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    Modeling and Simulation of Mechatronic Systems (MH 504)

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    Jagat Dada 2.0
    This document outlines the syllabus for a course on modeling and simulation of mechatronic systems. It covers topics such as: 1) Physical modeling of mechanical, electrical, thermal, and fluid systems using techniques like block diagrams and differential equations. 2) Simulation techniques like finite element analysis, transfer functions, and coupling simulation tools. 3) Mathematical preliminaries for modeling systems using tensors, vector/tensor operations, and continuum mechanics principles.

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    Modeling and Simulation of Mechatronic Systems (MH 504)

    Uploaded by

    Jagat Dada 2.0
    37 views15 pages
    This document outlines the syllabus for a course on modeling and simulation of mechatronic systems. It covers topics such as: 1) Physical modeling of mechanical, electrical, thermal, and fluid systems using techniques like block diagrams and differential equations. 2) Simulation techniques like finite element analysis, transfer functions, and coupling simulation tools. 3) Mathematical preliminaries for modeling systems using tensors, vector/tensor operations, and continuum mechanics principles.

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    This document outlines the syllabus for a course on modeling and simulation of mechatronic systems. It covers topics such as: 1) Physical modeling of mechanical, electrical, thermal, and fluid systems using techniques like block diagrams and differential equations. 2) Simulation techniques like finite element analysis, transfer functions, and coupling simulation tools. 3) Mathematical preliminaries for modeling systems using tensors, vector/tensor operations, and continuum mechanics principles.

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    37 views15 pages

    Modeling and Simulation of Mechatronic Systems (MH 504)

    Uploaded by

    Jagat Dada 2.0
    This document outlines the syllabus for a course on modeling and simulation of mechatronic systems. It covers topics such as: 1) Physical modeling of mechanical, electrical, thermal, and fluid systems using techniques like block diagrams and differential equations. 2) Simulation techniques like finite element analysis, transfer functions, and coupling simulation tools. 3) Mathematical preliminaries for modeling systems using tensors, vector/tensor operations, and continuum mechanics principles.

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    of 15

    Modeling and Simulation of Mechatronic

    Systems (MH 504)

    Sunil Kumar Singh, PhD


    Assistant Professor
    Mechanical Engineering
    IIT Patna
    SYLLABUS 1

    Physical Modelling: Mechanical and electrical systems, physical laws, continuity equations,
    compatibility equations, system engineering concept, system modelling with structured
    analysis, modelling paradigms for mechatronic system, block diagrams, mathematical models,
    systems of differential-algebraic equations, response analysis of electrical systems, thermal
    systems, fluid systems, mechanical rotational system, electrical-mechanical coupling.

    Simulation Techniques: Solution of model equations and their interpretation, zeroth, first and
    second order system, solution of 2nd order electro-mechanical equation by finite element
    method, transfer function and frequency response, non-parametric methods, transient,
    correlation, frequency, Fourier and spectra analysis, design of identification experiments,
    choice of model structure, scaling, numeric methods, validation, methods of lumped element
    simulation, modelling of sensors and actuators, hardware in the loop simulation (HIL), rapid
    controller prototyping, coupling of simulation tools, simulation of systems in software
    (MATLAB, LabVIEW) environment.
    PHYSICAL LAWS 2

    ❖ Any physical system is described by an appropriate set of certain physical variables.

    Thermal equilibrium
    A B

    Temperature
    PHYSICAL LAWS (CONT…) 3

    ❖ The fundamental equations of continuum mechanics are based on the conservation principles of certain physical
    quantities.

    ➢ The principle of conservation of mass

    ➢ The principle of conservation of linear momentum

    ➢ The principle of conservation of angular momentum

    ➢ The principle of conservation of energy

    ➢ The principle of irreversibility


    PHYSICAL LAWS (CONT…) 4

    Continuum Mechanics?

    Loads

    BCs

    ❖ It is a branch of mechanics that deals with the deformation of matter (solid, liquid and gases) under the action of forces
    and thermal effects.

    ❖ The continuum mechanics is based on the algebra and calculus of tensors.

    Symbolic Notation Indicial Notation


    PHYSICAL LAWS (CONT…) 5

    Mathematical Preliminaries

    ❖ Zeroth Order Tensor ❖ First Order Tensor ❖ Second Order Tensor

    Tensor Algebra

    ො 1 + 𝑣2𝒆
    𝐯 = 𝑣1 𝒆 ො 2+ 𝑣3𝒆
    ො3

    ො𝑖
    𝐯 = ෍ 𝑣𝑖 𝒆
    𝑖=1

    Ref: Mase & Mase


    ො𝑖
    𝐯 = 𝑣𝑖 𝒆 Summation Convention
    PHYSICAL LAWS (CONT…) 6

    Mathematical Preliminaries (Cont…)


    ❖ Kronecker Delta

    1 if i = j
     ij = 
    0 if i  j

    𝒆𝑖 ⋅ 𝒆𝑗 = 𝛿𝑖𝑗

    Second order tensor


    or isotropic second-order tensor
    PHYSICAL LAWS (CONT…) 7

    Mathematical Preliminaries (Cont…)

