EMEg5241: Design of Electro-Mechanical

Systems
(Design of Mechatronic Systems)

Instructor : Tayachew Fikire

MSc In Mechatronics Engineering

2 November 2022
 Chapter

Modeling & Control of Mechatronic systems

 Mechatronic System modeling process

Modeling approaches for Mechatronic

System
1
Mechatronic
system - First principle(Physical law ) approach
Modeling
process
- System Identification -approach
 Lesson learning outcomes

☞ After successfully completing this chapter the student will be able to:
 Drive the mathematical model of multi-domain mechatronic systems using
physical law from different domains.
 Apply the several concepts from mechanical ,electrical ,control and electronic
systems and design mechatronic system.
 Design controller to control mechatronic system.

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Mechatronic System modeling processes

What is modeling ?
 Modeling: is the process of representing the behavior of a real system by a collection of
mathematical equations and logic.
 Modeling is used for prediction, design modification and control.

Model categories
 In a static model, there is no energy transfer.
 Static model:
 Systems, which are static produce no motion, heat transfer, fluid flow,
traveling waves, or any other changes.

 Dynamic model:  a dynamic model has energy transfer which results in power flow.
 Power, or rate of change of energy, causes motion, heat transfer, and
other phenomena that change in time..

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Mechatronic system modeling process

Modeling processes for dynamic systems

1. Analysis of the real system

2. Development of Physical model:

 Physical Model : is an imaginary physical system which resembles an

actual system in its salient features but which is simpler.
 The behavior of physical model has to match closely to the behavior of
the actual system.

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Mechatronic system modeling process
Modeling processes for dynamic systems

3. Development of mathematical
model:

 A mathematical model is derived to represent the physical model.

 The focal points in deriving the mathematical model for a given physical system model can
be stated as follows:
 Dynamic Equilibrium Relations – writing of dynamic equilibrium relations to describe the
balance of forces, or flow rates, of energy, etc., which must exist for the system and its
subsystems.
 Compatibility Relations – writing of system compatibility relation (transmission ratio , motion
converter relations, relations related to interconnected electrical and electronic components. )

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Mechatronic system modeling process

Modeling processes for dynamic systems

3. Development of mathematical
model:

 Physical Laws – natural physical laws which the individual elements of the system obey,
including.
 Mechanical relations between force and motion
 Electrical relations between current and voltage
 Electromechanical relations between force and magnetic field.
 Thermodynamic relations between temperature, pressure, internal energy, etc..
 The mathematical model of the system can also be developed using system identification
technique.

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Mechatronic system modeling process

Modeling processes for dynamic systems

4. Determination of dynamic behavior:

 The dynamic behavior of the system can be studied by solving the

mathematical model.

5. Control system development:

 If the dynamic behavior of the system obtained doesn't match with desired
behavior a controller will be developed so that the systems actual behavior will be
the same as the desired one.
Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2
 Mechatronic system modeling process

dv Numerical
f  m  bv Solution Solution
Theory dt
v v Data
c  f
Data T x

Physical model Math. Model

Control
Design

Graphical
Visualization/Animation

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Review on Mathematical modeling of systems -Using Physical laws
(First principle ) approach

 Mechanical system modeling(dynamics of MB

systems)

02  Electrical system modeling

Review o n
Mathematical  Electromechanical system modeling
Modeling
systems  Thermal and fluid power system modeling
 Dynamic model of Mechanical systems

 provides the relation between

generalized forces 𝑢(𝑡) acting on the robot

robot motion, i.e.,

assumed configurations 𝑞(𝑡) over time

𝑢𝑗𝑜𝑖𝑛𝑡𝑠(𝑡) 𝑢𝐶𝑎𝑟𝑡𝑒𝑠𝑖𝑎𝑛(𝑡)

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Dynamics of Multibody systems/Modeling approaches

