Mechatronics Department – Faculty of Engineering – Ain Shams University

MCT234 – Dynamic Modeling and Simulation

Dr. Mohamed O. Elshalakani

Department of Mechatronics Engineering
Faculty of Engineering Ain Shams University

1
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

Continue… Inverted Pendulum

2
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

Continue… Inverted Pendulum

3
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

Continue… Inverted Pendulum

4
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Cantilever

5
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Simple Beam

𝑓
𝑦 𝑧

3𝐸𝐼𝐴 𝐿
𝑘= 2 2
𝑦 𝑧

6
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Rod and Shaft

𝑓 𝐺𝐽
𝑘=
𝑥 𝐿

𝐸𝐴 G is the Modulus of Rigidity

𝑘=
𝐿
𝜋𝑑 4
𝐽=
32

7
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Mass-Pulley System

• Mass-Pulley System

8
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Model

• Mass-Pulley System

𝑀1 𝑥1ሷ = 𝑓𝑎 𝑡 − 𝐾1 𝑥1 − 𝑥2 − 𝐵1 𝑥1ሶ
𝑀2 𝑥2ሷ = 𝑀2 𝑔 − 𝐾1 𝑥2 − 𝑥1 − 𝐾2 𝑥2 − 𝐵2 𝑥2ሶ

9
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Mass-Bar System

• Mass-Pulley System

• Mass-Bar System

- System moves in a horizontal plane

- 𝑚1 ≈ 0
- Angular motion is small
0 = 𝐽𝜃ሷ = −a2 k1 θ − 𝐿𝑘2 (𝐿θ − 𝑌)
- F is a force step input

10
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Model

• Mass-Pulley System

• Mass-Bar System

11
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Mass-Wheel System

• Mass-Pulley System - Movement of the cable causes
the wheel 𝑚𝑤 to rotate
- No skip rotation
• Mass-Bar System
- System moves in a horizontal plane
- u is a displacement
• Mass-Wheel System

12
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Model

• Mass-Pulley System

• Mass-Bar System

• Mass-Wheel System

13
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Rolling Cylinder

• Mass-Pulley System
1
𝑚𝑔𝑅
2
• Mass-Bar System

1
• Mass-Wheel System 𝐼𝑐 = 𝑚𝑅2 + 𝑚𝑅2
2

• Rolling Cylinder - Mass 𝑚

- Rolling with no slipping
(point of contact with the ground is at rest)

14
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Introduction Transfer Function

• S-Domain
• A function that algebraically relates a system’s output to its
input
• It defines a causal dynamic response

15
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Introduction

• S-Domain

• Transfer Function

• System Models
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Introduction

• S-Domain

• Transfer Function

• System Models
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Introduction Examples
• S-Domain

• Transfer Function

• System Models
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Introduction 𝐽𝑒 𝜃1ሷ = 𝑇1 − 𝐷𝑒 𝜃1ሶ Examples

(𝐽𝑒 𝑠 2 + 𝐷𝑒 𝑠)𝜃1 𝑠 = 𝑇(𝑠)
• S-Domain

• Transfer Function

• System Models
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Introduction Frequency Domain

• S-Domain
• A system represented by a differential equation is
difficult to model as a block diagram

𝑠 = 𝜎 + 𝑗𝜔
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Laplace Transform Table

• Mass-Pulley
System

• Mass-Bar System

• Mass-Wheel
System

• Rolling Cylinder

• System Response

21
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Laplace Transform Properties

• Mass-Pulley
System

• Mass-Bar System

• Mass-Wheel
System

• Rolling Cylinder

• System Response

22
 Mechatronics Department Faculty of Engineering, Ain Shams University
MCT234 – Dynamic Modeling and Simulation

• Beam, Rod & Shaft Laplace Transform Properties

• Mass-Pulley System

• Mass-Bar System

• Mass-Wheel System

• Rolling Cylinder

• System Response

23