Modeling and

Simulation of
Industrial
System

Dr. Ahmed Bahgat

Mathematical Modeling of
Physical Systems
• In the following lectures, we will develop mathematical models for:
• Mechanical Systems.
• Electrical Systems.
• Hydraulic Systems.
• Thermal Systems.
• The mathematical models of systems are obtained by applying the fundamental
physical laws governing the nature of the components making these systems.
➢ For example, Newton’s laws are used in the mathematical modeling of mechanical systems.
➢ Similarly, Kirchhoff’s laws are used in the modeling and analysis of electrical systems.
State
• State refers to the past, present, and future condition of the
system from a mathematical cell. State could be defined as a set of
state variables and state equations to model the dynamic system. All
the state equations are first-order differential equations.
State variables

• It is defined as the minimal set of variables [x1(t), x2(t), …, xn(t)] such that
the knowledge of these variables at any time t = 0 and information on the
input excitation subsequently applied are sufficient to determine the state
of the system at time t > t0.
• Output variables can be measured but state variables do not always
satisfies this condition.
• The variable U(t) is controllable at all time instants t > t0.
• The input U(t) is taken from the input space.
• The output variable Z(t) is observable at all time instants t > t0, but there is
no direct control on the output variables. Z(t) is taken from the universe of
output Z.
State equation

Output equation
Example
Consider a tank of volume V which is full of
a solution of a material A at concentration
C. A solution of the same material at
concentration C0 is flowing into the tank at
flow rate F0 and a solution is flowing out the
top of the tank at flow rate F1 as shown
next.
Determine the dynamic response to a step
change in the inlet concentration C0.
SOLUTION
The following assumptions are to be considered and some data gathered for
modeling the above mentioned hydraulic system.
1. Assumptions:
• Well mixed solution
• Density of solution is constant
• Level is constant in the tank
2. Data:
F0 = 0.085 m3/min, V = 2.1 m3
Cinit = 0.925 kg/m3 t < = 0
C0 = 1.85 kg/m3 t > 0
The system is initially at steady state i.e.,

To formulate the model the following fundamental principles

are used:
Conservation laws
Component terminal equation
Important variables/constants
Input variables: C 0, F0
State Variables: C, F1
Constants: V, ρ
Initial value Cint
Rate equation for the flow of fluid is
Rate of change of mass = flow rate in- flow rate out
Modeling of Mechanical
Systems
Modeling of Mechanical Systems
mechanical system may be a vehicle, a robotic arm, a missile, or any other system
which incorporates a mechanical component.
Mechanical systems can be divided into :
• Translational systems
• rotational systems,
• Hybrid, incorporating both translational and rotational components.
Translational Mechanical Systems
The basic building blocks of translational mechanical systems are mass, spring, and
dashpot

The input to a translational mechanical system may be a force F and the output the
displacement y.
Springs
Springs store energy
used in most mechanical systems as
delay element.
Dashpot

• A damping element (a piston moving in a viscous medium in a

cylinder). The force F which moves the piston is proportional to the
velocity of the piston movement.
Mass
he relationship between the force F and the acceleration of the mass is
given by Newton’s second law

The energy stored in a mass when it is moving is the kinetic energy

Example
Rotational Mechanical Systems

Rotational dashpot

Moment of inertia
Rotational Mechanical Systems with
Gear Train