Sistem Kendali & Mekanika

CEG3H3

Model Mekanik untuk Aplikasi

Mekatronika

Agung Nugroho Jati, ST., MT.

 Objective
Understanding how the properties and performance of
mechanical components and systems affect the overall
mechatronic system design.

Mechanical systems can be conceptualized as rigid and/or

elastic bodies that may move relative to one another,
depending on how they are interconnected by components
such as joints, dampers, and other passive devices.
 Mechanical System Modeling in
Mechatronic Systems
Steps in modeling :
Defining a system boundary, and identifying how basic
components can be partitioned and then put back together.

A mechanical component modeled as a point mass or rigid

body is readily identified by its velocity, and depending on the
number of bodies and complexity of motion there is a need to
introduce a coordinate system to formally describe the
kinematics.
 Important Elements in Design
The system components and their interconnections
(including dependence on geometry).
Applied forces/torques.
The role of constraints
Physical Variables and Power Bonds [1]
Power and Energy Basis

One port is shown at which power flow is given

by the product of force and velocity, F V, and
another for which power is the product of
torque and angular velocity, T
.
Physical Variables and Power Bonds [2]

This model represents a simplified relationship

between electrical power flow, v i , and mechanical
power flow, T , which forms the basis for a motor
model.
 Physical Variables and Power Bonds [3]

Power and Signal Flow

A power bond is used to identify flow of power. Power bonds
quantify power flow via an effort-flow pair, which can label the
bonds.
 Physical Variables and Power Bonds [4]

A signal from the mechanical block to indicate an ideal

measurement transferred to a controller as a pure signal. The
controller has both signal and power flow signals, closing the
loop with the electrical side of the model.
 Physical Variables and Power Bonds [5]

Need for Motional Basis

It is important to identify how the configuration changes,
and a coordinate system should be defined and the effect
of geometric changes identified.

The minimum number of geometrically independent

coordinates required to describe the configuration of a
system is traditionally defined as the degrees of freedom.
Physical Variables and Power Bonds [7]

Interconnection of Components
 Physical Variables and Power Bonds [8]

Causality
Causality refers to the inputoutput relationship between
variables on a power bond, and it depends on the systems
connected to each end of a bond.
Descriptions of Basic Mechanical
Model Components
 Defining Mechanical Input and
Output Model Elements
A system boundary
Identifies ports through which power and signal can pass.
To make a judgement on the causality at each port.
define specific elements as sources of effort or flow that can be
attached at the boundary of a system of interest.
 Dissipative Effects in Mechanical
Systems
Mechanical systems will dissipate energy due to friction in sliding contacts,
dampers (passive or active), and through interaction with different energy
domains (e.g., fluid loading, eddy current damping).

= .

= = .
 When the effort-flow relationship is linear, the proportionality constant
is a resistance, and in mechanical systems these quantities are typically
referred to as damping constants.
Potential Energy Storage Elements
Kinetic Energy Storage
Coupling Mechanisms
 Impedance Relationships
An impedance function, Z, is a ratio of effort to flow
variables at a given system port of a physical device, and
the most common application is for linear systems where Z
= Z(s), where s is the complex frequency variable.
To be continued