Journal of Multidisciplinary Engineering Science and Technology (JMEST)
ISSN: 3159-0040
The Role Of Modeling, Simulation And Analysis
Stage In Mechatronics Systems Design
Education
Farhan A. Salem
1
Mechatronics engineering program, Dept. of Mechanical Engineering,
College of Engineering, Taif University, 888, Taif, Saudi Arabia.
2
Alpha center for Engineering Studies and Technology Researches, Amman, Jordan.
Abstract—Mechatronics systems are designed
with synergy and integration toward constrains like
higher performance, speed, precision, efficiency,
lower costs and functionality and operate with
exceptional high levels of accuracy and speed despite
adverse effects of system nonlinearities, uncertainties
and disturbances, therefore, such constrains must be
tested, verified, refined, ensured and met. In order to
evaluate such concepts and others generated during
the design process, without building and testing each
one and take corresponding design decisions,
Modeling, simulation and evaluation, play a critical
role and considered as highly important during the
design stages of a Mechatronic system. The primary
challenge in modelling and simulation of Mechatronic
systems lies in their multidisciplinary and crosses
domain boundaries nature. This paper focuses on
modelling, simulation, analysis and evaluation stage in
Mechatronics design and development education
oriented methodology, concepts, description, role,
classification and applications are presented and
discussed, and by means of examples-projects. The
paper is intended to support engineering educators
and help students in solving Mechatronics design and
development tasks. A short review of scientific
resources on modelling and simulation in
Mechatronics are also presented.
Keywords—Mechatronics education, Design
methodology, Modeling, Simulation, Analysis.
I. INTRODUCTION
The modern advances in information technology
and decision making, as well as the synergetic
integration of different fundamental engineering
domains caused the engineering problems to get
harder, broader and deeper. Problems are
multidisciplinary and to solve them require a
multidisciplinary engineering systems approach, such
modern multidisciplinary systems are called
Mechatronics systems[1-2].Mechatronics engineer is
expected to design products with synergy and
integration toward constrains like higher performance,
speed, precision, efficiency, lower costs and
functionality, also in order to evaluate such concepts
and others generated during the design process,
without building and testing each one, Mechatronics
engineer must be skilled in the modeling, simulation,
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1,2
analysis and control of dynamic systems and
understand the key issues in hardware
implementation[3]. due to different disciplines
involved, the Mechatronics design process may
become very complex, and correspondingly,
engineering educators face daunting challenges.
The key element in success of a Mechatronics
engineering program, and correspondingly
Mechatronics engineering graduates, is directly
related to the applied structural design methodology.
A guidelines for structural design methodology and
tools for the development process of Mechatronic
products, that can support educators and help
students in solving Mechatronics design integrated
tasks with their specific properties and can be applied
in educational process is highly required, such
guidelines for structural design methodology are
proposed in [1-2], this methodology is developed,
based on VDI 2206 guideline [5] and different
industrial, scientific and educational resources
including [4-20], and is proposed to fulfill Mechatronics
optimal program requirements. The proposed
methodology consists of a systematic specific simple
and clear steps (depicted in diagram 1) that are easy
to memorize, follow and aims to support engineering
educators and help non experienced student or group
of students to integrate gained multidisciplinary
abilities and knowledge, in various stages in solving
Mechatronics design integrated tasks.
This paper extends writer's work [1-2] and focuses on
Modeling, simulation, analysis and evaluation stage
and corresponding concepts in Mechatronics design
and development methodology, concepts, description,
role, classification and applications are to be
presented, explained and discussed, and by means of
examples-projects. The papers is intended to support
engineering educators and help students in solving
Mechatronics design and development tasks, also, a
review of scientific resources on modelling and
simulation in Mechatronics are presented.
I.I MECHATRONICS SYSTEMS DESIGN APPROACH.
There are many definitions of Mechatronics, it can be
defined as multidisciplinary concept, it is the
synergistic integration of mechanical engineering,
electric engineering, electronic systems, information
technology, intelligent control system, and computer
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hardware and software to manage complexity,
uncertainty, and communication through the design
and manufacture of products and processes from the
very start of the design process, thus enabling
complex decision making. Modern products are
considered Mechatronics products, since, it is
comprehensive mechanical systems with fully
integrated electronics, intelligent control system and
information technology. Such multidisciplinary and
complex products, considering the top two drivers in
industry today for improving development processes,
that are shorter product-development schedules and
increased customer demand for better performing
products, demand another approach for efficient
development. Mechatronic system design process
addresses these challenges, it is a modern
interdisciplinary design procedure, it is the concurrent
selection, evaluation, integration, and optimization of
the system and all its sub-systems and components
as a whole and concurrently, all the design disciplines
work in parallel and collaboratively throughout the
design and development process to produce an
overall optimal design– no after-thought add-ons
allowed, this approach offers less constrains and
shortened development, also allows the design
engineers to provide feedback to each other about
how their part of design is effect by others.
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Integration refers to combining disparate data or
systems so they work as one system.
The integration within a Mechatronics system can be
performed in two kinds, a) through the integration of
components (hardware integration) and b) through the
integration by information processing (software
integration) based on advanced control function. The
integration of components results from designing the
Mechatronics system as an overall system, and
embedding the sensor, actuators, and
microcomputers into the mechanical process, the
microcomputers can be integrated with actuators, the
process, or sensor or be arranged at several places.
Integrated sensors and microcomputers lead to smart
sensors, and integrated actuators and
microcomputers developed into smart actuators. For
large systems bus connections will replace the many
cable. Hence, there are several possibilities to build
up an integrated overall system by proper integration
of the hardware. Synergy from the Greek word
synergeia meaning "working together“ and refers to
the creation of a whole final products that is better
than the simple sum of its parts, an integrated and
concurrent design should result in a better product
than one obtained through an uncoupled or sequential
design [2][21]. synergy can be generated by the right
combination of parameters.
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Vol. 2 Issue 10, October - 2015
Pre-Study Process (The problem statement ) :
1
(It is the process of understanding what the problem is, its goals and functions , and to state it in clear
terms. Done by identification, gathering and analysis as much as possible information about) :

a Target user, market and user interests/needs/requirements id entification and analysis; (build user
requirements table)
System requirements/specifications identification, definition and analysis; functional, Performance
and environmental and non-functional requirements.

Build requirements analysis table; fixed and soft requirements, d escription and types
Create d etailed functional specifications.

