1st Lecture

Modeling and Simulation
1. Introduction
INSTITUT FR TECHNISCHE MECHANIK / BEREICH DYNAMIK UND MECHATRONIK
KIT Universitt des Landes Baden-Wrttemberg und

nationales Forschungszentrum in der Helmholtz-Gemeinschaft www.kit.edu
Overview
1. Learning outcomes and course structure

2. Syllabus
3. Basic concepts:
What is simulation?
What is a system?
What is a model?
4. Process of a simulation study
2 Modellbildung und Simulation Institut fr Technische Mechanik

Abteilung Dynamik / Mechatronik
1. Learning outcomes
The students
are able to formulate the steps necessary to resolve problems
arising in engineering, to create appropriate conceptual and
mathematical models and to analyze them.
are able to develop and implement algorithms for the solution of

mathematical models.
are able to perform comprehensive and interdisciplinary simulation

studies to assess the simulation results and to critically evaluate
the quality of the simulation results.

1. Course structure
Models
Continuous Discrete
Lumped parameters Distributed parameter
Ordinary differential Differential

equations algebraic equations

2. Syllabus
Compulsory course
of the MSc
Central resource: ILIAS
https://ilias.studium.kit.edu
Institutes:
IFL, ITM, MOBIMA, FSM
Exercise:
either computer lab
or auditorium
Teaching Assistant:
Dipl-Ing. Maximilian Geiendrfer

2. Bonus system
Bonus system for computer lab training

Exercise sheets are voluntary.
Exercises will be carried out in teams of four students.
A file is provided for editing in Matlab. It can be downloaded from Ilias.
A solution is available in Ilias eight days after the last exercise meeting.
Until that time, the exercise sheet must have been successfully processed.
Prepare yourself for the exercise by working on the task beforehand!
If successful, you get a signature on a form.
For successful completion of at least 80% exercise sheets, there will be a grade
improvement 0.3 for a passed exam.

3. Todays learning objectives
The students
are familiar with the concepts of system and model,
know the principle procedure of a simulation study,
can develop a conceptual model,
can design a simulation study for engineering problems.

What is simulation?
Tell us what you think !

3.1 What is simulation?
Simulation is the process of

designing a model of a real system and
conducting experiments with this model
for the purpose either
of understanding the behavior of the system and its
underlying causes or
of evaluating various designs of an artificial system or
strategies for the operation of the system.
R. E. Shannon: Introduction to the Art and Science of Simulation, 1998

Simulation is a method for representing a system with its

dynamic processes in an experimental model, in order to
arrive at insights that can be transferred to reality.
In a broader sense, simulation consists of the preparation,

execution and analysis of defined experiments within a
simulation model.
By means of simulation, the behavior in time of complex

systems can be investigated.
VDI-Richtlinie 3633

Simulation = representing the behavior

of systems by models
Simulation can be performed

on a digital computer,
on an analog computer,
by experiments on a similar, e.g. a scaled-down
model (for example: an object in a wind tunnel).

And why do we do that?

Why simulation?
Obtain knowledge of systems, that in reality can not
be experimented directly or can only be experimented
at excessive expense
Time scale is too small/large (nuclear reactions, climate)
Spatial dimensions are too small/large (atoms, galaxies)
Real system does not (yet) exist (product development)
too expensive (crash, aviation)
Real system can be disturbed or destroyed
too dangerous (power plants, ecosystems, financial market)

Opportunities:
Decision support
Representation of system complexity
Alternative to experiments
Risks of simulation:
Lack of data
Susceptibility to errors
High effort of modeling
Far from reality
Mixture of model and reality
Lack of transparency

3.2 What is a system?
A system is a delimited set of interacting structures.

Such structures can be both objects or methods and their results
This structure is delimited by its boundary from the surrounding.
The boundary cuts the connections between the system and its
surrounding. The properties and states that are transferred by these
connections are quantities whose relationships determine the
system behavior.
Smaller and larger systems arise by appropriately combining and

dividing such systems.
DIN 19226

External structure:
a set of objects
influenced from the surrounding (system inputs, disturbances)
effects of the system on the surrounding (system outputs)
Boundary
Input Output
System
(Cause) state (Effect)
Input variable State variable Output variable

parameter
The selection of the system boundary is carried out

according to
objective (delimitation) and
available ressources (exclusion)
Internal structure
Systems are structured.
Structuring is possible on several hierarchical levels (e.g. scales).
Interaction between subsystems.
Decomposition: disassembly of a system into subsystems.

Aggregation: assembling a system composed of subsystems, additional
parameter must possibly be added to the system description.
Elementary systems are not decomposable anymore.

They determine the granularity of the system description.
Selection of the granularity/structuring: objective-oriented

greater clarity, minimized effort coarse granularity
transparency, expressiveness fine granularity
as coarse as possible, as fine as necessary!

Possible classifications:
discrete system: range of value of the state variable is discrete
(opposite: analogue system).
continuous system: change of state can take place at any time.
(opposite: discontinuous system).
static system: system properties and state are constant with
time. (opposite: dynamic system).
linear/nonlinear system.
Similarly, discrete and analogue as well as continuous and
discontinuous processes can be distinguished.
Digital computer work with discrete-discontinuous data!

Complexe systems:
consist of many subsystems of different type with varied
interactions
may be unstructured
( statistical results)
Complicated systems:
few subsystems, many state variables/parameters

Task:
System analysis (system identification):
uses the known system behavior
to build the structure system.
System synthesis:
uses the known structure of system
in order to investigate its function.

3.3 What is a model?
A model of an original is a system that irepresents the

essential behavior and the relationships of the original, in
order to solve a particular task that can not be carried out
with the original (because it is e.g. too expensive or too
time consuming).
One obtains a model by reducing the multiple factors and

relationships present: in reality to those that are necessary
with respect to the problem to be solved.
A distinction is made between conceptual and algorithmic

models.