Euler-Lagrange method Newton-Euler method

(energy-based approach) (balance of forces/torques)

 dynamic equations in  dynamic equations in

symbolic/closed form numeric/recursive form
 best for implementation of
 best for study of dynamic control schemes (inverse
properties and analysis of dynamics in real time)
control schemes
 many other formal methods based on basic principles in mechanics are available
for the derivation of the robot dynamic model:
 principle of d’Alembert, of Hamilton, of virtual works, Kane’s equations …
Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2
 Direct dynamics

 direct relation
𝑢< 𝑞<
𝑢 𝑡 = ⋮ 𝑞 𝑡 = ⋮
𝑢𝑁 𝑞𝑁

input for 𝑡 ∈ [0, 𝑇] 𝑞 0 , 𝑞̇(0) resulting motion

initial state at 𝑡 = 0
 experimental solution
 apply torques/forces with motors and measure joint variables
with encoders (with sampling time 𝑇𝑐 )
 solution by simulation 𝛷 𝑞, 𝑞̇, 𝑞̈ = 𝑢
 use dynamic model and integrate numerically the differential
equations (with simulation step 𝑇𝑠 ≤ 𝑇𝑐 )
Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2
 Inverse dynamics
 inverse relation

𝑞𝑑 𝑡 , 𝑞̇𝑑 𝑡 , 𝑞̈𝑑(𝑡) 𝑢𝑑(𝑡)

desired motion required input

for 𝑡 ∈ [0, 𝑇] for 𝑡 ∈ [0, 𝑇]
 experimental solution
 repeated motion trials of direct dynamics using 𝑢 𝑘 (𝑡), with

iterative learning of nominal torques updated on trial 𝑘 + 1

based on the error in [0, 𝑇] measured in trial 𝑘: lim 𝑢 𝑘 (𝑡) ⇒ 𝑢 𝑑 (𝑡)
𝑘 →G

 analytic solution 𝛷 𝑞, 𝑞̇, 𝑞̈ = 𝑢

 use dynamic model and compute algebraically the values 𝑢 𝑑 (𝑡) at

every time instant 𝑡

 Approaches to dynamic modeling

Euler-Lagrange method Newton-Euler method

(energy-based approach)
 dynamic equations in
symbolic/closed form
 best for study of dynamic
properties and analysis of
control schemes
(balance of forces/torques)
 dynamic equations in
numeric/recursive form
 best for implementation of
control schemes (inverse
dynamics in real time)

 many other formal methods based on basic principles in mechanics

are available for the derivation of the robot dynamic model:
 principle of d’Alembert, of Hamilton, of virtual works, Kane’s
equations …
Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2
 Euler-Lagrange method (energy-based approach)
basic assumption: the 𝑁 links in motion are considered as rigid bodies
(+ later on, include also concentrated elasticity at the joints)

𝑞 ∈ ℝ𝑁 generalized coordinates (e.g., joint variables, but not only!)

Lagrangian 𝐿 𝑞, 𝑞̇ = 𝑇 𝑞, 𝑞̇ − 𝑈(𝑞)

kinetic energy – potential energy

 principle of least action of Hamilton
 principle of virtual works

Euler-Lagrange 𝑑 𝜕𝐿 𝜕𝐿
equations − = 𝑢i 𝑖 = 1, … , 𝑁
𝑑𝑡 𝜕𝑞̇i 𝜕𝑞i

non-conservative (external or dissipative) generalized forces performing work on 𝑞i

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2
 Euler-Lagrange method (kinetic energy of rigid link)
mass density
𝒗𝒄 body 𝐵
mass 𝑚 = z 𝜌 𝑥, 𝑦, 𝑧 𝑑𝑥𝑑𝑦𝑑𝑧 = z 𝑑𝑚
𝑚 𝐵 𝐵
1
position of 𝑟𝑐 = z 𝑟 𝑑𝑚
center of mass (CoM) 𝑚 𝐵
RFc when all vectors are referred to a body frame
RFc attached to the CoM, then
𝑟𝑐 𝑟𝑐 = 0 ⇒ z 𝑟 𝑑𝑚 = 0
𝐵
RF0 1
kinetic energy 𝑇 = z 𝑣 𝑇 𝑥, 𝑦, 𝑧 𝑣(𝑥, 𝑦, 𝑧) 𝑑𝑚
2 𝐵
(fundamental)
kinematic relation 𝑣 = 𝑣𝑐 + 𝜔 × 𝑟 = 𝑣𝑐 + 𝑆(𝜔) 𝑟
for a rigid body
skew-symmetric matrix
Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2
 Euler-Lagrange method (kinetic energy of rigid link)
1 𝑇
𝑇= z 𝑣𝑐 + 𝑆 𝜔 𝑟 𝑣𝑐 + 𝑆 𝜔 𝑟 𝑑𝑚
2 𝐵
<
= ∫ 𝑣𝑐𝑇 𝑣𝑐 𝑑𝑚 + ∫ 𝑣𝑐𝑇 𝑆 𝜔 𝑟 𝑑𝑚 + < ∫ 𝑟 𝑇 𝑆 𝑇 𝜔 𝑆 𝜔 𝑟 𝑑𝑚
a 𝐵 𝐵 a 𝐵