Aesthetics: if pleasing elegant design is required, color, shape, form and texture to be specified

The problem statement in clear terms : based on up steps, d escription of what is the problem? the goal?
b the top-level functions, and/or state the problem in terms of the deficiency that must be ameliorated user
and system requirements,
Conceptual Design, functional specifications and their structure.
simultaneous synergistic integration and optimization of the system and all its subsystems as a whole, no after-thought add-ons allowed-- Iterate forward and backward to fulfill requirements

2 (Consider the system as a whole, building a description of it in terms of an interdisciplinary set of integrated general
ideas and concepts, conceptual design is usually evolve from problem statement; user and system requirements)

a Id entification, d escription and analysis of the required system ,what is the system?, it's overall function? ,
sub-functions?, behavior/performance?, how it looks like?.
Id entify system’s preliminary necessary structure ( e.g. mechanical, electric, control….),
Break down the overall function/system into subfunction/subsystems; what are major subsystems/components? what
are subsystem’s/components' f unctions? how components interact ?and how they should be connected?
Built system functional mod el (function box, Sequence or Hierarchy ), d epicting the flow of (information,
Energy or Material) between the system’s components
Generate preliminary d ecisions about the d ominant mechanical properties, (e.g. matrials, sizing, volume,
DOF, joints types)

Morphological analysis; Build Morphological table, suggest solutions for functions, evaluate the best solution.
b
A preliminary id eas about mechanical, electric problems and the necessary sensors, actuators, interfaces.

c Build preliminarysystem block d iagram and layout of main components.

d A preliminary economic analysis;feasibility stud y , cost -benefit evaluation

Parallel (concurrent) selection, evaluation, synergetic integration and optimization of the system and all its
sub-systems as a whole and concurrently, all the design disciplines work in parallel and collaboratively
3 throughout the design and development process to produce an overall optimal design– no after-thought
add-ons allowed.
Designing system as a whole, serve as methodological basis for Mechatronic Systems development

a Divid ed the system into realizable mod ules ( subsystems).

Parallel (concurrent) optimal selection, evaluation, synergetic integration and optimization of the system
b and all its mod ules-sub-systems and all components as a whole and concurrently throughout the d esign
and d evelopment process, with respect to the realization of the d esign specifications and requirements
Mechanical sub-system; the d esign of all mechanical aspects in full d etails to meet the requirements; structure
Eements, Mechanisms, Dimensions, Materials, Properties, Parameters ...(CAD/CAM tools ....)
Control unit sub-system Control algorithm and d esign Sensors subsystem Actuators subsystem

Human–machine interaction field Electric & Electronics; Interconnections, signal cond itioning, interfacing.

Develop system's complete and d etailed block d iagram layout

c Synergy can be generated by the right combination /selection of proper parameters that is, the final
prod uct can be better than just the sum of its parts.

Integration refers to co mbin ing d isparate d ata or systems so they work as one system. The integration
can be performed in two kind s: The integration of components (hard ware integration ), results from
d
designing the mechatronics system as an overall system and embedding (placement ) the sensors,
actuators, and microcomputers into the mechanical process. The integration by information processing
(software integration) is based on advanced control function

Modeling, simulation ,analysis and evaluating:

4 The main goal; early identifying system level problems (to verify main and sub-functions and to test and analyze
sub-systems and the whole system model), and ensuring that all design requirements are met (satisfied)

a Modeling process ; Verifying sub-functions and testing sub-systems, consists of two levels:
Subsystems models; in open and closed loop
Overall system model; the verified sub-functions and tested sub-systems are integrated in one overall
system mod el interacting similar to real situation is checked

b Two types of modeling process ; Analytical modeling; Represent the sub-systems and whole system
using mathematical equations suitable for computer simulation ( e.g. MATLAB, Labviev). Physical
(Experimental ) modeling; based on obtained measurements from the system

c Simulation process ; is used to d ecid e on the d esign specifications of the mechatronic system in terms of
specification of requirements. simulation d ivid ed into three parts: Mechanical simulation; To test the
kinematics and d ynamics variables. System simulation; To test the system’s response to d ifferent inputs
in both open and closed loop. Electronic simulation; To test circuits functionality and compatibility

5 Prototyping, testing, evaluation and optimization

To take into account the unmodeled errors and enhance precision, performance and gather early user feedback
Prototype development may be carried out in the following two forms
Virtual Prototype: 2-3D mod el of a prod uct presented in a virtual (PC) environment with, ideally, all
a information and properties includ ed , used to examine, manipulate, and test the form, fit, motion, logistics,
and human factors of conceptual d esigns on a computer monitor,
Physical Prototype: system integration to ensure that subsystems, components and whole system work
together und er operating cond ition

6 Manufacturing and Commercialization 7 Support, Service and Market feedback Analysis

Figure 1 Systematic guideline steps for Mechatronics systems design education-oriented methodology

