Multipole models
Multipole model approximates subsystem mutual energy
interactions assuming that

the interactions take place just in a limited number of
interaction sites formed by adjacent energy entries into the
subsystems
the energy flow through each such entry can be expressed
by a product of two complementary power variables
20
Tachometer
Bus
line
Electronic
amplifier
Hydraulic
motor
Output
synchro
Input
synchro
Compensating
network
Hydraulic
valve
Load
Demodulator
Gear
Control
Source of
pressure
Shaft
Multidisciplinary system (2)
Subsystems are separated by energy boundaries,
sites of energy interactions are denoted by small circles
21
Multidisciplinary system (3)
Tachometer
B
u
s

l
i
n
e
Electronic
amplifier
Hydraulic
motor
Output
synchro
Input
synchro
Compensating
network
H
y
d
r
a
u
l
i
c
v
a
l
v
e
Load
Demodulator
G
e
a
r
Source
of
pressure
Shaft
Energy interactions between subsystems are characterized exclusively by
energy flows through the sites of interactions at the energy boundaries
22
Multidisciplinary system (4)
Tachometer
B
u
s

l
i
n
e
Electronic
amplifier
Hydraulic
motor
Output
synchro
Input
synchro
Compensating
network
H
y
d
r
a
u
l
i
c
v
a
l
v
e
Load
Demodulator
G
e
a
r
Source
of
pressure
Shaft
The energy boundaries are detached and the energy interactions are
interconnected with the energy entries of subsystems by ideal links
23
Multipole constitutive relation
v
B
v
C
v
D
v
E
A D
C B
E
v
A
i
B
i
C
i
D
i
E
A D
C B
E
i
A
( ) c ( ) b
A D
C B
E
( ) a
5 - pole across variables through variables
Each multipole can be characterized by a constitutive relation
between its across and through variables expressed by means
of a combination of
physical elements
blocks
equations
look-up tables
24
Power variables
25
Measurement of variables
Direct measurement of
through variables requires
including the measuring
instrument between
disconnected adjacent
energy entries
Across variables are measured
between distant energy entries
without disconnecting them
26
Postulate of Continuity
a
b
c
Through variables a, b, c :
a +b +c =0
27
Postulate of Compatibility
a
b
c
Across variables a, b, c :
a +b +c =0
28
Reference across-variables
Measurement of reference
across variables
29
Non-mechanical elements
30
Simple electrical system
31
Simple hydraulic system
32
Mechanical elements
33
Simple translational system
34
Simple rotational system
35
Cold rolling mill
36
Unified approach to modeling
37
Other approaches (1)
38
Other approaches (2)
39
Additional advantages
multipole models can be developed once for the individual
subsystems and stored to be used any time later
this job can be done for different types of subsystems by
specialists in the field
submodels can be represented by different descriptions
suiting best to the related engineering discipline or application
submodel refinement or subsystem replacement can be taken
into account without interfering with the rest of the system
model
mixed-level modeling is allowed
40
Mechanical systems
Translational systems
Rotational systems
Coupled mechanical systems
Rotary-to-rotary couplings
Rotary-to-linear couplings
Linear-to-linear couplings
Planar systems

41
Jumping ball
42
Translatory systems
y
k
d
mg
y
A
A
y
y
d
y
S
y
A
m
A
( ) a ( ) b
y
S
mg
y
d
k
m
d
m
2
m
1
F
d
F
v
2
v
1
l
l
F
k
R
k
B
0 l
0
d
2
d
1
F
d
CAR 2
CAR 1
m
1
m
2
l
F
v
1
v
2
( ) c ( ) b ( ) a
43
Quarter-car model
44
Motor on vibration isolator
stop characteristic
45
Impact of a long spring
46
Torsional pendulums
47
Weight-lifting mechanism
48
Rotary-to-rotary coupling
B
A
A
B
t
t

= =

n
Pure transformer
Coupling ratio:
Power consumption:
0 = + =
B B A A
t t

P
49
Coupled gears
B
A
A
B
t
t

= =

n
Coupling ratio:
Power consumption:
0 = + =
B B A A
t t P
Pure transformer
50
Gear trains (part 1)
Gear train Configuration n
External
spur gears
Internal
spur gears
Beveled
gear pair
b
a
r
r

b
a
r
r
b
a
r
r
Model
51
Gear trains (part 2)
Gear train Configuration n
Planet
gear
Skew
gear pair
b
a
r
r

b
a
r
r
Model
52
Belt-and-pulley or chain-and sprocket
b a
r r n / =
b a
r r n =
53
Gear train with backlash
Backlash
characteristics
54
Rotary-to-linear couplings
B
A
A
B
F
x
n
t

