[其它]03 Modeling and simulation of Physical systems.ppt

5. A few Examples 5. A few Examples 5. A few Examples 5. A few Examples 现有单自由度机械振动系统如图所示： 已知条件为： 质量m=1kg; 弹簧刚度k1=k2=5kg/m; 粘滞阻尼系数f=6kg ·s/m; 外作用力F(t)为阶跃函数，幅值为8kg ·s2/m; 质量M的位移x(t)(相对平衡位置)的初始位移为 x(t) ︱t=0 =0.6m; 初始速度dx(t)/dt=0.3m/s; 求解此系统的输出响应x(t)=?????????? F(t) M k1 k2 x(t) f How to do ???? 4. Modeling of Mechatronics Analytical method Experimental method Mechanism System (Rigid Body Models) Electrocircuit System Hydraulic System Thermodynamics System Basic Equations or Principles Different Sub-system Newton–Euler equation Moment of inertia Torque ……. Kirchhoff laws ….. Bernoulli equation flow formula ….. fundamental equation of hermodynamics?? flow formula ….. Different equations or Principles A few of Examples k J f M Laplace transforms Motor Load Printer driver: Input axis : Output axis : Input axis : Output axis : Input axis : Output axis : Laplace transforms transfer function: Any questions? Department of Mechanical and Electrical Engineering Xiamen University Edited by Zhu QY Department of Mechanical and Electrical Engineering Xiamen University Edited by Zhu QY Department of Mechanical and Electrical Engineering Xiamen University Department of Mechanical and Electrical Engineering Xiamen University Edited by Zhu QY Section 2: Modeling and simulation of Physical systems What is Mechatronics System? Why is the Model Must Needed? Laplace transforms Modeling of Mechatronics Simulation and Block Diagrams Outline 1. What is Mechatronics System? Mechatronics Simulation and modeling Automatic control Optimal processing Mechanical system Electronics system Sensor Actuator Computer system A/D D/A Mechatronics Interface Key Elements of Mechatronics A typical mechatronics system. 1. What is Mechatronics System? Input output System Mathematical models can help us to understand and control complex system effectively. So it is necessary to analyze the relationships between the system variables and to