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 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
II. MODELING, SIMULATION, ANALYSIS AND
EVALUATION.
Modeling, simulation, analysis and evaluation, play
a critical role during the design stages of a
Mechatronic system, the primary challenge in
modeling and simulation of Mechatronic systems lies
in their multi-domain nature, consisting of many
different interconnected, interdisciplinary, integrated
subsystems (and components such as, sensors,
actuators, interfaces and mechanical geometry),
modeling and simulation are multidisciplinary and
crosses domain boundaries.
In evaluating concepts, a modeling-simulation-and-
analysis approach must replace any design-build-and-
test approach, due to this, the key essential
characteristics of a Mechatronics engineer and
success in Mechatronics design, are a balance
between two skills; Modeling/Analysis skills and
Experimentation/Hardware implementation skills [1-3].
The main goal of Modeling, simulation and evaluation
in Mechatronics design are; to support important
design decisions by early identifying system level
problems (to verify sub-functions and test sub-
systems), and ensuring that all design requirements
are met. Mechatronics design approach challenge
conventional sequential design approach, by
connecting machine design-test tools and creating a
virtual machine prototype before designing the
physical machine, to take all advantages that can
result from an integrated design, this approach offers
less constrains and shortened development, also
allows the design engineers to provide feedback to
each other about how their part of design is effect by
others [1,2,9].
II.I CONCEPTS, DESCRIPTION, ROLE, CLASSIFICATION
AND APPLICATIONS
Referring to VDI 2206 design guidelines[5], four
types of models are usually given for Mechatronic
systems; namely topologic, physic, mathematic and
numeric models [5]. A short introduction to these
models and corresponding concepts in Mechatronics
system design are followed next, later explained by
examples. A model is a simplified representation of a
system at some particular point in time or space
intended to promote understanding of the real system.
Modeling is the construction process of physical,
conceptual or mathematical simulations of the real
world. Mathematical Modeling: A process of
representing the behavior of a real system by a
collection of mathematical equations and/or logic, any
modeling task requires the formulation of
mathematical models suitable for computer simulation
or solution. Topological modeling (Figure 2(b)): a
mathematical approach that allows to structure data
based on the principles of feature adjacency and
feature connectivity (describes and reflects interlinks,
the function-performing elements, basically the
relative position between each component, without
considering the physics behind), Topology of
mechanical elements could be presented in various
ways (e.g. graphs, free-body diagrams, tree-structure)
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and essentially determines the kinematics of
Mechatronic systems, Based on topology descriptions,
a physical model is created and describes system
properties in system adapted variables – e.g. masses
and length for mechanical systems [4,23]. Physical
model; One that physically represents an object
(figure 2(b)), may be applied to understand the type of
forces being acting and applied. Simulation is the
process of solving the model i.e. solving mathematical
equations and/or logic equations, simulation generally
refers to a computerized version of the model which is
run over time to study the implications of the defined
interactions. In order to simulate a Mechatronic
system, a multi-domain simulation environment is
required. Multi-domain simulation could be achieved
in different ways: a more traditional way is to use a
general-purpose solver to simulate each subsystem
and the whole integrated system, other way, called
co-simulation, [26]. Co-simulation is to use different
communicating solvers, to simulate each subsystem
and whole system. It is a test software tool, used in
order to validate the design choices and to develop
the model on gradually decreasing levels of
abstraction. Hardware-in-the-Loop simulation
(HILS) is a technique that is used in the development
and test of complex process systems and real-time
embedded systems. It differs from pure real-time
simulation by the addition of a real component in the
loop via their electrical interfaces to a simulator, which
reproduces the behavior of the real time environment;
this component may be an electronic control unit or a
real engine. The hardware-in-the-loop simulation
testing provides the designer with reassurance that
any assumptions made on the plant model were
correct, if any assumptions were incorrect, however,
the designer has the opportunity to optimize the
design [24]. Various kinds of HILS can be realized,
simulation of electronics, mechanics, sensors and
actuators. Optimization is to obtain maximum
benefits, from the given resources under the given
constraints, the achievement of optimal performance
for the required system performance specifications.
Unmodeled errors, it is usually very difficult to build
exact mathematical model for complex Mechatronics
systems including all components. However, there is
no single model which can ever flawlessly reproduce
reality, there will always be errors called as
unmodeled errors between behavior of a product
model and the actual product. These unmodeled
errors are the reason why there are so many model-
based designs failed when deployed to the product. In
order to take into account the unmodeled errors in the
design process, the Mechatronics design approach
includes virtual and physical prototyping phase.
Prototyping is putting together a working model,
serves to provide specifications for a real, working
system rather than a theoretical one, it is believed to
reduce project risks and cost.
Modeling, simulation, analysis and evaluation
processes in Mechatronics design consists of two
levels; subsystems models (e.g. mechanical,
electrical and electronic components, plant-dynamics,
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inertias, energy flow, gears, interfaces, sensors,
actuators, control) and overall system model with
various sub-system models interacting similar to real
situation, all engineering subsystems should be
included in overall system model.
There are two types of modeling process; a)
Analytical modeling: (models can be obtained by
either a theoretical approach based on physical laws),
It is the process of representing the system using
mathematical equations, suitable for computer
simulation and used to describe changes in a system,
analytical models are used to assist in systems
analysis; calculations and predictions and plays a
critical role during the design stages of a Mechatronic
system. For all but the simplest systems, the
performance aspects of components (such as sensors,
actuators, and mechanical geometry) and their effect
on system performance can only be evaluated by
simulation [6]. b) Physical (Experimental)
modeling: models can be obtained experimental
approach based on obtained measurements from the
system.
Once models are available, simulation is used to
decide on the design specifications of the whole
Mechatronic system, based on the specification of
requirements, the performance aspects of subsystems
(and components) and their effect on system
performance and test circuits functionality and
compatibility, can only be evaluated by simulation[24]
. and sensors. Mechatronic design requires that a
The simulation can be divided into three parts:
mechanical, electronic and system simulation;
Mechanical simulation; used to test the kinematics
and dynamics variables. System simulation; to test
the system‟s response to different inputs in both open
and closed loop, where control system (laws) design
involves formulation of reasonably accurate models of
the plant to be controlled, designing control laws
based on the derived models and simulating the
designed control laws using available simulation tools
e.g ProEngineer and Solid-Works, MATLAB/Simulink,
Labview. The subsystem model parameters should be
determined based on the designed mechanical
components and the selected actuators and sensors.
The designer has the freedom to modify these values,
increase the number of inputs/outputs used and
include non-linearities in the subsequent design
iterations [26]. Electronic simulation; To test circuits
functionality and compatibility and evaluate the
selection and design of interconnections, signal
conditioning, and interfacing circuits, including; Drive-
circuits ( e.g. relays, MOSFETs, L93DIC,
transistors,), signals ( e.g. control signal, PWM
signal), programming of control unit (e.g.
Microcontroller), sensors, motor position-speed, the
overall system or any such subsystem can be
simulated using different computer software tools e.g.
Saber, ISIS-Proteus and MATLAB. Commercial
software tools available to design, model and simulate
Mechatronic systems, that allow the stydy and
analysis of components interaction and variation in
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design include MATLAB/Simulink, labview,
Scilab/Scicos, Ptolemy, JMathLib [19] , ADAMS, CAE
tools, 3D-CAD softwares Pro/Engineer, CATIA,
AMESim, ASCET-SD/CT, Saberand SolidWorks for
visualization and collision detection ,MATRIX-X,
ACSL.
A flow of modeling, simulation analysis and evaluation
for Mechatronics systems design and integration
procedure could be as follows (diagram 2(a) [23]: a)
Problem statement: establish the goals to achieve;
based on the specification of requirements and design
(as well as, constrains, assumptions, performance
predictions). b) System representation: 1) Since
Mechatronic system consists of many different
interconnected subsystems (components and
elements), divided the system into realizable modules
(sub-systems/sub-functions), and develop physical
model; represent the integrated physical system using
physical model. 2) Develop the functional block
diagram and show interconnections of sub-systems
and components, 3) Develop mathematical model:
represent system by correct dynamic equations
(differential equations), this is done by first by
modeling the component, then the subsystem, and
finally integrated all subsystems to develop whole
system model. In this stage, the component, plant and
subsystems models parameters should be determined
based on the specification/ requirements, designed
mechanical components and the selected actuators
mechanical system and its control system be
designed as an integrated system. Modeling should
be considered as the most important because the
quality of the final product and its performance
depend on the model developed and used. The
designer has the freedom to modify these values,
increase the number of inputs/outputs used and
include non-linearities in the subsequent design
iterations [18]. c) Simulation: Solve the mathematical
model (differential equations). d) Analyze and
evaluate the design analytically, that is to early identify
system level problems (to verify sub-functions and test
sub-systems) and to ensure that all design
requirements and specifications are met, if the
specification are not met, modifications-refinements
