Numerical Methods Applied to Mechatronics

Lecture No 2
Escuela de Ingeniera Mecatrnica
Universidad Nacional de Trujillo
MATHEMATICAL MODELING,
NUMERICAL METHODS,
AND PROBLEM SOLVING
Dr. Jorge A. Olortegui Yume, Ph.D.
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 2
THE ENGINEERING PROBLEM SOLVING PROCESS
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 3
SOME DEFINITIONS
Mathematical model
Formulation or equation expressing essential features
of a physical system or process mathematically
involving:

Dependent variables
Independent variables
Parameters
Forcing functions.
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 4
SOME DEFINITIONS
Function model


Dependent
variable
= f
independent
variables
, parameters,
forcing
functions
|
\

|
.
|
Dependent variable
Characteristic reflecting systems behavior/state
Independent variables
Dimensions determining systems behavior (e.g., t,x).
Parameters
Constants reflecting systems properties/composition (e.g., m,Cp, k).
Forcing functions
External influences acting upon the system(e.g., Forces, Moments, )
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 5
SOME DEFINITIONS
Function model example
Analytical model for the jumpers
velocity, accounting for drag, is



Dependent
variable
= f
independent
variables
, parameters,
forcing
functions
|
\

|
.
|

v t
( )
=
gm
c
d
tanh
gc
d
m
t
|
\

|
.
|
g
m
cd t v
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 6
SOME DEFINITIONS
Analytical Modeling
Process of expressing a model in terms of mathematical expressions
based on natural laws and principles.
- They end up in: Algebraic equations
Implicit functions
Diff. equations

Example: Bungee jumper
( ) Law s Newton nd ma F ' 2

=
ma v c mg
ma F F
d
d g
=
=
2
dt
dv
m v c mg
d
=
2
Diff. equation
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 7
SOME DEFINITIONS
Analytical Modeling

Example: Bungee jumper (Analytical solution)

v t
( )
=
gm
c
d
tanh
gc
d
m
t
|
\

|
.
|
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 8
SOME DEFINITIONS
Model Results
For the bungee jumper example for m = 68.1 kg y cd =0.25 kg/s
can obtain a graphical representation



v t
( )
=
gm
c
d
tanh
gc
d
m
t
|
\

|
.
|
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 9
SOME DEFINITIONS
Numerical Modeling
Process of expressing a model in terms of simple arithmetic and
logic expressions.
- easy to implement in a computer


Example:
Bungee jumper

dv
dt
~
Av
At
=
v t
i+1
( )
v t
i
( )
t
i+1
t
i
Time rate change of velocity
can be approximated as
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 10
SOME DEFINITIONS
Numerical Modeling

Example: Bungee jumper (contd)
( )
( ) ( )
(

=
+
+
i i
i i
i d
t t
t v t v
m t v c mg
1
1
2
The diff. equation:


could be approximated as




and solved as
dt
dv
m v c mg
d
=
2
( ) ( ) ( ) | |( )
i i i d i i
t t t v c mg
m
t v t v + =
+ + 1
2
1
1
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 11
SOME DEFINITIONS
Numerical Modeling

Example: Bungee jumper (contd)
NOTES:
Apparently, NO NEED for numerical development BUT,

Some mathematical models of physical phenomena may be much more
complex: CANT SOLVE ANALYTICALLY BUT NUMERICALLY

Complex models may not be solved exactly or require more sophisticated
mathematical techniques than simple algebra for their solution.



Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 12
Bases for Numerical Models
Conservation laws provide the foundation for many
model functions.
Different fields of engineering and science apply these
laws to different paradigms within the field.
Among these laws are:
Conservation of mass
Conservation of momentum
Conservation of charge
Conservation of energy
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 13
Summary of Numerical Methods
5 categories of numerical methods:
Roots of Nonlinear equations
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 14
Summary of Numerical Methods
5 categories of numerical methods:
Linear algebraic equations
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 15
Summary of Numerical Methods
5 categories of numerical methods:
Function aprroximation or
Curve fitting
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 16
Summary of Numerical Methods
5 categories of numerical methods:
Numerical
Integration/ Differentiation
Math. Modeling, Num. Methods, Prob. Solving Dr. Jorge A. Olortegui Yume, Ph.D. 17
Summary of Numerical Methods
5 categories of numerical methods:
Numerical methods
For Differential Equations