ME 475

Mechatronics

Semester: February 2015

Dr. Sumon Saha

Assistant Professor
Department of Mechanical Engineering
Bangladesh University of Engineering and Technology
Wednesday, September 23, 2015
Mechatronics Today’s topic

Mathematical Modelling
 Mechatronics Mathematical Models

A mathematical model usually describes a system by means of

variables.

Think how systems behave with time when subject to some
disturbances or action.

The basis for any mathematical model is provided by the
fundamental physical laws that govern the behavior of the
system.

Sometimes experimental procedures are necessary.

But no mathematical model can represent a physical system
completely.

Approximations and assumptions restrict the validity of the model.

Systems can be made up from a range of building blocks.

Each building block is considered to have a single property or
function.
Mechatronics Classification of System Models
 Mechatronics Mathematical Modeling Procedure

Flowchart for the mathematical

modeling procedure
 Modeling Mechanical
Mechatronics
System (Translational)

Viscous friction produces a restraining force proportional to velocity (similar to

damping effect of a damper or dashpot).
 Modeling Mechanical
Mechatronics
System (Translational)
Example: Spring-mass-damper system

d 2x dx
m 2 + b + kx = F
dt dt

y1

M body of a car

y2
b K

x
Kω •m
 Mechatronics Building Mechanical System

y (‘+’ve)

d2y
F =M 2
dt

Free body diagram

Mathematical model of the

Spring-mass-damper system system
with an input. Here x is input
displacement and y is output d2y dy
↓ ∑ F = 0 ⇒M 2 + c + ky = kx
dt dt
displacement.
 Mechatronics Building Mechanical System

x (‘+’ve)
b(dx/dt)
m(d2x/dt2) m F
kx
Free body diagram

Mathematical model of the

system
Spring-mass-damper system
d 2x dx
with an input. Here F is input → ∑ F = 0 ⇒m 2 + b + kx = F
dt dt
force and x is output
displacement.
 Mechatronics Building Mechanical System

m(d2x/dt2) c(dx/dt)
Position with
kx
spring relaxed kδ
δ
Reference Position
(x = 0)
m

x (‘+’ve)
x
mg F
Free body diagram
Spring-mass-damper system
with an input. Here F is input When the system at rest, mg = kδ
force and x is output Mathematical model of the system
displacement.
d 2x dx
↓ ∑ F = 0 ⇒m 2 + c + kx = F
dt dt
 Mechatronics Example

c(dyo/dt) M=0 k(yo - y)

dyo
c + k ( yo − y ) = 0 k(y-yo)
dt m(d2y/dt2) m u
Ky
d2y
m 2 + Ky + k ( y − yo ) − u = 0
dt
 Modeling Mechanical
Mechatronics
System (Rotational)
 Modeling Mechanical
Mechatronics
System (Rotational)
Example: Torsional spring-mass-damper system
T(t) θ(t)
K

D
T(t) Kθ(t) D[dθ(t)/dt] J[d2θ(t)/dt2]
J
d θ (t )
2
dθ ( t )
J 2
+D + Kθ ( t ) = T ( t )
dt dt
 Electrical System Building
Mechatronics
Blocks
Resistor Inductor Capacitor
 Mechatronics Building Electrical System

Mathematical model of the system (Applying KVL)

t 2
di 1 d q dq q
L + Ri + ∫ idt = e ⇒L 2 +R + =e
dt C0 dt dt C
 Mechatronics System Modelling

• Analogy between mechanical and electrical

systems
Building Block Equation

Spring F = kx
Mechanical
Dashpot F = c dx/dt
system
Mass F = m d2x/dt2
Capacitor V = C-1q
Electrical Resistor
system
V = R dq/dt
Inductor V = L d2q/dt2

Analogy approach is also widely used to study system response.

 Mechatronics Fluid System Building Blocks

 Fluid system can be divided into two types: hydraulic and

pneumatic.