can be made, if the specifications are met, the model
can be optimized. e) System optimization; the
achievement of optimal performance for the required
system performance specifications, this can be is
divided as follow: First each component are optimized,
This operation can be done in parallel. Second
components are combined together into subsystems
and each subsystem is optimized. Finally subsystems
are combined together into whole system is optimized.
h) prototyping (virtual and physical) a prototype is built
to take into account the unmodeled errors in the
design process and tested, if the prototype behaves
as required (meets optimal performance), the design
need not advance any further. i) Iterate this
procedure.
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Overall integrated system physical
model mechanical, electrical and
Requirements, electronic components
Specification Mechanical system control system
Electronics actuators,sensors
Modifications & integration
Figure 2(a) flow of modeling, simulation analysis and evaluation for Mechatronics systems design [23]
Figure 2(b) The modeling process of Mechatronic product [23]
III. EXAMPLES -CASE STUDIES.
Considering that industrial projects are quite different
from academic projects. Industrial project require a
quick and dynamic interaction oriented to reduce the
project time and get the final results [25]. In this part,
are to be introduced and discussed Mechatronics
system education oriented design example-projects
with emphasize on modeling, simulation analysis and
evaluation concepts, also, for engineering educators
and students for getting more and detailed information
on application of Mechatronics design approach
concepts applied in products design and deployment,
the following industrial, scientific, educational and
research recourse, are proposed: [1-2][26-43]. A
detailed explained example-projects on Mechatronics
system design and mathematical modeling, as a stage
of design process, can be found in [2,26,44-52]. In
[52], an overview of the state-of-the art in modeling
and simulation, and studies to which extent current
simulation technologies can effectively support the
design process is presented, that focuses on
modeling for design of multi-disciplinary engineering
systems that combine continuous time and discrete
time phenomena.
III.I MODELING , SIMULATION AND ANALYSIS OF SOLAR
ELECTRIC VEHICLE (SEV)
In [44], a refined model for Mechatronics design of
pure solar electric vehicles (SEV) and some
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Simulation;
solving
Overall system Mathematical Analyze
Mathematical & evaluate Optimization
model
model (software tools)
Virtual
prototyping
considerations regarding design, modeling and control
solutions are proposed. SEV system consists of eight
main subsystems, shown in Figure 3(a)(b), in
particular: PhotoVoltaic panel, DC/DC converter,
PWM generator, battery bank, DC machine (one or
more electric or traction motors) for propulsion drive
system, sensing devices, control units (one or more
controllers) and vehicle platform with its kinematic and
dynamic. Evaluating concepts, and supporting
important design decisions can by done by early
identifying system level problems (to verify sub-
functions and test sub-systems), and ensuring that all
design requirements are met, therefore, each
subsystem, is mathematically described and
corresponding Mechanical or System simulation
sub-model in Simulink is developed, then an
integrated of all subsystems, overall SEV system
model is developed, tested and evaluated. simulation
(sub-)models of overall SEV system, are developed to
allow designer to have the maximum output data to to
design, tested, analyze and evaluate overall SEV
system and/or each subsystem outputs characteristics
and response, for desired overall and/or either
subsystem's specific outputs, under various PV
subsystem input operating conditions, to meet
particular SEV system requirements and performance.
Each of these subsystems modeling, simulation and
synergetic integration is summarized/discussed next.
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III.I.I PV PANEL SUBSYSTEM MODELING AND SIMULATION
SEV uses the PV panel as electricity generator to
convert the irradiance from sunlight into electricity to
generate its own power, The circuit diagram of PV cell
is shown as sub-circuit in Figure 3 (a). A mathematical
description of a PV cell/panel in terms of output
voltage, current, power and I-V and P-V
characteristics are given by Eq.(1), based on these
equation, PV Panel System simulation ( in MATLAB)
sub-model shown in Figure 3(c) is developed.
III.I.II DC/DC BUCK CONVERTER SUBSYSTEM MODELING
AND SIMULATION
The circuit diagram is shown as sub-circuit in
Figure 3(a). The exact control of output voltage is
accomplished by using a Pulse-Width-Modulation
(PWM) signal to drive the buck converter MOSFET-
switch ON or OFF, by controlling the switch-duty cycle
D, based on this, if the principle of conservation of
energy is applied then the ratio of output voltage to
input voltage is given by Eq.(2). DC/DC Buck
converter subsystem Simulink system simulation
sub-model shown in Figure 3(d) is developed.
During the design of Mechatronic systems, it is
important that changes in the mechanical structure
and other subsystems be evaluated simultaneously; a
badly designed mechanical system will never be able
to give a good performance by adding a sophisticated
controller, therefore, Mechatronic systems design
requires that a mechanical system, dynamics and its
control system structure be designed as an integrated
system (this desired that (sub-)models be reusable),
and correspondingly modeled and simulated to obtain
unified model of both, that will simplify the analysis
and prediction of whole system effects and
performance. This unified model is to be developed
after modeling each subsystem separately.
III.I.III MODELING AND SIMULATION OF ELECTRIC VEHICLE
SUB-SYSTEM DYNAMICS
The electromechanical structure of EV is shown in
Figure 3(e). The modeling of an EV sub-system
dynamics involves the balance among the several
acting on a running EV forces (Figure 3(f)), these
acting forces are categorized into road-load and
attractive force. The disturbance torque to EV is the
total resultant torque generated by all acting forces,
given by Eq.(3), main of acting on running vehicle
forces to be mathematically described including:
Rolling resistance force and torque are given by Eq.
(4). Aerodynamic Drag force and torque given by
Eq.(5). The force of wind given by Eq.(6). The hill-
climbing resistance force and torque given by Eq.(7).
Based on all derived forces-torques models,
expressions given by Eq.(8) (9) can be proposed for
total force, such that can be used to develop Simulink
SEV dynamics Mechanical simulation sub-model.
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III.I.IV MODELING AND SIMULATION OF ELECTRIC MACHINE
SUBSYSTEM
PMSM motor used as actuator subsystem, it is
equivalent PMDC motor transfer function model given
by Eq.(10), to develop Simulink Mechanical simulation
sub-model, with SEV dynamics sub-model, all as one
integrated model, is shown in figure 3(g) .the total
equivalent inertia, Jequiv and total equivalent damping,
bequiv at the armature of the motor with gears attaches,
are given by Eq.(11). Gears modeling: Gear ensures
the transmission of the motor torque to the driving
wheels. The gear is modeled by the gear ratio n ,
rechargeable Energy source (battery) modeling is
given by Eq.(12).
III.I.V MODELING AND SIMULATION OF SENSING DEVICES
SUBSYSTEM
When the pedal is pushed, the controller delivers
electrical currents from the battery to the motor; this
gives the car acceleration to accelerate to the desired
output speed, the sensors sense the actual output
speed and fed it back to controller. Tachometer is a
sensor used to measure the actual output angular
speed, ωL. Dynamics of tachometer can be
represented using Eq.(13).
III.I.VI MODELING CONTROL ALGORITHM SUBSYSTEMS
PI controller is widely used in variable speed
applications and current regulation. separate PI
controller configurations will be applied for achieving
desired outputs characteristics of PVPC subsystem
and meeting desired output speed of whole EV
system. The PI controller mathematical model-transfer
function is given by Eq.(14). Mechatronic systems
design requires that a mechanical system, dynamics
and its control system structure be designed as an
integrated system and correspondingly modeled and
simulated to obtain unified model of both, that will
simply the analysis and prediction of whole system
effects and performance.
The unified model of mechanical/actuator/dynamics
and control/algorithm subsystems is shown in Figure
3(h,i). These subsystem to be designed, tested and
evaluated as one unified model . Integrating all
subsystem simulation sub-models, in one model, will
result in one integrated whole SEV system simulation
model shown in Figure 3(g), this simulation model is
to be used to Evaluate concepts, and support
important design decisions, by testing, verifying and
ensuring the whole SEV system, and each subsystem
functions and performance.
III.I.VII TESTING, ANALYSIS AND EVALUATION OF WHOLE
SEV SYSTEM.
With reference to testing a maximum speed of 23
m/s, (that is 82.8 km/h) in maximum of 10 seconds,
for generated converter's output voltage of 38 DC V
and for all subsystems parameters defined in[44].
Each subsystem and component sub-model is to be
test, evaluated and optimized, then whole system
model is tested and evaluated. Running whole SEV
2706
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
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Vol. 2 Issue 10, October - 2015
 T  qE g   1 1  qE g 
Simulink model, will result in response curves shown 3
 T  T ref 1 
3
 T  T ref   
 NKT  T  NKT 
in Figure 4, where in Figure 4(a) are shown linear I S (T )  I S   e  I S (T )  I S   e
speed, acceleration, current and motor torque T ref  T ref 
response curves. Meanwhile in Figure 4(b)(c) are V out I Ton
 D  in V out  D *V in  D  (2)
shown generated PV panel's output voltage and V in I out T on T off
converter's output voltage. in Figure 4(d)(e), PV panel FTotal  Faerod  Frolling  Fclimb  Fangl _ acc  Flin _ acc  Fw in d (3)
V-I and P-V characteristics for defined operating
condition are shown. Analyzing these response FRolling  Fnormal _ force *Cr  M * g *Cr *cos( )
curves for each subsystem and/or whole SEV system, FRolling  M * g *Cr , on a level surface ,   0, cos    1 (4)
we can verify sub-functions and test sub-systems and
ensure that all design requirements are met, The TRolling   M * g *Cr *cos( )  * r
obtained response curves show that most of design
Faerod  0.5* * A*Cd * vehicl  wind 
2
(and performance) requirements are met, The PV
panel-converter generates output constant voltage of (5)
1 
38 DC V, and the SEV reaches desired speed of 23 Taerod   *  * A*Cd *vehicl 2  * r
m/s in less that 10 s, without overshoot and 2 
Fwind  0.5*  * A*Cd * vehicl  wind 
2
oscillation). In case, if the specification are not met, (6)
modifications-refinements can be made, if the
specifications are met, the model can be optimized, Fclimb  M * g *sin( )
(7)
for optimal performance for the required system
performance specifications,
Tclimb  Fslope =  M * g *sin( )  * r
I  I ph  I d  IRSH
(1)
     q (VNKT  IR )
  V  R S I 
I   I sc  K i T T ref 
S

