Air University MS Mechatronics Engineering

© Dr Zafar Ullah Koreshi, 2011

MS600: ADVANCED MODELING AND SIMULATION IN MECHATRONICS Credit Hours: 03 Lecture: Thursday : 5.00-8.00 pm

Course Outline Week Topic Content

1 Introduction to Modeling and Simulation

Mechatronic systems, dynamic systems, basic terminology in modeling and simulation, models based on ordinary differential equations, models based on pde’s, models based on integral equations, models based on integro-differential equations; deterministic vs stochastic models. Computational solution methods: deterministic, linear system solutions, numerical vs analytical solutions, sampling methods, state-space approach, transfer function approach [GCO ch:12,13,14], system similarity for interdisciplinary systems

Assessment 1 Introductory material covered in week 1

2-3 Modeling of translational mechanical systems

Translational mechanical systems based on mass, spring and damper components: modeling and analytical solution of simple systems, applications: pneumatically controlled hydraulic spool valve, automobile suspension system

Assessment 2 Assessment on a mass-spring-damper system using analytical techniques as well as Matlab® and Simulink®

4-5 Modeling of rotational systems Moment of inertial, angular momentum, rotational systems and associated models, drive shafts, inertia-spring-damper systems with a gear train, modeling robotic arm movement.

Assessment 3 Model and simulate the movement of a robotic arm using Laplace transforms, Matlab® programming, Simulink®.

6-7 Modeling of electromechanical systems

Modeling electromechanical problems with rotation, speed and motion control in a DC motor [GCO ch:9], modeling with and without feedback. Piezoelectric transducer [S&K pp. 141-148; S&J p. 165]. Modeling the Lorentz force in a Hall probe[S&K pp. 150-153].

Assessment 4 Analysis of an electro-mechanical problem.

8-9 Modeling thermo -fluid systems

Basic conservation equations (mass, momentum and energy), using Bernoulli’s equation for flow through an orifice, flow sensor modeling [S&K pp. 169-180]. Modeling fluid power actuation systems; basic models in heat transfer systems, exact solution in multidimensional transient thermal systems; modeling of MHD flow situations and applications.

Mid-Term Examination

10-11 Modeling thermal radiation and IR detection systems

Thermal radiative systems [S&K p.185], integral equations for thermal radiation transport for IR detection systems. Discrete Ordinates, Spherical Harmonics and Moments methods.

12 Monte Carlo Simulation

Random number generators, sampling theory, pdf’s and cdf’s, estimators and variance reduction, error estimation, transport logic, slowing down of incident radiation in matter using the SRIM® code. Monte Carlo simulations of thermal radiative problems.

13 The Bond Graph Approach for modeling interdisciplinary problems

Concept of the Bond Graphs. Ports and causality. Bond graphs of translational mechanical systems, of fluid systems. Application to multidisciplinary systems.

Assessment 5 On material covered in weeks 10-13

14 Variational Methods Functional analysis, Lagrangian, Euler-Lagrange equation, Lagrange multipliers, applications for optimal solutions; sensitivity analyses

15 Case studies

(i)An electro-mechanical-fluid problem; modeling and simulation; (ii) coupled systems P-kinetics for Simulink®; (iii) simulation used for engineering decision-making (trajectory, stiff problems involving multi-timescales); (iv) Paper machine flow or head-box,

Air University MS Mechatronics Engineering

© Dr Zafar Ullah Koreshi, 2011

(v) an overhead gantry crane; (vi) the ball and beam problem; (vii) an automotive engine test-bed; (viii) coupled electric drives

Project Submission/Presentation/Assessment Projects:

i- Electro-mechanical-fluid pump design. \D\ModSimCourse2008 ii- MEMS coupled field (mechanical and electromagnetic) analysis. \D\ModSimCourse2008 iii- Pyroelectric motion detection modeling and simulation iv- Piezoelectric transducer modeling and simulation v- Modeling thermofluid process with reactivity feedback vi- Case studies listed above

Books:

1. R. L. Woods and K. L. Lawrence, Modeling and Simulation of Dynamic Systems, Prentice-Hall, 1997.

2. P. E. Wellstead, Introduction to Physical System Modeling, Control Systems Principles, 2000.

3. G. C. Onwubolu, Mechatronics Principles and Applications, Elsevier, 2005. 4. D. Shetty and R. A. Kolk, Mechatronics System Design, 2007. 5. Personal Notes.

Grading: Assessments: 20 Mid-Term Examination: 35 Final Exam/End of Semester Project*: 45 * Grading rules for End of Semester Project:

a) If the work is copied or plagiarized from any published material, the work will automatically be rejected and student will receive a grade of ‘F’ in the course.

b) The work must follow ASME publications format. c) Equations must be written using Microsoft Equation 3.0 or higher. d) Work should be two-column 7-10 pages. e) Presentation must be on Microsoft Office PowerPoint®. f) Presentation/Language/Formatting 05, Modeling 10, Numerical Computing and

Simulation 10, Results 05, Discussion 05, Conclusions 05, Graphs and Tables 05.