MODELLING AND

SIMULATION IN
MECHATRONICS
PROJECT REPORT

Group Members:

Bakhtiar Ahmad (190962)

Abu Bakar (190998)

Muhammad Usama (191013)

MAY 17, 2022

AIR UNIVERSITY
Islamabad
 1. FYP Introduction

Our FYP is a robot called balanced stair climbing Robot will be used for Surveillance,
in the hospitals, in the industry for carrying the luggage and balancing that luggage and
it will be based on the concept of wheels. This item will be intended for the disabled
people who need to arrive at inaccessible spots due to their disability. The
fundamental target for this item is to climb different sort of steps to reach to the top
without help from anyone else. Besides, on the off chance that I added, the robot that
we are planning is useful in putting objects starting with one spot then onto the next.
The present Time is additionally called as current period so individuals need something
that gives them help in doing specific undertakings. The interest of this robot is
expanded intensely by last ten years since individuals need some kind of extravagant
that this robot will give. This will assist individuals in numerous things with preferring:

 Conveying luggage starting with one spot then onto the next
 Conveying a luggage starting with one story then onto the next while climbing
the steps and furthermore it adjusts the luggage by utilizing the stage that is
balancing platform.

So in these ways the requirement for this robot emerges as referenced above it makes
people in accomplishing specific targets.

Figure 1 Schematic Diagram

 2. Introduction to the sub-system

The sub-system selected for this project is a DC-Motor which will be a main actuator
of our FYP proposed robot in its actuating components. The number of actuator in our
sub-system is limited for this project. However, the number of actuators is eight for the
FYP project. The characteristics of a DC-motor will be modelled and studied for now
which can be implemented in our FYP. After modelling the subsystem as the
mathematical model and the Simulink model we can use the power of simulation to
input our values for different environmental and physical actuation parameters for
different responses.

Figure 2 DC Motor Circuitry

3. Block Diagram

Figure 3 Block Diagram

Ea is the input voltage. The output is in the form of torque. The number of integral
blocks gives the number of state variables. The generalized Block diagram is shown
above in which the parameters of frictional damping and inertia are also play a role.
 4. Problem Statement

To design and model a system which includes a DC motor that drives a chassis and the
tyre connected to it. The motor should be connected to a gear assembly and loads. The
loads include the combined effect of chassis weight and the tyre weight and the friction
include the combined effect of the tyres friction with the ground and the friction which
is due to the gear assembly in the system

The system should be efficient enough that its response is fast and its peak time and the
settling time is less. It should not take too much time to achieve the steady state and it
should settle in lesser time after the transient response. The system should not fluctuate
and it must be stable enough to be implemented on the hardware

5. Mathematical Model

Figure 4
 6. Simulink Model

Figure 5 State Space

The figure above shows the state space model converted from the handwritten
solution of state space. Finally, it gives the exact graph as the transfer function

Figure 6 Transfer Function

7. System response and results

Damping= 500, Inertia= 400, Voltage=4.7, No-load Torque=0.7

RPM=2083
 Figure 7 System Response

The yellow line represents the angular acceleration. The blue line represents the
velocity and the red line represents the position or theta.

D=600, J=500

Figure 8
D=700,J=600

Figure 9

As we can see that the amplitude is decreasing as we increase the mass and the
damping friction in the system.

8. Steps to run the simulation

I. First change the values for inertia and damping friction from the workspace
and run the file.

Figure 10 MATLAB Workspace

II. Then run the simulation in Simulink and click scope to view the values and
the graph.
 Figure 11 Simulink

III. Then go to tools and select bilevel->measurements->bilevel measurements

Figure 12 Scope Settings

 9. Conclusion

In this CEP we applied almost all the concepts which we studied during this semester.
We modeled a system and we applied all the knowledge which we studied in this
course. The combined effect of the friction and mass was shown in the circuit diagram
and it was used during the modeling of the system. Then we made the Simulink model
of the system and we changed the values of the damper and mass to see the change in
the rise time, settling time and the response time of the system. When we increased the
value of mass and damper then the amplitude of the output graphs was decreasing. For
every 100 increments in the value of mass and damper the value of output graphs was
decreasing by approximate value of 0.02