   Is  e  1    
 1000       R sh 
FTotal  M   M  g sin( )  sign ( )Mg cos( )C r  sign (  wind )0.5C d A (  wind )2 (8)
Or
n2  J  d
FTotal  0.5*  *A*Cd *vehicl
2
 M * g *Cr *cos( )  M * g *sin( )  J a   M  wheel
2 

 r  dt
2
r
(9)
   wind 
2
 wind   wind 
0.5*  *C L * B * 2  Faerod  Kwind 0.98    0.63     0.4   
           

platform (s ) Kt / n
Gopen (s )   (10)
V in (s )  Las  R a  (J equiv s  bequiv s )   Las  R a T   K b K t
2

2 2
N  N 
bequiv  bm  b Load  1   J equiv  J m  J Load  1 
N2  N2  (11)
2
bh 3
N 
J load   J equiv  J motor  J gear  Jveh  (J wheel  mr 2 )  1 
12 N2 
V oc  V oc2  4(R in  Rt ) Pb (12)
I Battery 
2(R in  R t )
d  t  V out  s  (13)
V out t   K tach V out t   K tach   K tach 
dt  s 
 K 
K P s  I 
K I K Ps  K I  K P  K P s  Z o 
G PI (s )  K P       (14)
s s s s
(T s  1)  1 
G PI (s )  K PI * I  K PI * 1  
TI s  TI s 

2K tach * K t
Gopen (s )  (15)
2bequiv La s  r MLa s  2bequiv R a s  r MR a s  C r La s  2J equiv La s  2K b K t  C r R a  2J equiv R a
2 2 2

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Vol. 2 Issue 10, October - 2015
36.76

2
1/L
Vin
1 Product 1
2
Duty cycle, D s
IL

((RL+Ron)+((R*Rc)/(R+Rc)))/L
Duty cy cle, D switchin signal (0,1) PWM

(R*Rc)/(R+Rc)
3

R/(C*(R+Rc)) Vo
PWM Generator Subsystem
I
3

1
R/(R+Rc)
s

1/(C*(R+Rc)) 1

Figure 3 (a) SEV system circuit diagram, main Vc

subsystems R/(L*(R+Rc))

IPV I Figure 3(d) Buck converter system simulation sub-

model[44]
Battery*

Gears
Tmotor
VPV V
DC
Machine TEV

ωmotor
PV Control systems EV
Load
V, I
ωEV

V.R. Battery
Figure 3(e) EV's Electromechanical structure[44]
transmission
Mechanical