1 1
= 𝑚 𝑣𝑐𝑇 𝑣𝑐 = 𝑣𝑐𝑇 𝑆 𝜔 z 𝑟𝑑𝑚 = 0 = z 𝜔 𝑇 𝑆 𝑇 𝑟 𝑆 𝑟 𝜔 𝑑𝑚
2 𝐵
2 𝐵
1 𝑇
= 𝜔 z 𝑆 𝑇 𝑟 𝑆 𝑟 𝑑𝑚 𝜔
translational 2 𝐵
kinetic energy rotational
(point mass + kinetic energy
1 𝑇
= 𝜔 𝐼𝑐 𝜔
at CoM) (of the whole body) 2

König theorem body inertia matrix

(around the CoM)

Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2

 Euler-Lagrange method (kinetic energy of rigid link)

𝑁
𝑇 = Ö 𝑇i 𝑁 rigid bodies (+ fixed base)
iÜ<
𝑇i = 𝑇i(𝑞j, 𝑞̇j; 𝑗 ≤ 𝑖) open kinematic chain

𝒗𝒄𝒊
König theorem
𝑚𝒊 1 1 𝑇
𝑇
𝑇i = 𝑚i 𝑣𝑐 𝑣𝑐 + 𝜔i 𝐼𝑐 i 𝜔i
2 i i
2
RFci
absolute velocity absolute
of the center of mass angular velocity
i-th link (body) (CoM) of whole body
of the robot
Tayachew Fikire – AASTU Design of Mechatronic Systems – Chapter 2
 Examples of body inertia matrices
homogeneous bodies of mass 𝑚, with axes of symmetry
parallelepiped with sides
y 𝑎 (length/height), 𝑏 and 𝑐 (base)
𝑎
𝑐 <
𝑏a + 𝑐 a
x 𝐼𝑥𝑥 <a
𝑚
𝑏 𝐼𝑐 = 𝐼𝑦𝑦 = <
𝑚 𝑎a + 𝑐 a
<a
𝐼𝑧𝑧
z <
<a
𝑚 𝑎a + 𝑏a

empty cylinder with length ℎ,

y and external/internal radius 𝑎 and 𝑏
ℎ <
𝑏 𝑚 𝑎a + 𝑏a
x a
𝐼𝑐 = <
𝑚 3 𝑎a + 𝑏a + ℎa 𝐼𝑧𝑧 = 𝐼𝑦𝑦
<a
𝑎 𝐼𝑧
z’ z a 𝑧
ℎ (parallel) axis translation theorem
u = 𝐼
𝐼𝑧𝑧 𝑧𝑧 +𝑚
2
Steiner theorem … its generalization:
changes on body inertia matrix
𝐼 = 𝐼𝑐 + 𝑚 𝑟 𝑇 𝑟 k𝐸w×w − 𝑟𝑟 𝑇 = 𝐼𝑐 + 𝑚 𝑆 𝑇 𝑟 𝑆 𝑟
skew- due to a pure translation 𝑟 of the
identity matrix reference frame
body inertia matrix relative to the CoM symmetric
Moment of Inertia tensor

Relation ship between Angular Momentum and angular Velocity

• The tensor of inertia gives us an idea about

how the mass is distributed in a rigid body.
• Ixx,Iyy,Izz are moment of inertia about x,y,
and z axis.
• Ixy, Ixz,Iyz, are called product of inertia and
they are measure of the imbalance in the
mass distribution.
Potential energy of rigid link
 General dynamic model representation

𝑀 (𝑞) 𝑞̈ + 𝑐(𝑞, 𝑞̇ )+ 𝑔(𝑞) = 𝑢

INERTIAL CENTRIFUGAL
terms and CORIOLIS terms GRAVITY
terms