Numerical Methods Applied to Mechatronics

MATHEMATICAL MODELING,
NUMERICAL METHODS,
AND PROBLEM SOLVING
Dr. Jorge A. Olortegui Yume, Ph.D.

Lecture No 2
Escuela de Ingeniera Mecatrnica
Universidad Nacional de Trujillo

THE ENGINEERING PROBLEM SOLVING PROCESS

Math. Modeling, Num. Methods, Prob. Solving

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS
Mathematical model
Formulation or equation expressing essential features
of a physical system or process mathematically
involving:

Dependent variables
Independent variables
Parameters
Forcing functions.

Math. Modeling, Num. Methods, Prob. Solving

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS

Function model

independent
Dependent
forcing
f
, parameters,

variable
functions
variables
Dependent variable
Characteristic reflecting systems behavior/state

Independent variables

Dimensions determining systems behavior (e.g., t,x).

Parameters
Constants reflecting systems properties/composition (e.g., m,Cp, k).
Forcing functions
External influences acting upon the system(e.g., Forces, Moments, )
Math. Modeling, Num. Methods, Prob. Solving

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS
Function model example
Analytical model for the jumpers
velocity, accounting for drag, is

vt

gc
gm
d
tanh
t
cd
m

m
cd

independent
Dependent
forcing
f
, parameters,

variable
functions
variables
Math. Modeling, Num. Methods, Prob. Solving

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS

Analytical Modeling

Process of expressing a model in terms of mathematical expressions

based on natural laws and principles.
- They end up in: Algebraic equations
Implicit functions
Diff. equations
Example: Bungee jumper

F ma

2nd Newton ' s Law

Fg Fd ma

mg cd v 2 ma
dv
mg cd v m
dt
2

Math. Modeling, Num. Methods, Prob. Solving

Diff. equation
6

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS

Analytical Modeling

Example: Bungee jumper (Analytical solution)

vt
Math. Modeling, Num. Methods, Prob. Solving

gc
gm
d
tanh
t
cd
m
7

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS

Model Results

For the bungee jumper example for m = 68.1 kg y cd =0.25 kg/s

can obtain a graphical representation

vt

gc
gm
d
tanh
t
cd
m

Math. Modeling, Num. Methods, Prob. Solving

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS

Numerical Modeling

Process of expressing a model in terms of simple arithmetic and

logic expressions.
- easy to implement in a computer
Example:
Bungee jumper
Time rate change of velocity
can be approximated as

dv v vti1 vti

dt t
ti1 ti
Math. Modeling, Num. Methods, Prob. Solving

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS

Numerical Modeling

Example: Bungee jumper (contd)

The diff. equation:

dv
mg cd v m
dt
2

could be approximated as

mg cd vti

vti 1 vti
m

ti 1 ti

and solved as

1
2
vti 1 vti mg cd vti ti 1 ti
m
Math. Modeling, Num. Methods, Prob. Solving

10

Dr. Jorge A. Olortegui Yume, Ph.D.

SOME DEFINITIONS

Numerical Modeling

Example: Bungee jumper (contd)

NOTES:
Apparently, NO NEED for numerical development BUT,
Some mathematical models of physical phenomena may be much more
complex: CANT SOLVE ANALYTICALLY BUT NUMERICALLY
Complex models may not be solved exactly or require more sophisticated
mathematical techniques than simple algebra for their solution.

Math. Modeling, Num. Methods, Prob. Solving

11

Dr. Jorge A. Olortegui Yume, Ph.D.

Bases for Numerical Models

Conservation laws provide the foundation for many
model functions.
Different fields of engineering and science apply these
laws to different paradigms within the field.
Among these laws are:

Conservation of mass
Conservation of momentum
Conservation of charge
Conservation of energy

Math. Modeling, Num. Methods, Prob. Solving

12

Dr. Jorge A. Olortegui Yume, Ph.D.

Summary of Numerical Methods

5 categories of numerical methods:
Roots of Nonlinear equations

Math. Modeling, Num. Methods, Prob. Solving

13

Dr. Jorge A. Olortegui Yume, Ph.D.

Summary of Numerical Methods

5 categories of numerical methods:

Linear algebraic equations

Math. Modeling, Num. Methods, Prob. Solving

14

Dr. Jorge A. Olortegui Yume, Ph.D.

Summary of Numerical Methods

5 categories of numerical methods:
Function aprroximation or
Curve fitting

Math. Modeling, Num. Methods, Prob. Solving

15

Dr. Jorge A. Olortegui Yume, Ph.D.

Summary of Numerical Methods

5 categories of numerical methods:
Numerical
Integration/ Differentiation

Math. Modeling, Num. Methods, Prob. Solving

16

Dr. Jorge A. Olortegui Yume, Ph.D.

Summary of Numerical Methods

5 categories of numerical methods:
Numerical methods
For Differential Equations

Math. Modeling, Num. Methods, Prob. Solving

17

Dr. Jorge A. Olortegui Yume, Ph.D.