* Electric
Mechanical
coupling

motor
Controller : Driver Power
Current & speed s converter
I
Speed
sensor

α
Figure 3 (b) SEV system diagram, main subsystems
Figure 3(a)(b) SEV system diagram and main M*g α
subsystems, including; PV panel, DC/DC converter, Road incl.
battery bank, DC machine, control units and platform, Figure 3(f) Forces acting on a running vehicle[44]
[44] . P: The invironment ( air) density (kg/m3) 2 22

A:Cross-sectional area of SMEV, where it is the widest, (m2)1 21

Cd : Aerodynamic drag coefficient1 20
aerodaynamic torque, Divide43
0.5*p*A*Cd*v^1 Divide31 Divide45 Divide46

Cd

aerodynamics lift force

[P] .1
Divide25 B : SMEV underside area1 15
8 24
sin(u)
1 ,1 . r/2
CL
CL: The coefficient of lift, ( CL to be 0.10 or 0.16)1 14
cos(u)
From Fill Factor Inclination angle (0:75)1
SinCos.1
Rolling resistance force
M*g*Cr*cos()
.1r/2 Cd=0.01

Cd
Isc .10 25 [conv_Iout] 12 Divide47 Derivative,1
5 Divide48
72 conv. I out
Goto1
M : The mass of the mobilr robot 1
23
Divide49 0.5 -K- du/dt

Vo Ns Cr: The rolling resistance coefficients1 r*m*g/2 , correct2 r^2m/2. correct2

''4 PV module output voltage
13 r^2*m*g/1 r*m/2 wheel radius,

. eu g: The gravity acceleration (m/s2).1 1 V=W*r2 linear speed

in m/s 1
5
Coloum friction Acceleration
PI or PID (Inner current) 3 Divide19
.1 , INNER controller in m/(s^2)
1 6
output 95.37 11
INNER LOOP from L, Armature Divide1
9
1 Panel V out 16 Inverter 8
Inductance
r, wheel radius
17 2 18 summing d3 [load_Iout] T, Torque, 2 -K-
Module V Kt, Torque constant
.3 Is Speed PI Prefilter PI or PID (outer speed) Current PI Prefilter 11 10 4 Inertia motor+ load Divide,2
rads2mps=
du/dt
N Load current, I
Torque
angular
R_wheel*(2*pi)/(2*pi).1 Derivative1
PV.mat V.mat
1 1 current
1 speed
d1 1 s
8 den(s)
Tref ' d3
1
7
Divide39 Integrator1 4
Transfer function
. To File
7 1
[conv_Iout] Current to load
K 2 Iph 1 10
OUTER controller output Divide40 1/(Js+b). 3
0.5 Vin, Input Volt,(0 :30) OUTER LOOP from
8
2
95.37 7 All viscous damping output anguale speed, Omega
summing d1
1 .' '' B OUTER LOOP from summing d2 Ra, Armature Resistance
Converter I out
9
T .8 V PV cell voltage
.4 Goto 3 Kb, EMF constant
q B0 19
Ki [P] P Cell Vout 4 Divide36 Divide37
.2 B
.7 1000 Cell P-V-
Cell I out 6
6 n, Gear ratio
Ktac, Tachometer constant ,
5
V Cell Power out
V1
3
eu I
P P.mat
-10.4 Figure 3(g) integrated DC machine system - dynamic
V Id I To File1
.5 , ''3
,. 1 simulation sub-model [44].
V

Rs ''1 1 6
I
Cell I-V - Np
''2 2
I.mat
Rsh Ish Panel I out

.6 To File2 -0.3467

cell current
4
5
A
.9 Cell Power in

1 7
Cell Efficiency
100
.11

Figure 3(c) PV Panel system simulation sub-

Figure 3(h) unified model of
model[44]
mechanical/actuator/dynamics and control/algorithm
subsystems

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Vol. 2 Issue 10, October - 2015
Duty cycle, D
PV panel I out
D PVPC Subsystem Signal 1
[D] Step Input Volt(0:36)

Signal Builder
[control] Duty cy cle -10.4 Linear Acceleration
Speed regulator Vin, Input Volt,(0 :30)
Ramp Input Volt(0:36)
PI Controller Out1
PVPV_PI_signal PV panel current out [panel_Iout]
Tw.s+1 PI or PID (outer speed) Torque
Acceleration in m/(s^2)
T Kpw MOTION PROFILE 0
T Tw.s
PI or PID (Inner current)
PV panel V out ., - a
electic_vehicl1.mat
95.86
1 -C- Inertia motor+ load
B Irradiation, B
PD(s) PD(s) T, Torque,
B3 T
72 n n, Gear ratio
electic_vehicl2.mat
sun Irrad PD speed2 Angular speed
PV panel Volt out PID speed1
V [panel_Vout] n
Ktach Ktac, Tachometer constant ,
V
output anguale speed, Omega
current regulator Ktach 74.31
All v iscous damping
Converter I out PI Controller. bequiv Current

Kpi*Ti.s+Kpi Alpha
A Cell surf ace area A B4 L, Armature Inductance
electic_vehicl3.mat
Ti.s La Current to load
Ra, Armature Resistance 95.37
Conv erter I out [conv_Iout] La
Ra Linear Speed
Ns I
Ns 95.37 Kt, Torque constant electic_vehicl4.mat
Ra
PI(s) Kt
linear speed in m/s
r, wheel radius
Kt 22.29
PI current r
Nm Converter V out
Np
M : The mass of the mobilr robot 1 V
r electic_vehicl19.mat
m
Conv erter V out PI(s)
g: The grav ity acceleration (m/s2).1 INNER controller output
[conv_Vout] M
I
9.8
PI current1
36 inverter TF . CL: The coef f icient of lif t, ( CL to be 0.10 or 0.16)1
g
Kpwm CL
B : SMEV underside area1
Ts.s+1 Cl OUTER controller output
[conv_Iout] Speed loop B
prefilter
B Inv erter
PI(s)
1/Tw

[load_Iout] Current PI s+1/Tw Speed PI Pref ilter

OUTER LOOP f rom summing d2
I, controller Current loop
Prefilter Current PI Pref ilter

1/Ti
Kb, EMF constant
s+1/Ti -C- INNER LOOP f rom
[conv_Vout] Cd : Aerody namic drag coef f icient1
Kb, EMF
0.5 Cd
PVPV_PI_signal A:Cross-sectional area of SMEV, where it is the widest, (m2)1
[panel_Vout] Cd
D calculated PI(s) [control] A OUTER LOOP f rom summing d1
P: The inv ironment ( air) density (kg/m3) 2
[D] P A
PI Controller
electic_vehicl5.mat
V_out_desired V, control Cr Rou, air Cr: The rolling resistance coef f icients1
0.5
Vout desired Cr Load current, I [load_Iout]
0 Inclination angle (0:75)1
D desired
Road slope 95.37
Out1 conv . I out
[conv_Iout]
Subsystem
Dawn hill profile Load current
[panel_Iout]

Cell power
Panel P-V
[panel_Vout]
,.