    𝛿𝑖𝑖 = 𝛿11 + 𝛿22 + 𝛿33


    ❖ Substitution property of Kronecker Delta

    𝒆ො 𝑖 = 𝛿𝑖𝑗 𝒆ො𝑗

    ▪ Dot product of two vectors Application of Kronecker Delta

    𝒖 . 𝒗 = 𝑢𝑖 𝑣𝑖 = 𝑢𝑗 𝑣𝑗
    PHYSICAL LAWS (CONT…) 8

    Mathematical Preliminaries (Cont…)


    ❖ Permutation Symbol

    1 if order 123

     ijk = -1 if order 321
    0 else

    ❖ Permutation Symbol Properties

    ▪ 𝒆𝑖 × 𝒆𝑗 = 𝜀𝑖𝑗𝑘 𝒆𝑘

    ▪ 𝜀𝑖𝑗𝑘 = −𝜀𝑘𝑗𝑖 = 𝜀𝑘𝑖𝑗 = −𝜀𝑘𝑖𝑗

    ▪ 𝜀113 = 𝜀212 = 𝜀133 = 𝜀222 = 0


    PHYSICAL LAWS (CONT…) 9

    Mathematical Preliminaries (Cont…)

    ❖ Permutation Symbol Application

    ▪ Cross product of two vectors

    𝒖 × 𝒗 = 𝜀𝑖𝑗𝑘 𝑢𝑖 𝑣𝑗 𝒆𝑘

    ▪ Scaler Triple Product (Box Product)

    𝒖 ∙ 𝒗 × 𝒘 = 𝒖 × 𝒗 ∙ 𝒘 = 𝜀𝑖𝑗𝑘 𝑢𝑖 𝑣𝑗 𝑤𝑘

    ▪ Vector Triple Product (Triple Cross Product)

    𝒖 × 𝒗 × 𝒘 = 𝜀𝑚𝑖𝑞 𝜀𝑗𝑘𝑞 𝑢𝑖 𝑣𝑗 𝑤𝑘 𝒆𝑚
    PHYSICAL LAWS (CONT…) 10

    Mathematical Preliminaries (Cont…)

    ❖ 𝜺 − 𝜹 Identity

    𝜀𝑚𝑖𝑞 𝜀𝑗𝑘𝑞 = 𝛿𝑚𝑗 𝛿𝑖𝑘 − 𝛿𝑚𝑘 𝛿𝑖𝑗

    ▪ Vector Triple Product (Triple Cross Product) Application

    𝒖 × 𝒗 × 𝒘 = 𝜀𝑚𝑖𝑞 𝜀𝑗𝑘𝑞 𝑢𝑖 𝑣𝑗 𝑤𝑘 𝒆𝑚
    PHYSICAL LAWS (CONT…) 11

    Mathematical Preliminaries (Cont…)

    ❖ Dyadic Product

    𝒖 ⊗ 𝒗 = 𝑢𝑖 𝑣𝑗 𝒆𝑖 ⊗ 𝒆𝑗

    ❖ Vector-Dyad product

    𝒖 ⋅ 𝒗 ⊗ 𝒘 = 𝑢𝑖 𝑣𝑖 𝑤𝑘 𝒆𝑘

    ❖ Dyad-Dyad product

    𝒖 ⊗ 𝒗 ⋅ 𝒘 ⊗ 𝒔 = 𝑢𝑖 𝑣𝑗 𝑤𝑗 𝑠𝑞 𝒆𝑖 ⊗ 𝒆𝑞

    ❖ Vector-Tensor product

    ❖ Tenor-Tensor product
    PHYSICAL LAWS (CONT…) 12

    Mathematical Preliminaries (Cont…)

    ❖ Dyadic Product

    𝒖 ⊗ 𝒗 = 𝑢𝑖 𝑣𝑗 𝒆𝑖 ⊗ 𝒆𝑗

    ❖ Vector-Dyad product

    𝒖 ⋅ 𝒗 ⊗ 𝒘 = 𝑢𝑖 𝑣𝑖 𝑤𝑘 𝒆𝑘

    ❖ Dyad-Dyad product

    𝒖 ⊗ 𝒗 ⋅ 𝒘 ⊗ 𝒔 = 𝑢𝑖 𝑣𝑗 𝑤𝑗 𝑠𝑞 𝒆𝑖 ⊗ 𝒆𝑞

    ❖ Vector-Tensor product

    ❖ Tenor-Tensor product
    PHYSICAL LAWS (CONT…) 13

    Mathematical Preliminaries (Cont…)

    ❖ Double Contraction or Double Scaler Product

    • 𝐀 ∙∙ 𝐁 = 𝜸

    • 𝐀∶𝐁=𝜸

    Note: 𝐀 ∶ 𝐁 ≠ 𝐀 ∙∙ 𝐁 Equal only when at least one of them is symmetric


    PHYSICAL LAWS (CONT…) 14

    SUMMARY

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