MH504: Modelling and Simulation of

Mechatronic Systems

Atul Thakur, Ph.D.

Department of Mechanical Engineering
IIT Patna

Ref. Chapter 4 of D.C. Karnopp, D.L. Margolis and

R.C. Rosenberg, “System Dynamics: A Unified
Approach”, 2 nd Edition, Wiley-Interscience (1990).
 Syllabus
 Physical Modelling: Mechanical and electrical systems, physical laws,
continuity equations, compatibility equations, system engineering concept,
system modelling with structured analysis, modelling paradigms for
mechatronic system, block diagrams, mathematical models, systems of
differential-algebraic equations, response analysis of electrical systems,
thermal systems, fluid systems, mechanical rotational system, electrical-
mechanical coupling
 Simulation Techniques: Solution of model equations and their interpretation,
zeroth, first and second order system, solution of 2nd order electro-
mechanical equation by finite element method, transfer function and
frequency response, non-parametric methods, transient, correlation,
frequency, Fourier and spectra analysis, design of identification experiments,
choice of model structure, scaling, numeric methods, validation, methods of
lumped element simulation, modelling of sensors and actuators, hardware in
the loop simulation (HIL), rapid controller prototyping, coupling of
simulation tools, simulation of systems in software (MATLAB, LabVIEW)
environment
Modeling of Electrical Systems
Electrical Circuits Via Inspection
 An electrical circuit can be modeled using elements of
{0, 1, 𝐶, 𝐼, 𝑅, 𝑆𝑒 , 𝑆𝑓 }
 𝑇𝐹 and 𝐺𝑌 have not been included – used in electrical
networks Vac
I
C 0
1 R2
𝒂 iabc
R1

𝒊𝒂𝒃𝒄
𝒗𝒂𝒄 Vac iabc
C 0 1 I

R1 R2
𝒄
Example
Rules for Half Arrows
 Point half arrows towards R-, C-, and I- elements
 Half arrow point away from source elements
 For tree-like bond graphs without loops, the sign on
directions on remaining bonds can be assigned arbitrarily
Construction Method
Rule#1:For each node with
distinct potential assign a 0
junction
Rule#3: Assign
power directions
to all bonds using
through-power
convention
Rule#5: Simplify by replacing 2-
port 1- and 0- junctions that have
through powers by single bonds
Rule#2 Insert
each 1-port circuit
element by
adjoining it to 1-
junction and
inserting the 1-
junction between
the appropriate
pair of 0-junctions
Rule #4: If circuit has explicit
ground potential then delete that
0-junction and its bonds; if no
explicit ground potential is shown
then choose any 0-junction and
delete it
Example
Modeling of Electrical Networks
Example 1
Example: Isolating Transformer
Mechanical Systems
Mechanics of Translation

Final Simplified Bond Graph

 Steps Rule#2:
Using 0-
junction,
Rule#1: insert 1-port
For each elements
distinct between
velocity appropriate
establish a 1- 1-junctions
junction

Rule 5: Simplify
Rule#3: Rule#4:
Eliminate zero- by condensing 2-
Assign power
velocity 1- port 0- and 1-
directions
junctions and junctions into
their bonds bonds
Example – Impacting Trains
Rule#1: For each distinct velocity establish a 1-junction

Rule#2: Using 0-junction, insert 1-port elements between appropriate 1-junctions

Rule#3: Assign power directions

Rule#4: Eliminate zero-velocity 1-junctions and their bonds

Rule 5: Simplify by condensing 2-port 0- and 1- junctions into bonds

Example of Translational System with Pulley
Fixed Axis Rotation

Rule#1: For each distinct angular velocity establish 1-junction

Rule#2: Insert torque generating components into graph using 0-

junctions

Rule#3: Assign power directions

Rule#4: Eliminate zero-velocity ground reference and its bonds

Rule#5: Simplify the bond graph

Hydraulic System

Rule#1: For each distinct pressure establish 0-junction

Rule#2: Insert components using 1-junction between suitable 0-junctions

Rule#3: Assign power directions

Rule#4: Define all pressures relative to reference pressure, and eliminate the
reference 0-junction and its bonds

Rule#5: Simplify the bond graph

Example
Transducer Models
 Transducers couple distinct energy domains
 May have two or more ports
 May be active or passive

Single acting hydraulic cylinder

Rack and pinion

Tachometer
Positioning System of Machine tool