1. What are the governing equations used to simulate the physical system? What a
ID: 2246351 • Letter: 1
Question
1. What are the governing equations used to simulate the physical system? What are the parameters that govern the dynamics ( Most to least) and how they effect the dynamics of the system. (Topic on Modeling and Simulation of Mechatronics Systems i.e Robotics)- Please provise the answer without plagarism.
2. Show simulation result, and discuss. - (Topic on Modeling and Simulation of Mechatronics Systems i.e Robotics)- Please provise the answer without plagarism.
3. what would you do differently to improve on the system reponse. - (Topic on Modeling and Simulation of Mechatronics Systems i.e Robotics)- Please provise the answer without plagarism.
Explanation / Answer
As a part of the thesis, several languages and tools are investigated, including bond graphs, MATLAB/Simulink, Ptolemy II, Modelica, MATLAB/Simscape and SysML. For SysML, the modeling of continuous-time systems and how it relates to MATLAB/Simulink and Modelica is evaluated. A case study of an electric power assisted steering is modeled to show the differences, the similarities and the usage of the above mentioned languages and tools. To be able to classify the tools and languages, five realization levels were developed: • Physical modeling models • Constraint models • Continuous causal models • Discretized models • Discretized models with solver and platform implementation By using these realization levels, models, tools and modeling languages can be classified, and transformations between them can be set up and analyzed.
Martin Törngren, who has been the main supervisor for the major part of this thesis. • Jan-Gunnar Persson, supervisor for the first part of the thesis. • Sören Andersson, Bengt Eriksson and Hans Johansson for many interesting discussions on modeling and simulation and input to the work. • Jan Wikander, for reviewing the thesis and providing valuable feedback and Vicki Derbyshire, for proofreading. • All project colleagues in the NFCCPP, ATESST and ATESST2 projects. • Co-authors of publications: De-Jiu Chen, Peter Prenninger, Ian Faye, Thomas Hülshorst, Ashley Kells, Ian Harkness, Carsten Schönfelder, Jan-Gunnar Persson, Philippe Cuenot, Patrick Frey, Rolf Johansson, Henrik Lönn, David Servat, Martin Törngren, Jianlin Shi, and Viktor Ahlsten. • My room colleagues over the years: Jan Johansson, Jesper Brauer, Anna Hedlund-Åström, De-Jiu Chen, Jianlin Shi, Tahir Naseer, Viktor Ahlsten and Matthias Biehl for many fruitful discussions on various topics. • All the other colleagues at Machine Design, thank you all for a good time and for helping me out in many ways.
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