Modelling and Simulation of Mechatronic Systems

Fundamentals of Physics, Mathamatics (differential equations), Electronics and Mechanics.

The lecture offers a systematic approach to derive differential and algebraic equation models of physical (dynamic) systems. First modeling of electrical circuits and mechanical 1D, hydraulic and simple thermodynamic systems are explained. Communalities of such modeling efforts are shown. Subsequently bond graphs are introduced as a tool for systematic modeling of physical systems through power flows. Modeling of mechatronic systems is repeated with bond graphs. It is shown that bond graphs simplify the modeling task significantly and support early detection of modeling errors (e.g. caused by assumptions that simplify the model too much). Subsequently, thermodynamic systems are modeled covering multiple energy domains. Moreover, two-dimensional mechanical systems will be modeled and the linearization of non-linear systems will be introduced.  In the last part of model building we dedicate ourselves to discontinuous systems. It will be shown how models of diodes (switches), mechanical static-sliding friction as well as mechanical contacts with backlash (slack) are created.

Then algorithms necessary for the simulation of the created models are being discussed.

Finally several seminars are offered to put the theoretical knowledge into practice. A model of a DC-motor will be generated and verified based on the real system. Thus, a controller can be designed based on the model: This is referred to as Model-Based Controller Design. As soon as the controller has been verified on the model it will be run on a target hardware in order to control the real system. In order to estimate the motor temperature at nominal load, a thermal model of the motor is created.

Students are able to create dynamic models of mechatronic systems. Students are given an overview of various modeling techniques (differential algebraic equations and bond graphs) and apply bond graphs in particular to mechatronic tasks. Thus, they not only acquire theoretical knowledge, but also apply it using current simulation environments. In addition, they have gained a better understanding as they have discussed the influences of numerical integration (simulation).

Preparation by means of videos on the content of the lecture. Lecture with many calculation examples on the blackboard to understand the content. Homework to deepen the content and to solve problems independently. Models are implemented in MATLAB/Simulink to interpret the simulation results. Seminar series in the lab to understand modeling, simulation, verification and control using a real mechatronic system.

Exam (70 %) and project (30 %).

For a positive grade, a minimum of 50% of the possible points must be achieved in each part of the examination.

Not applicable

• Thomas Lienhard Schmitt, Markus Andres: Methoden zur Modellbildung und Simulation mechatronischer Systeme: Bondgraphen, objektorientierte Modellierungstechniken und numerische Integrationsverfahren, 1 Auflage, Springer Vieweg, 2019
• YouTube Channel: https://www.youtube.com/@thomaslienhardschmitt859/videos
• Dean C. Karnopp, Donald L. Margolis und Ronald C. Rosenberg. System Dynamics: Modeling, Simulation and Control of Mechatronic Systems. 5th edition. John Wiley & Sons, 2012.
  Werner Roddeck. Grundprinzipien der Mechatronik: Modellbildung und Simulation mit Bondgraphen, 4. Auflage, Springer Vieweg, 2022
• Cellier, François E. (1991): Continuous system modeling. New York, NY (u.a.): Springer. 

Face-to-face