[23MTRN08I]

Modelling & Simulation

Mathematical Modelling I

Dr. George Fam

Prepared based on W. Bolton, “Mechatronics”, Pearson, 2015.
.
 Mathematical Modelling
• Simplified representations of certain aspects of a
real system
• Used In order to understand the behaviour of
systems
• Uses equations to describe the relationship
between the input and output of a system
• Used for predicting behaviour of a system under
specific conditions

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 Mathematical Modelling
• Simplified representations • Mathematical model for
of certain aspects of a real
system a spring:
• Used to understand the ➢assuming that the
behaviour of systems extension x is
• Describes the relationship proportional to the
between the input and applied force F
output of a system
• Predicting behaviour of a
system under specific 𝐹 = 𝐾𝑥
conditions

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 Mathematical Modelling
• A mathematical model of a system may require:
– assumptions
– simplifications

• A balance has to be chosen between:

– simplicity of the model
– representation of the actual real-world behaviour

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 Mathematical Modelling
• A mathematical model of • Mathematical model for a
a system may require: spring:
– assumptions ➢ assuming that the extension x
is proportional to the applied
– simplifications
force F
• A balance has to be
chosen between: 𝐹 = 𝐾𝑥
– simplicity of the model • Real spring where the
– representation of the extension might not be
actual real-world behaviour precisely proportional to the
force
• Large forces will permanently
deform the spring
• Spring may act non-linearly
near its solid length
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 Mathematical Modelling

The basis for any

mathematical model
is provided by the
fundamental physical laws
that govern the behaviour of the
system.
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 Systems Building
• Systems can be made up from a range of
building blocks
• Each building block is considered to have a
single property or function
• This results in a lumped parameter system

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 Mechanical Systems Building

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 Mechanical Systems Building

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 Mechanical Systems Building

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 Mechanical Systems Building

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 Modelling of Mechanical
Systems

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 Modelling of Mechanical Systems

Second-order differential equation

Describes the relationship between
the input of force F to the system
and the output of displacement x
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 Modelling of Mechanical Systems
What about the
Mathematical Model
for this system➔

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 Modelling of Mechanical Systems
• Rotational Mechanical System

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 Modelling of Mechanical Systems
• Rotational system with gear train

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 Electrical Systems Building
• Resistor

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 Electrical Systems Building
• Inductance

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 Electrical Systems Building
• Capacitance

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 Electrical Systems Building

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 Modelling of Electrical Systems
Kirchhoff ’s laws
• Law 1: the total current flowing towards a
junction is equal to the total current flowing
from that junction, i.e. the algebraic sum of the
currents at the junction is zero.
• Law 2: in a closed circuit or loop, the algebraic
sum of the potential differences across each part
of the circuit is equal to the applied e.m.f.

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 Modelling of Electrical Systems
• Resistor–inductor–capacitor system

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 Modelling of Electrical Systems
• Resistor–inductor–capacitor system

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 Modelling of Electrical Systems
• Another Electrical System…

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 Modelling of other Systems

Next Lecture…
➢Hydraulic Systems
➢Pneumatic Systems
➢Thermal Systems

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 References

• W. Bolton, “Mechatronics”, Pearson, 2015.

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