Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic...
Transcript of Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic...
![Page 1: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/1.jpg)
Structured Modeling of Mechatronic Systems
in which you meet the modest but talented multiport component
![Page 2: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/2.jpg)
Characterization of Modern Engineering SystemsFeatures of modern engineering systems:• multiple physical domains• energy transfer processes (thermodynamic
networks, first-law principle)• energy conversion processes (transducers)• information transfer (signals)• increasingly larger and more complex
![Page 3: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/3.jpg)
Engineering modeling is an art, not a science.
Models should be “designed” to answer certain questions of the product development team.
• Under-modeling may cause the team to miss certain critical behaviors.
• Over-modeling may obscure insight into causes of behavior.
• Over-modeling leads to excessive costs during optimization and sensitivity testing.
![Page 4: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/4.jpg)
![Page 5: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/5.jpg)
Basic Concepts in Multiport Modeling
• A multiport component interacts through a set of ports.
• Two port types - power ports for energy, signalports for information interaction.
• Connectors join same port types in pairs.• Models can be organized hierarchically (e.g., to
control density of information display).• Models can be organized for re-use (libraries).
![Page 6: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/6.jpg)
Some multiport components• Permanent-magnet motor: a 2-port
electrical port, shaft port• Positive-displacement pump: a 3-port
shaft, high-P fluid, low-P fluid ports• Hydraulic cylinder: a 3-port
ram port, fluid port A, fluid port B• Op-amp integrating circuit: a 2-port
electrical input, output ports• Solenoid valve: a 2-port
slider port, electrical port
![Page 7: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/7.jpg)
Permanent-magnet motor
ia
ea
+ > τ, ω
PMMOTORea
ia
τ
ω
Electrical port
Rotational port
![Page 8: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/8.jpg)
Hydraulic cylinder
Q1Q2
VL
FL
P1
P2
A1 A2
HCYLINDERFL
VL
P1 Q1P2 Q2
![Page 9: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/9.jpg)
![Page 10: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/10.jpg)
![Page 11: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/11.jpg)
Common power port types
• mechanical translation: force, velocity• mechanical rotation: torque, angular velocity• electrical terminal-pair: voltage, current• fluid power: pressure, volume flow• magnetic power: mmf, flux rate• thermal power: temperature, entropy rate
Note that power is the product of the port variable pair.
![Page 12: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/12.jpg)
Units for common power port types
• translation: force [N], velocity [m/s]• rotation: torque [Nm], angular velocity [rad/s]• electrical: voltage [v], current [A]• fluid power: pressure [N/m2], volume flow
[m3/s]
Note that power is the product of the port variable pair. In the units given above, the power is Watts for all port types.
![Page 13: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/13.jpg)
Some common power connectors
• translation: rod {force, velocity}• rotation: shaft {torque, angular velocity}• electrical: wire pair {voltage, current}• fluid power: pipe, hose {pressure, volume flow}
An ideal connector has no material properties of importance (e.g., inertia, compliance, resistance, friction, etc.) It conveys the energy instantly from one port to the other port without losses or delays.
![Page 14: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/14.jpg)
Multiport modeling is useful because ...
• it applies to mechatronics systems. (both power and signal types; transducers)
• it is effective at both simple and complex levels. (easy to learn; extendible)
• it is graphical in nature. (good visualization properties; hierarchical)
• it lends itself to computer implementation. (good user interface; object-oriented)
![Page 15: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/15.jpg)
Multiport modeling is compatible with existing modeling methods.
• Mechanics: Newton’s laws, free-body diagrams.
• Mechanics: Lagrange’s method - energy• Electrical circuits: Kirchoff’s laws• Electronic components: representation as
ported devices (i.e., circuit elements)• Transducers: consistent modeling approach
based on power/energy across domains
![Page 16: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/16.jpg)
Multiport modeling is compatible with existing modeling methods. (cont.)
It can represent more abstract modeling forms. • Finite-element representation (M,C,K
matrices)• Modal representation of vibratory systems
(normal modes)• Power-conserving transformations
(e.g., xyz to spherical coordinate mapping)• Transfer functions and impedance methods
![Page 17: Structured Modeling of Mechatronic Systems Structured... · Structured Modeling of Mechatronic Systems in which you meet the modest but talented multiport component. ... a 3-port](https://reader033.fdocuments.us/reader033/viewer/2022042923/5f72ccd621746414552e17a6/html5/thumbnails/17.jpg)
Multiport modeling can help your career
• You can demonstrate awareness of the “big picture” and the details of a project.
• You can demonstrate control over the level of model complexity suitable for the project.
• You can organize models for re-use.• You can communicate effectively with co-workers
and with management.