 Hydraulic describes fluid systems that use liquids (e.g., oil or

water).
 Pneumatic applies to those using air or other gases.

 Hydraulic systems is used in machine tool applications,

aircraft control systems, where high power to weight ratio,
accuracy and quick response is required.

 Industrial processes often involve systems consisting of

liquid-filled tanks connected by pipes having orifices, valves,
and other flow restricting devices.
 Mechatronics Hydraulic System

• Control system Fluid power system

Mechatronics Hydraulic Control system

Example : Liquid level control system

 Mechatronics Basic Fluid Elements

There are three basic elements in fluid systems:

1. Fluid capacitor (C)

2. Inertor (long pipe) (I)
3. Fluid resistor (R)
 Mechatronics Fluid Capacitor

A fluid capacitor is an energy storage element, analogous to

capacitor in electrical systems.
Changed in stored fluid volume ∆Vc
Fluid capacitance, C = =
Changed in fluid pressure ∆ Pc

qc
C=
dPc dt
dPc qc
=
dt C
 Mechatronics Capacitor: Liquid Tank

Flow rate = rate of change of volume

dVc dhc dhc qc
qc = =A ⇒ =
dt dt dt A

Equivalently, in terms of pressure

dPc d dhc qc qc
= ( ρ ghc ) = ρ g = ρg =
dt dt dt A A ρg
Fluid capacitance, C = A (head), C = A/ρg (pressure)
A = cross-sectional area (m2)
 Mechatronics Fluid Resistor

A fluid resistor is a dissipative fluid element representing a valve

or other flow restricting connections.
Hydraulic resistance is the resistance to flow which occurs as a
result of a liquid flowing through valves or changes in a pipe
diameter as shown in Figure below.

Pressure ( Head ) difference ∆ P hR

Hydraulic resistance, R = = =
Change in flow rate q qR
 Mechatronics Liquid level system

qin – inflow liquid

qout – outflow
A – cross-sectional area
h – liquid level in the tank
(head)
R – valve resistance
Net flow in the tank
Now
qin = q flow + qout
dh
q flow =A ⇒ qin − qout = q flow
dt
h dh
h ⇒ qin − = A
If R is linear, then R= R dt
qout
dh
⇒ RA + h = Rqin
dt
 Mechatronics Fluid Inertance

Inertance is a measure of the pressure difference in a fluid

required to cause a change in flow-rate with time.

Fluid inertance is due to fluid inertia such as that in a long pipe. It

is defined as
Pressure difference ∆P
Hydraulic inertance, I= =
Rate of change in flow rate dq / dt
ρ = fluid density
A = cross-sectional area
L = pipe length

PI ρL
For long pipe, I = =
dqI / dt A
 Mechatronics Fluid Inertance

To accelerate a fluid and to increase its velocity a force is

required. Consider a block of liquid of mass m as shown in Figure
below. The net force acting on the liquid is

F1 − F2 = p1 A − p2 A = ( p1 − p2 ) A
This net force causes the mass to accelerate with an acceleration
a, and so
dv dv dq ρ L dq
( p1 − p2 ) A = ma = m = ρ LA = ρ L ⇒ p1 − p2 =
dt dt dt A dt
 Mechatronics System Modelling

• Analogy between hydraulic and electrical

systems
Building Block Equation

Capacitor q = C ( dp / dt )
Hydraulic Resistor q= p/R
system
Inertor q = (1 I ) ∫ pdt
Capacitor i = C ( dv / dt )
Electrical Resistor i=v/R
system
Inductor i = (1 L ) ∫ vdt

Analogy approach is also widely used to study system response.

 Mechatronics Home Work

Write down the differential equations and corresponding transfer

functions of the following control systems during filling up of the
tank and during emptying the tank. Assume R = C = 1 and during
filling, h(0) = h1 = 4 and hmax(t) = h2 = 6. Use MATLAB code to
draw their response curves h (liquid level height) versus t (time).

Figure (a) Figure (b)