Lecture 9

SIEL 4783
mechatronics &
robotics

MODELING & SIMULATION OF

PHYSICAL SYSTEMS-MASS
Michael Mensah SPRING DAMPER
Department of Engineering
Regent University College of Sci. & Tech 3.17.15
 Outlines
 Simulation

 Block Diagram Modeling—Analogy Approach

 Potential and Flow Variables (PV/FV)

 Impedance Diagrams and Reduction methods

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
 Example 2

 Build a simple Simulink model that solves the following differential

equation

 2nd-order mass-spring-damper system

 Zero initial conditions (Ics)

 input f(t) is a step with magnitude 3

 parameters: m = 0.25, c = 0.5, k = 1

mx  cx  kx  f (t )
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
 Create the simulation diagram

On the following slides:

The simulation diagram for solving the ODE is created step by step.

After each step, elements are added to the Simulink model.

Optional exercise: first, sketch the complete diagram

mx  cx  kx  f (t )

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

 (continue)

° First, solve for the term with highest-order

derivative
mx  f (t )  cx  kx
° Make the left-hand side of this equation the output
of a summing block

mx

summing
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block September 19, 2003
 Drag a Sum block from
the Math library

Double-click to change the

block parameters to
rectangular and + - -
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 (continue)

° Add a gain (multiplier) block to eliminate the

coefficient and produce the highest-derivative
alone

mx 1 x
m
summing
block

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

 Drag a Gain block from
the Math library

The gain is 4 since 1/m=4.

Double-click to change the

block parameters.
Add a title.

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 (continue)

° Add integrators to obtain the desired output

variable

mx 1 x 1 x 1 x
m s s
summing
block

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

 Drag Integrator blocks from
the Continuous library

ICs on the integrators

are zero.

Add a scope from the Sinks library.

Connect output ports to input ports.
Label the signals by double-clicking on the leader line.
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
 (continue)

° Connect to the integrated signals with gain

blocks to create the terms on the right-hand
side of the EOM

mx 1 x 1 x 1 x
m s s
summing cx
block c
kx k

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

 Drag new Gain blocks
from the Math library
To flip the gain block, select it
and choose Flip Block in the
Format pull-down menu.

c=0.5
 Double-click on gain blocks to
set parameters
 Connect from the gain block
input backwards up to the
branch point. k=1.0
 Re-title the gain blocks.
ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003
 Complete the model

° Bring all the signals and inputs to the

summing block.
° Check signs on the summer.

f(t) + mx 1 x 1 x 1 x

input - x(t)
m s s
- output
cx x
c
kx x
k
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 Double-click on Step block
to set parameters. For a
step input of magnitude 3,
set Final value to 3

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

 Final Simulink model

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

 Run the simulation

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 Results

Underdamped response.
Overshoot of 0.5.
Final value of 3.
Is this expected?

ENGIN112 L8: Minimization with Karnaugh Maps September 19, 2003

 Paper-and-pencil analysis
based on the equations of motion

x c 1
 x  x  f (t )
° Standard form k k k
m

k
° Nat’l freq. n   2.0
m

2 c
° Damping ratio     0.5
n k

° Static gain 1
K  1
k
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 Check simulation results

° Damping ratio of 0.5 is less than 1.

• Expect the system to be underdamped.
• Expect to see overshoot.
° Static gain is 1.
• Expect output magnitude to equal input
magnitude.
• Input has magnitude 3, so does output.
° Simulation results conform to expectations.

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Goodnight!!!