= =

Coupling ratio:
Power consumption:
0 = + =
B B A A
x F P t
Pure transformer
55
Rotary-to-linear convertion
mg
y
A
r
m, J

A
mg
m
A
y
A

n J
n r =
( ) a ( ) b
J,m

A
o
( ) a
A
A
x
x
A
A

mg sin o
m
x
A

A
n
( ) b
n =
1
r
n = - 1/r
56
Rack-and-pinion gear-train
r n / 1 =
57
Movable rack-and-pinion assembly
r n / 1 =
58
Pulley or sprocket assembly
r n=
59
Lead screw assembly
P n =
P screw pitch
60
Slider crank
2
0
2
0
) sin (
) sin cos(
sin
1
y r l
y r r
r
x
n
+
+
= =
A
A
A
A
BA

61
Linear-to-linear coupling
B
A
A
B
F
F
x
x
n = =

Coupling ratio:
Power consumption:
0 = + =
B B A A
x F x F P
Pure transformer
62
Levers and pulleys
63
Lever systems
k
k
mg
m
C
B
A
l
y
mg
B
y
C
y
A
y
m
k
( ) a ( ) b
n =
k
l
k
mg
m
A B C
D
B'
l
1
l
2
l
3
v t ( )
y
e
A
y
n
a
C
y
B
y
B'
y
m
mg
( ) a ( ) b
n
a
= l /l
1 2
n
b
n
b
= l /l
2 3
64
Planar oblique throw
65
Central star and planet
66
Math pendulums
n
m m
mg
A
x
x
AB
y
AB
A
y
B
x
B
y
x
y
m
A
B
mg
( ) a ( ) b
n =
y
AB
x
AB
x
y
A
B
C
x
B
x
C
0
C2
n
1
m
1
m
1
m
2
m
2
m
2
g
m
1
g
n
2
C
x
x
C
x
B
y
B
y
C
B
y
C
y
n
1
=
y
B
x
B
n =
2
y y
B C
x x
B C
( ) b ( ) a
67
Planar systems
x
y
m
C
m
A
B
mg B
x
d
C
x
B
m
C
( ) a ( ) b
n
m
mg
A
x
x
AB
y
AB
A
y
B
y
m
n =
y
AB
x
AB
mg
m
A
B
k
n =
y
AB
x
AB
( ) a ( ) b
m mg
y
AB
x
AB
n
B
x
A
y
k
y
AB
x
AB
68
Translatory joint fixed to frame
Multipole model
69
Translatory joint between bodies
70
Revolute joints
71
Body with revolute joints
72
Two-link planar robot
73
Physical 2-pendulum with friction
74
Truck with active damping
75
Truck model
76
Electrical & electronic systems
CMOS inverter
77
Pulse-width modulator
78
Astable multivibrator
79
Three-phase thyristor rectifier
80
Electro-mechanical systems
Conductor moving in a magnetic field
81
Coils in a magnetic field
82
ac rotational transducer
83
Movable-core solenoid
84
Permanent magnet DC machine
85
Chopper-driven dc motor
86
Movable-plate condenser
87
Reluctance machine
88
Three-phase stepping motor
89
Electromagnetic relay
90
Magnetic levitation of a ball
91
Chopper-driven dc motor
92
Fluid-power systems
Q
( ) ( ) a b
G
f
Q
p
B
C
f1
C
f2
L
f
93
Valve for flow control
94
Fluid-mechanical transducers
95
Fluid-damped car suspension
96
Two-stage relief valve
97
Relief valve in a system
98
Spool valves
99
FPN simulation benchmark
100
DYNAST software system
for efficient simulation of multidisciplinary engineering systems
freely accessible across the Internet at
http://virtual.cvut.cz/dyn/

DYNAST has been designed
for practicing engineers to enhance efficiency and quality of
their work
for engineering students to accelerate and deepen their
understanding of system dynamics
for remote engineering teams to support their collaboration
101
DYNAST distributed simulation environment
Web browser
DYNAST Shell
for submitting diagrams or
equations and for plotting
CORTONA
for 3D animation
of simulated systems
MATLAB
for design of control for
simulated systems
Learning mng. system
for course delivery
DYNAST Solver
for forming and solving
equations
DYNAST Publisher
for documenting simulation
experiments & submodels
DYNAST Monitor
for assisting learners in
modelling and simulation
I nternet
Client Server
102
DYNAST Solver
provides the computation power for the DYNAST system.
It can
compute transient and steady-state (static) solution of
systems of nonlinear algebro-differential equations
formulate these equations for multipole diagrams that may be
combined with block diagrams and/or equations
compute Fourrier analysis of the periodic steady-state
solution
linearize nonlinear system models and provide system
transfer functions and responses in a semisymbolic form
compute frequency-domain characteristics in different forms