Conceptual models can not be directly experimented.

require an executable form (e.g. software)
An algorithm is an ordered finite sequence of elementary

operations and conditions for transforming input data into
output data whereby after executing an operation it is
clearly identified or it can be decided based on a condition
what operation to perform at the next step or whether the
process is stopped.
An algorithmic model (or simulation model) is a model that

reflects the original process by algorithmic connections in
dependence on initial conditions, input information and
parameters.

Implementation: transformation of a conceptual model into

an executable computer simulation model.
Experimentation: a targeted empirical study of the model

behavior by applying repeated simulation runs with
systematic parameter variations.
Summary of the definition of simulation:

Simulation comprises implementation and experimentation
of simulation models in order to gain new insights that can
be transferred to reality.

Verification: Did I do it right?
Does the simulation model describe

the conceptual model right?
Have I done the

Validation: right thing?
Does the model describe reality

sufficiently accurate with respect to
the aims of the investigation?

last (but not least):

The DONTs of Mathematical Modelling
DONT believe that the model is the reality

DONT extrapolate beyond the region of fit
DONT distort reality to fit the model
DONT retain a discredited model
DONT fall in love with your model
S.W. Golomb, Simulation 14 (1970), 197-198

Validation
of the model
Reality Model
Modeling
Simulation
model
Procedure of the simulation study

Problem definition, quality criteria
Problem specification
results, time and budget
Modeling Idealization, physical principles
Mathematical model Algebraic equations, Differential eqs.
Model analysis e.g. Response, natural frequencies
Simulation process Algorithms
Simulator Hardware + Software
Simulation results, assessment e.g. time histories, animation

Possibilities to develop simulators:

direct programming using program libraries
e.g. Matlab, C/C++, Fortran
using special simulation languages

e.g. ACSL, Modelica
block-oriented simulation
e.g. Simulink, Dymola
complete packages for specific system classes

e.g. - multi-body systems: ADAMS, Simpack
- drive dynamics: DRESP
- hydraulics, pneumatics: DSH plus
- electrical networks: SPICE

Outlook
Next Lecture:
Which models are common in mechanical engineering?
Lumped parameter models
Distributed parameter models
Network representation of lumped parameter models
Next Exercise:
Introduction to Matlab (Computer labs)

Problem of the week
Concept for a simulation study?

Who does what?
What would you pay particular attention to?

1st Lecture

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1st Lecture

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Modeling and Simulation

KIT Universitt des Landes Baden-Wrttemberg und

1. Learning outcomes and course structure

2 Modellbildung und Simulation Institut fr Technische Mechanik

are able to develop and implement algorithms for the solution of

are able to perform comprehensive and interdisciplinary simulation

3 Modellbildung und Simulation Institut fr Technische Mechanik

Lumped parameters Distributed parameter

Ordinary differential Differential

4 Modellbildung und Simulation Institut fr Technische Mechanik

5 Modellbildung und Simulation Institut fr Technische Mechanik

Bonus system for computer lab training

A file is provided for editing in Matlab. It can be downloaded from Ilias.

Prepare yourself for the exercise by working on the task beforehand!

If successful, you get a signature on a form.

6 Modellbildung und Simulation Institut fr Technische Mechanik

7 Modellbildung und Simulation Institut fr Technische Mechanik

Tell us what you think !

8 Modellbildung und Simulation Institut fr Technische Mechanik

Simulation is the process of

R. E. Shannon: Introduction to the Art and Science of Simulation, 1998

9 Modellbildung und Simulation Institut fr Technische Mechanik

Simulation is a method for representing a system with its

In a broader sense, simulation consists of the preparation,

By means of simulation, the behavior in time of complex

10 Modellbildung und Simulation Institut fr Technische Mechanik

Simulation = representing the behavior

Simulation can be performed

11 Modellbildung und Simulation Institut fr Technische Mechanik

12 Modellbildung und Simulation Institut fr Technische Mechanik

13 Modellbildung und Simulation Institut fr Technische Mechanik

14 Modellbildung und Simulation Institut fr Technische Mechanik

A system is a delimited set of interacting structures.

Smaller and larger systems arise by appropriately combining and

15 Modellbildung und Simulation Institut fr Technische Mechanik

Input variable State variable Output variable

The selection of the system boundary is carried out

Decomposition: disassembly of a system into subsystems.

Elementary systems are not decomposable anymore.

Selection of the granularity/structuring: objective-oriented

17 Modellbildung und Simulation Institut fr Technische Mechanik

18 Modellbildung und Simulation Institut fr Technische Mechanik

19 Modellbildung und Simulation Institut fr Technische Mechanik

20 Modellbildung und Simulation Institut fr Technische Mechanik

A model of an original is a system that irepresents the

One obtains a model by reducing the multiple factors and

A distinction is made between conceptual and algorithmic

21 Modellbildung und Simulation Institut fr Technische Mechanik

Conceptual models can not be directly experimented.

An algorithm is an ordered finite sequence of elementary

An algorithmic model (or simulation model) is a model that

22 Modellbildung und Simulation Institut fr Technische Mechanik

Implementation: transformation of a conceptual model into

Experimentation: a targeted empirical study of the model

Summary of the definition of simulation:

23 Modellbildung und Simulation Institut fr Technische Mechanik

Verification: Did I do it right?

Does the simulation model describe

Have I done the

Does the model describe reality

24 Modellbildung und Simulation Institut fr Technische Mechanik

last (but not least):

DONT believe that the model is the reality

S.W. Golomb, Simulation 14 (1970), 197-198