Modeling, Simulation, Analysis and Design of Mechatronic Systems
Short Course Overview and Schedule


James H. Taylor
University of New Brunswick
Department of Electrical & Computer Engineering
Fredericton, NB CANADA E3B 5A3
Tel: +1.506.453.5101
E-mail: jtaylor@unb.ca


Mechatronics focusses on the development of high-performance and often ultra-miniaturized electro-mechanical systems. A critical need in the development of such systems is a rigorous and effective approach for modeling and simulating precision electro-mechanical systems. This requirement is difficult to meet, since highly nonlinear effects (especially friction) make modeling and simulating such systems a major challenge. GOAL 1: This proposed short course will focus on such an approach, including a strong emphasis on appropriate modeling techniques and efficient simulation methods and software.

Modeling and simulation, while of paramount importance, are not the only basic tools needed for mechatronics research and development. As a complement, one must have analysis and design methods and software that are suited to the field. In particular, methods that can handle high order and highly nonlinear mechatronic system models are extremely valuable. GOAL 2: This short course will provide a strong background in the sinusoidal-input describing function approach, a very practical and useful methodology for mechatronic applications, and show how it can be used in conjunction with modeling and simulation methods to foster a systematic and powerful approach for mechatronic systems research and development.

In both areas, the theoretical/rigorous foundations will be laid, and then practical issues and applications will be emphasized. It will be shown how to carry out every aspect in MATLAB, to the extent possible.

Part I - Modeling and Simulation:

Module 1 - Appropriate Modeling of Mechatronic Systems
Mathematical modeling of electro-mechanical systems from first principles, including:
  1. lumped- and distributed-parameter modeling, and the approximation of distributed-parameter models by informal finite-element methods
  2. modeling of linear and nonlinear effects, in particular friction
  3. determination of appropriate model order
  4. determination of appropriate degree of nonlinearity
  5. differential/algebraic and "stiff" systems
Module 2 - Basic methods for simulating mechatronic systems
Standard/classical approaches for simulating (numerically solving) mechatronic system models in ordinary differential equation form, including:
  1. Definition of the problem
  2. Predictor/corrector methods
  3. Runge-Kutta methods
Module 3 - Advanced methods for simulating mechatronic systems
Simulation of "real world" mechatronic systems, including:
  1. Simulation of "stiff" system models
  2. Simulation of systems with discontinuities
  3. Simulation of hybrid systems (systems with continuous- and discrete-time components)
Part II - Analysis and Design Using Describing Functions:

Module 4 - Describing Function Concepts and Basics
Definitions and framework of the "classical" sinusoidal-input describing function (SIDF) approach, including:
  1. An overview of the describing function approach and SIDFs
  2. Sinusoidal-input DFs (SIDFs) for static nonlinearities
  3. Use of SIDFs for analysis of nonlinear systems with periodic forced response
  4. Use of SIDFs for analysis of nonlinear systems with limit cycles (nonlinear oscillations)
Module 5 - Advanced SIDF Methods for Mechatronic System Design
Extending the power and scope of DF methods to general state-space systems, including:
  1. SIDF methods for systems with multiple nonlinearities and arbitrary configurations
  2. SIDF input/output models (quasi-transfer functions) for nonlinear mechatronic systems - comparison with other modeling approaches
  3. Design of linear control systems using SIDF input/output models
  4. Design of nonlinear control systems using SIDF input/output models




Short Course Schedule
time-slot Thursday Friday
08.30-10.00 Intro & Module 1 Module 4.3, 4.4
10.15-11.45 Module 2 Module 5.1
13.30-15.00 Module 3 Module 5.2, 5.3
15.15-16.45 Module 4.1, 4.2 Module 5.4

Posted and updated by: Dr. James H. Taylor
Last update: 30 June 2012
Email comments/suggestions to: Jim Taylor (jtaylor@unb.ca)