Figure 3(i) DC machine with dynamics and PI,PD controllers subsystems sub-models[44] Panel I-V

electic_vehicl19.mat
Angular speed

Linear Speed
electic_vehicl1.mat
Linear Acceleration

electic_vehicl3.mat
0

74.31

22.29
Alpha

V
a

[load_Iout]

Load current
95.37
Current

electic_vehicl4.mat
Torque

electic_vehicl2.mat

95.37
95.86

I
T

Current to load
Acceleration in m/(s^2)

output anguale speed, Omega

OUTER LOOP f rom summing d2

OUTER LOOP f rom summing d1

linear speed in m/s

OUTER controller output

Load current, I
INNER controller output
T, Torque,

INNER LOOP f rom

A:Cross-sectional area of SMEV, where it is the widest, (m2)1

CL: The coef f icient of lif t, ( CL to be 0.10 or 0.16)1

Subsystem
P: The inv ironment ( air) density (kg/m3) 2

Cr: The rolling resistance coef f icients1

g: The grav ity acceleration (m/s2).1

Cd : Aerody namic drag coef f icient1

M : The mass of the mobilr robot 1
Ktac, Tachometer constant ,

B : SMEV underside area1

Ra, Armature Resistance
PI or PID (Inner current)

L, Armature Inductance

Inclination angle (0:75)1

PI or PID (outer speed)
Vin, Input Volt,(0 :30)

All v iscous damping

Kt, Torque constant

Current PI Pref ilter

Inertia motor+ load

Kb, EMF constant

Speed PI Pref ilter
r, wheel radius
n, Gear ratio

conv . I out
Inv erter

Kb, EMF
-C-

-C-
B3

[conv_Iout]
CL

Cl
n

Cd

Cd
Ktach

Ktach

9.8

A
m

M
bequiv

Dawn hill profile

Rou, air
B4

P
r

Out1
inverter TF .

Ts.s+1
Kpwm
MOTION PROFILE

La

La

Kt

Kt
Signal Builder
Signal 1

Out1

Cr

Cr
Ra

Ra

Road slope
Speed loop
prefilter

s+1/Tw
1/Tw

0
Ramp Input Volt(0:36)
Step Input Volt(0:36)

PID speed1
1
PD(s)

Current loop
current regulator

Prefilter
PI current1

s+1/Ti
PI Controller.
Kpi*Ti.s+Kpi

1/Ti
PI current

PI(s)
Ti.s
PD speed2

PI(s)
Tw.s+1
Tw.s

PD(s)
-
Speed regulator
PI Controller

.,
Kpw

electic_vehicl5.mat
PVPV_PI_signal
PV panel V out

[control]
PV panel I out

Converter I out
[panel_Vout]
[panel_Iout]

[conv_Vout]
[conv_Iout]
72

36
-10.4

95.37

Converter V out

PI Controller

Panel P-V
V, control

Panel I-V
PI(s)
PV panel current out

PV panel Volt out

Conv erter I out

Conv erter V out

Cell power
PVPC Subsystem

[D]

,.
0.5

0.5
Cell surf ace area A

D calculated

D desired
Irradiation, B

I, controller
Current PI
Duty cy cle

[panel_Vout]
[panel_Iout]
PI(s)
Np
Ns
V
T

I
Duty cycle, D

sun Irrad

Nm
Ns
D

A
T

V
PVPV_PI_signal

V_out_desired

Vout desired
[panel_Vout]
[conv_Iout]

[load_Iout]

[conv_Vout]
[control]
[D]

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Vol. 2 Issue 10, October - 2015

Figure 3(g) Whole SEV system Simulink model[44]

Figure 4(d) V-I Characteristics for β=200, and T=50
SEV Response Curves
350
Linear speed
Linear acceleration
300
Tm: Torque
Angular speed
250

200
Magnitude

150

100

50

0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time(second)
Figure 4(a) Linear speed, acceleration, current and Figure 4(e) P-V Characteristics for β=200, and T=50
motor torque Response curves of SEV
PV Panel Response Curves
80 III.II CASE STUDY: MODELING, SIMULATION AND
EVALUATION OF SMART GUIDANCE SYSTEM.
60
In [53], the proposed Mechatronics design education
X: 0.7938
Y: 36
oriented methodology developed in [2] was applied for
40
Mechatronics design of smart guidance system in the
form of smart Mechatronics wheelchair, shown in
Magnitude

20
Converter Vout Figure 5(a), intended to help and support people with
Panel Vout
disabilities and special needs to perform specific
0
predetermined tasks. The system is an application
example of line-follower. This system is divided into
-20 the following sub-systems; Mechanical, Actuators,
sensor, control unit, algorithm, electric and
-40
0 0.2 0.4 0.6 0.8 1
electronics; signals conditioning and interfaces
Time(second) subsystem and Human–machine interaction field,
Figure 4(b) each of these subsystems is selected, modeled,
PV Panel-Converter Response Curves simulated and integrated in whole system. The
250
selected subsystems are control unit -microcontroller,
Converter I out actuator - PMDC motor, Sensors - Ultrasonic
200 Converter V out proximity sensor, Speed sensor (Tachometer) and
Panel V out
LDR-LED based line sensor (Figure 5(b) ) to track the
predetermined path on ground. In Mechatronics
150
proposed design methodology, selecting sensors and
Magnitude

actuators is followed by selecting and integrating of

100 power supplies, drive, and signal processing
conditioning circuits, in order to interface the system
X: 1.652 components ( sensor-controller-actuator). The drive is
50 Y: 36
the link between the controller and actuator, the drive
main job is to translate the low energy reference
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2
signals from the controller, (e.g. Microcontroller), into
Time(second) high energy power signals to the actuator (e.g. electric
Figure 4(c) motor).
Figure 4(b)(c) generated PV panel's output voltage Two software tools (MATLAB/Simulink and ISIS-
and Converter's output voltage Professional Proteus) are used to simulate and
analyze each subsystem, as well as, overall
integrated robotic system. Proteus software is used, to
develop electronic simulation. The control program
written in C, with the help of MikroC program is
converted to Hex. File and downloaded on the
simulated PIC-microcontroller and circuit, the
electronic simulation of LDR-LED based line sensor,
driver and whole system are shown in Figure
5(c)(d)(e), using this electronics simulation tool the
circuits functionality and compatibility can be tested,
also used to evaluate the selection and design of

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Vol. 2 Issue 10, October - 2015

interconnections, signal conditioning, and interfacing

circuits.

