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 pdes, 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
Bernoullis 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, pdfs and cdfs,
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.