103
DYNAST Solver
104
Semisymbolic analysis
105
DYNAST Shell
provides a user-friendly working environment for DYNAST Solver.
Thanks to its wizard dialogs, users do not need to learn a
simulation language.
DYNAST Shell allows for
submitting equations in textual and diagrams in graphical form
syntax analysis of the submitted problem for errors
processing the submitted problem by DYNAST Solver
plotting the resulting data in different graphical forms
creating graphical symbols and models for new components
processing of reports on simulation experiments and models
communication with the clients Matlab control-design toolset

106
Submitting a component model
107
DYNAST Shell -- symbol editor
108
DYNAST Publisher
is a LaTeX-based documentation system installed on
the server for automated publishing of
reports on simulation experiments and
descriptions of library submodels
Publisher extracts automatically the relevant parts of
the input data and captures the submitted multipole or
block diagrams as well as the resulting output plots and
includes them into the documents.
The documents can be converted by the server into
PostScript, PDF and HTML formats.
109
DYNAST Monitor
allows design managers or tutors to observe from any site on the
Internet the data files and diagrams the users are submitting to
DYNAST Solver from their client computers.
The supervisor can communicate with the users across the Internet
and assist them in solving their problems.
110
DYNAST in control design
functional level
physical level
Control
synthesis
Control design
verification
Controlled
system
Control
objectives
Plant to be
controlled
Model
reduction
Real-parts
implementation
MATLAB domain
DYNAST domain
111
Modeling using MATLAB

Example of the paper-and-pencil procedure necessary for the equation formulation and their
transformation before MATLAB can be used to compute the open-loop response:

D. Tilbury, B. Messner: Control Tutorials for Matlab at http://www.engin.umich.edu/group/ctm/
112
Inverse pendulum experiment
Multipole model of the open loop in
DYNAST working environment
pendulum model

sensor of d2/dt

cart inertia

source of force F

cart friction

sensor of dx/dt integration of dx/dt sensor of x

113
DYNAST as modelling toolbox for Matlab
Validation of the open-loop model in DYNAST
Export of open-loop transfer functions to
MATLAB environment in M-file
114
Analog PID control of inverse pendulum
Closed-loop
model in
DYNAST based
on control
design in
MATLAB
Closed-loop
verification in
DYNAST
115
DYNAST & MATLAB
116
Current control curriculum criticised
for
exposing students to rigor math before motivating them by
practical engineering issues
presenting textbook problems carefully engineered to fit
the underlying theory
using computers to carry old exercises without exploiting
them efficiently

Future Directions in Control Education, IEEE Control Systems, October 1999

117
Considerations for control education
1. Automatic control education currently has a very
narrow approach ...
2. It is necessary to attach greater importance to all the
design cycle of a control system
3. Modelling and identification ... are a key factor for
achieving a good design ...

S. Dormido Bencomo: Control Learning: Present and Future, IFAC Congress, Barcelona 2002
118
DynLAB web-based course
on modeling and simulation
Geez, Joe, now I wish I took that DynLAB course !
119
EU project DynLAB
The goal of the project within the Leonardo da Vinci EU program
is to develop the
Course on modeling and simulation
of controlled multidisciplinary systems
in a virtual lab
Project consortium:
Czech Technical University in Prague
Ruhr-Universitt, Bochum
Institute of Technology Tallaght, Dublin
EAS, Fraunhofer Institut, Dresden
University of Sussex, Brighton

Project website: http://virtual.cvut.cz/dynlab/
120
Innovative style of the course
introducing learners to dynamics through simple examples to stimulate
their interest before exposing them to rigor math
exposing learners to a unified, systematic and efficient methodology for
realistic modelling of multidisciplinary systems
giving learners access to a powerful tutor-monitored simulation system
across the Internet
exploiting computers not only for equation solving, but also for their
formulation to minimise learners distraction from dynamics
giving learners a better feel for the topic by problem graphical
visualisation and interactive virtual experiments
allowing different target groups to select an individual paths through the
course both for self-study and remote tutoring
121
Visualization of system dynamics
3D movable model multipole diagram robot-arm trajectory
visualized by CORTONA set-up in DYNAST Shell simulated by DYNAST
122
Learning modes in DynLAB
123
Ball-and-beam virtual experiment