III.II.I
MODELING AND SIMULATION OF ACTUATOR
SUBSYSTEM AND DYNAMICS

The selected PMDC motor actuator, is described

mathematically similarly as given by Eq.( 10), the
mobile platform dynamics can be described
mathematically as given by Eq.( 8), and can be further
simplified, considering that, some of acting forces has
less effect on overall system, due to the smaller size
of mobile wheelchair, in comparison with SEV.
Mechanical simulation (to test the kinematics and
dynamics) and System simulation (to test the Figure 5(d) Electronic Simulation of controlling DC
system‟s response to different inputs) are similar to motor driver IC L293D
those shown in Figure 5(e), as well as, inertias,
sensor (tachometer) and controller modeling and
simulation. The Overall system mathematical model
of wheelchair system without control involved, is given
by Eq.(15)

Speaker Control panel

Electric motors

Electronic circuit Sensors array Ultrasonic sensor

Figure 5(a) system layout side views: Sensors
,actuator and electronics integration-placement [53] Figure 5(e)Overall system electronic simulations in
Proteus
III.III CO-SIMULATION

Figure 5(b) LDR- LED cell Co-simulation is to use different communicating

solvers, to simulate each sub-system and whole
system. One of the main advantages of the co-
simulation is that each solver is optimized for its own
specific domain. From the software point of view, co-
simulation is not only a simulation performed in two or
more different physical domains, but it is a simulation
in which several softwares run in parallel and
continuously exchange data to verify the behavior of
each different component of the product under
Figure 5(c) LDR-LED based line sensor electronic specific working conditions. the main disadvantage of
simulation[53] the co-simulation approach is represented by the non
trivial effort to synchronize the different solvers,
though many simulators may be interfaced[26].
Reference to [26], a case study on Co-simulation is
introduced, a mobile elevated working platform with
an articulated arm The platform is provided with four
driving and steering wheels. A great operational
flexibility is guaranteed by four variable-length
stabiliser legs. Every leg has 3 DOF, that allow
multiple support configurations. The articulated arm,
conceived to easily cover a large work volume, has 6
DOF. There are 22 actuators for the movements of
the various parts and each of them has a sensor
position for the feedback control. Thanks to the co-

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simulation results, we were also able to implement a

control-logic that allows the dynamic reconfiguration of
the support stabilisers, making use of the balance of
the whole structure on three of the four contact points
with the ground. Interactive co-simulation with the
controlled machine is realized by drawing the higher
performances through the integration of the ADAMS
and MATLAB/Simulink softwares (Figure 6).
The interface (link)between the MATLAB /Simulink
environment and the Adams environment is the
building block Adams-SubBlock , it is link between the
control electronics developed in Simulink and the
mechanical system of the machine modeled in
Adams. From the Adams point of view, this block
receives forces in input and gives the position of the
actuators in output. From the MATLAB point of view, Figure 7(a) Main parts of HIL simulation for the
the Control Block receives positions in input and ABS[54]
returns forces in output. During the co-simulation, all
the parts that formed the 3D model are moved
according to the simulation results.

Figure 7(b) The performance of the ABS HIL

system[54]

Figure 6 Software integration for co-simulation

III.IV HARDWARE-IN-THE-LOOP SIMULATION (HILS)

In [54], a method for building a HILS of a hydraulic

Antilock Braking System (ABS) based on
MATLAB/Simulink is presented. Figure 7(a) shows the
hardware and software parts used in HIL experiments.
The hardware comprises of a brake handle, brake
pump, hydraulic servovalves and force sensor. The
software comprises the vehicle dynamics, wheel
dynamics, and tire model. As the model is used in the
context of HIL system, it has to run in real-time on the
target. The model is embedded as an S-function into a
Simulink model by using Simulink interface block. By
this way, the new set of parameters can be passed
into the model in the form of an array of double
values. The performance of the ABS HIL system
signals such as; ABS input, the displacements of the
spools, pressures of the master cylinder sides, and its
displacement are recorded and illustrated in Figure
7(b). While Figure 7(c) shows the response of ABS
and its master cylinder to foot brake push. application
examples on HILS and discussions can be found in
different resources including: [55-58]
www.jmest.org
JMESTN42351003
Figure 7(c) the response of ABS and its master
cylinder to foot brake push[54]
IV.V TOPOLOGICAL AND PHYSICAL MODELING
In [59] is described the implementation of the VDI
2206 design guideline during the modeling of a
mechanism for a medical device which is operated
with an electric linear actuator. The topological,
physical, mathematical and numerical models are
obtained and proposed in order to improve an existing
design.
Three topological models (topological model,
describes and reflects interlinks, the function-
performing elements, basically the relative position
between each component, without considering the
physics behind) were suggested as shown in Figure 8,
The main difference among them was the node
2712
 Journal of Multidisciplinary Engineering Science and Technology (JMEST)
positioning of the linear actuator in reference to the
nodes of the mechanic bars that resemble the leg
folding mechanism.
After deciding upon a good topology (shaded
subfigure from Figure 8) a physical model Figure 9,
was created in order to understand the type of forces
being applied on the main bar of the leg mechanism
with the weight of a patient being applied.
Figure 8: Leg folding mechanism topologies (Three
topological models) [59]
Figure 9 Physical model of leg folding mechanism
[59]
3.6. In [60] as a case study, Mechatronics design
approach is formulated and discussed in some detail,
to design and develop a students‟ final year Robotic
Parking Garage project. Robotic parking is a method
of automatically parking and retrieving cars, using a
computerized system. Models of Sub-systems and
whole system are developed, integrated tested,
evaluated and built. In [61] Mechatronics design
approach is applied, where three student projects
(Clamp Robot Manipulator, Mechatronics Education
Kit, CNC Machine) are examined in detail, with
descriptions of their goals, design, and
implementation.
CONCLUSION
In order to evaluate such concepts as
performance, speed, precision, efficiency, costs,
functionality, effects of system nonlinearities,
uncertainties and disturbances, without building and
testing each one, Modeling, simulation and evaluation,
play a critical role and considered highly important
during the design stages of a Mechatronic system. In
this paper, their main concepts, role, and description
are presented and discussed, and by means of
examples-projects. A short review of scientific
resources on modelling and simulation in
Mechatronics are also presented.
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