Transcript Review of Method

DynLAB
DynLAB
EdTech
EdTech
2004
2004
The Institute of Technology Tallaght
DynLAB: A Web Based Dynamics and
Control Course
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Paul Dillon
Dept. of Mech. Eng.
Presentation Content
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DynLAB
Modelling and Simulation
Review of Method : Traditional
Review of Method : Problems
Review of Method : New Method
Demonstration of Dynast
Summary of DynLAB
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References
DynLAB
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DynLAB
DynLAB is a Project Funded under the
EU Leonardo Scheme
Partners: Czech Republic, Germany, England,
Ireland and Sweden
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Aim: To Develop and Disseminate a
Web Based Course on Dynamics and Control
of Multidisciplinary Engineering Systems
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Course set out to introduce Modeling Method
and then to bring in Control Elements.
Hopefully will use Virtual Experiments with
Animations of Physical Systems
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Aimed at three levels of participation.
High School Student
College Student
Practising Engineer
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Dynamics Involves:
Modelling: Development of
Mathematical Equation(s)
representing a physical system.
Simulation: Using the
Mathematical Model to
understand and optimise
“system” behaviour.
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Review of Method: Traditional
Traditional approach has
followed a process as follows
Development of Model based on
Physical Laws that relate Input
to Outputs.
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So we set up a model by
considering the inputs and
outputs.
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Review of Method: Traditional
Example: Spring Mass Damper
(Car Suspension System)
Damper C
Force F
Spring K
Mass M
Fixed Frame
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Review of Method: Traditional
Form Free Body Diagram.
Force from Damper C
Force F
Force from Spring K
Mass M
Displacement x
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Review of Method: Traditional
Form Equations Based on
Newton’s Laws in this case.
Force Applied  Acceleration Force
 Damping Force  Spring Force
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d 2 x(t )
dx(t )
Fapplied (t )  M
C
 Kx(t )
2
dt
dt
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Review of Method: Traditional
Solve the Equation to get a
time history of the
displacement x(t) for a given
applied force F(t)
We use Laplace Transforms in Control
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DynLAB
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Review of Method: Traditional
d 2 x(t )
dx(t )
Fapplied (t )  M
C
 Kx(t ) becomes
2
dt
dt
F ( s)  Ms 2 X ( s)  CX ( s )  KX ( s )
which can be rerranged to become
X(s)
1

F(s) Ms 2  Cs  K
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Transfer Function Relating Input
Force F to Output Displacement X
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Review of Method: Traditional
Can solve this by hand to get x(t)
for some F(t) by using
Inverse Transforms or by a
Computer Package
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Matlab
Simulink
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Review of Method: Traditional
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Review of Method: Problems
Problems with Traditional Approach
Have to Know Lots of Theory and Maths
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Difficult to Link Different Disciplines
Mechanical
Electrical
Electronics
Hydraulics
Pneumatics
Thermodynamics
DynLAB Review of Method: New Method
EdTech
Key to DynLAB is a Software Package
2004
“Dynast”
Dynast allows for unified modelling and
simulation of mixed energy-domain systems
based on multipoles.
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Multipoles model energetic interactions
between a component and the rest of the system
assuming such interactions take place at a
limited number of energy entrances.
DynLAB Review of Method: New Method
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Energy
Power variables
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Energy variables
through
across
through
across
domain
i
v
 idt
 vdt
Electrical
Electrical
Current
A
Electrical
Voltage
V
Electrical
Charge
C
Flux
Linkage
V.s
Magnetic
Magnetic
Flow Rate
Wb/s
Magnetic
Voltage
A
Magnetic
Flow
Wb
Thermal
Entropy
Flow
W/K
Temperature
K
Entropy
J/K
Fluid or
acoustic
Volume
Flow
m3/s
Pressure
N/m2
Volume
m3
Pressure
Momentum
N.s/m2
Translatory
Force
N
Velocity
m/s
Momentum
N.s
Displacement
m
Rotary
Torque
N.m
Angular
Velocity
Rad/s
Angular
Momentum
N.m.s
Angular
Displacement
Rad
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New Method
A multipole only has to be formulated once and
can be then reused.
Can create library of multipoles models for
different engineering disciplines.
Dynast provides a predesigned set of multipoles.
that can be placed as in a CAD package.
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Dynast also links to Matlab.
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Free Across the Web in different modes
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Demonstration of Dynast
Use Dynast for the Spring Mass Damper
Consider the Diagram that we had
Damper C
Force F
Spring K
Mass M
Fixed Frame
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We Need a Mass, Spring and a Damper plus
a reference Frame. Select parts from Library.
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Demonstration of Dynast
Open DynShell Diagram Page
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Demonstration of Dynast
Open Parts List “Mechanical Translatory”
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Demonstration of Dynast
Select Required Parts Spring Mass Damper
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Demonstration of Dynast
Orient Parts into Schematic Form
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Demonstration of Dynast
Select Source of Force
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Demonstration of Dynast
Enter Part Names and Values
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Demonstration of Dynast
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Demonstration of Dynast
Join Parts with Connections
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Demonstration of Dynast
Enter Node for Velocity
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Demonstration of Dynast
Place Integrator on page
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Demonstration of Dynast
Place Nodes For Velocity and Displacement
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Demonstration of Dynast
Select Analysis Type
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Demonstration of Dynast
Select Analysis Type and Variables
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Demonstration of Dynast
Select Run Analysis and Plot
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Demonstration of Dynast
Results Output and Selection of Variables
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Demonstration of Dynast
Setup Individual Plots
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Demonstration of Dynast
Analysis Types Available
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Demonstration of Dynast
See other examples on
Electrical
Electronic
Mechanical
Fluid
Mathematical
Also can cross link disciplines example….
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2004
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Demonstration of Dynast
Electronic Electrical Mechanical
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DynLAB Tools
Dynast Environment for:
Modelling
Simulation
Virtual Experiments
Publishing
Monitoring
Students Computer
Web Browser
--CORTONA Plugin
--CORTONA-Dynast Interface
--DynCAD Applet
Internet
Server Computer
Tutor's Computer
Dynast Solver
Dynast Monitor
Dynast Server
Internet
Dynshell Environment
Dynshell Environment
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Matlab/Simulink
LaTeX Convertor to
PS, PDF and HTML
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DynLAB Tools
Modelling and Control Notes within
Moodle Learning Environment
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DynLAB Tools
Java Applets to display results
from Dynast
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DynLAB Tools
Animation Display of Systems
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Set of Models and Examples
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Thank You to
To your selves
Any Questions?
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References
“DynLAB” Website Dynamics and Control
“Mathsworks” Website
“Dynast” Website
Papers by Herman Mann and others available off the Web
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Matlab toolbox for physical modeling in mechatronics. Proc. 3. Magdeburger Maschinenbau-Tage,
Magdeburg 1997. Tagungsband II, pp. 13-20.
Support for efficient modeling of multidisciplinary systems. 1999 Int. Mechanical Engineering
Congress and Exposition, Proc. of the ASME Dynamic Systems and Control Division DSC-Vol. 67,
pp. 521-528, Nashville 1999.
A Multidisciplinary Web-Based Course on Modeling and Simulation. Proc. E=TeM2 Tommorrow's
Education in Electrical Technologies, pp. 95-104, Liége 2001.
Physical modeling and of mechatronic systems. Unpublished paper.
Internet based Collaboration and Learning Environment for Efficient Simulation or Control Design
Herman Mann, Michal Sevcenko. Proceedings of the ASME DSC-Vol. 71 Dynamic Systems and Control
Division 2003
November 15-21, 2003, Washington DC.