This document provides information about MATLAB and Simulink simulation software. It discusses that MATLAB stands for Matrix Laboratory and was originally created in 1984 as a matrix software. It is now a standard tool in universities and industries for technical computing. Simulink is a graphical extension to MATLAB for modeling and simulating dynamic systems using block diagrams. The document also lists exercises for simulations of mechanical systems like pendulums, springs, and hydraulic systems that can be done in MATLAB and Simulink.
This document provides information about MATLAB and Simulink simulation software. It discusses that MATLAB stands for Matrix Laboratory and was originally created in 1984 as a matrix software. It is now a standard tool in universities and industries for technical computing. Simulink is a graphical extension to MATLAB for modeling and simulating dynamic systems using block diagrams. The document also lists exercises for simulations of mechanical systems like pendulums, springs, and hydraulic systems that can be done in MATLAB and Simulink.
This document provides information about MATLAB and Simulink simulation software. It discusses that MATLAB stands for Matrix Laboratory and was originally created in 1984 as a matrix software. It is now a standard tool in universities and industries for technical computing. Simulink is a graphical extension to MATLAB for modeling and simulating dynamic systems using block diagrams. The document also lists exercises for simulations of mechanical systems like pendulums, springs, and hydraulic systems that can be done in MATLAB and Simulink.
This document provides information about MATLAB and Simulink simulation software. It discusses that MATLAB stands for Matrix Laboratory and was originally created in 1984 as a matrix software. It is now a standard tool in universities and industries for technical computing. Simulink is a graphical extension to MATLAB for modeling and simulating dynamic systems using block diagrams. The document also lists exercises for simulations of mechanical systems like pendulums, springs, and hydraulic systems that can be done in MATLAB and Simulink.
The name MATLAB stands for Matrix Laboratory. MATLAB was written originally to provide easy access to matrix software developed in 1984 and is now considered as a standard tool at most universities and industries worldwide. MATLAB is a high-performance language for technical computing. It integrates computation, visualization, and programming environment. Furthermore, MATLAB is a modern programming language environment; it has sophisticated data structures, contains built-in editing and debugging tools, and supports object-oriented programming. These factors make MATLAB an excellent tool for teaching and research. MATLAB has many advantages compared to conventional computer languages (e.g.,C, FORTRAN) for solving technical problems. MATLAB is an interactive system whose basic data element is an array that does not require dimensioning. MATLAB integrates mathematical computing, visualization, and a powerful language to provide a flexible environment for technical computing. The open architecture makes it easy to use MATLAB and its companion products to explore data, create algorithms and create custom tools that provide early insights and competitive advantages. Known for its highly optimized matrix and vector calculations, MATLAB offers an intuitive language for expressing problems and their solutions both mathematically and visually. Typical uses include: Numeric computation and algorithm development. Symbolic computation (with the built-in Symbolic Math functions). Modeling, simulation and prototyping. Data analysis and signal processing. Engineering graphics and scientific visualization. It has powerful built-in routines that enable a very wide variety of computations. It also has easy to use graphics commands that make the visualization of results immediately available. Special applications are collected in packages referred to as toolbox. There are toolboxes for signal processing, symbolic computation, control theory, simulation, optimization, and several other fields of applied science and engineering.
INTRODUCTION TO SIMULINK Simulink is a graphical extension to MATLAB for modeling and simulation of dynamic systems. In Simulink, systems are drawn on screen as block diagrams. Many elements of block diagrams are available, such as transfer functions, summing junctions, etc., as well as virtual input and output devices such as function generators and oscilloscopes. Simulink is integrated with MATLAB and data can be easily transferred between the programs. Steps for using SIMULINK are as follows 1. Starting Simulink 2. Model Files 3. Basic Elements 4. Running Simulations
2) Simulation of nonlinear pendulum. 3) Single degree of freedom spring mass system with free vibration. 4) Single degree of freedom spring mass system with forced vibration. 5) Single degree of freedom spring-mass-damper system with free vibration. 6) Single degree of freedom spring-mass-damper system with forced vibration. 7) Simulation of forced vibratory system with Non-linear damping. 8) Simulation of Compound pendulum. 9) Two degree of freedom spring-mass-damper system with free vibration. 10) Two degree of freedom free vibratory spring-mass system with forced vibration by considering friction. 11) Implementation of PID controller in Tuning and control of dynamic systems. 12) Simulation of Simple pendulum using SimMechanics. 13) Simulation of Four bar mechanism using SimMechanics. 14) Simulation of Hydraulic system with Single-Acting Cylinder using SimHydraulics. 15) Simulation of Hydraulic system with Double-Acting Cylinder SimHydraulics.
1) Write the program for the task given: The motion of the simple pendulum is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds). Assume the value of ω=1 rad/sec. Analyze the system by MATLAB Programming and validate the solution by using SIMULINK.
Equation can be written as the system of two differential equations for z=[z1,z2], with assumptions as
Then the stage comes to reduce the second order differential equation interms of Ѳ to a first order differential equation in terms of z which is termed as state-variable method.
MATLAB PROGRAM:- Create the function file and save it as expone.m in the current working directory of MATLAB:
Function of the Program:-
Function dzdt=expone(t,z) w=1; dzdt=[z(2); -w^2*sin(z(1))];
The motion of the compound pendulum is modeled by the following equation, solve the differential equation and find the displacement, velocity and acceleration with respect to time (from 0 to 120 seconds). Analyze the system by MATLAB Programming and validate the solution by using SIMULINK.
MATLAB PROGRAM:- Create the function file and save it as exptwo.m in the current working directory of MATLAB:
Function of the program:-
function dzdt=exptwo(t,z); M=1; R=1; g=9.81; b=1; dzdt=[z(2);-(b/M*R^2)*z(2)-(g/R)*sin(z(1))];
Main body of the program:-
clc; clear all; M=1; R=1; g=9.81; b=1; z0=[1 0]; tspan=[0 10]; [t z]=ode45('exptwo',tspan,z0); theta=z(:,1); thetadot=z(:,2); thetadott=-(b/M*R^2)*thetadot-(g/R)*sin(theta); plot(t,theta,t,thetadot,t,thetadott); xlabel('time in seconds'); ylabel('theta, omega and alpha'); legend('theta','thetadot','thetadott'); title(‘Kinematic analysis of system');
3) Write the program for the task given: The motion of the free vibratory spring-mass system is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds).Analyze the system by MATLAB Programming and validate the solution by using SIMULINK. Assume m=1 kg, k=2 N/m.
Then the stage comes to reduce the second order differential equation in terms of x to a first order differential equation in terms of z which is termed as state-variable method.
MATLAB PROGRAM:- Create the function file and save it as expthree.m in the current working directory of MATLAB:
Function of the program:-
function dzdt = expthree(t,z); m=1; k=2; dzdt =[z(2); -(k/m)*z(1)];
Main body of the program:-
clc; clear all; m=1; k=2; z0=[0,1]; tspan =[0,120]; [t,z] = ode45('expthree',tspan,z0); x=z(:,1); v=z(:,2; acc=-(k/m)*x; plot(t,x,t,v,t,acc); xlabel('t'); ylabel('x(t),v(t)and a(t)'); legend('displacement','velocity','acceleration'); title('position, velocity and acceleration variation with respect to time');
4) Write the program for the task given: The motion of the forced vibratory system with spring- mass system is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds).Analyze the system by MATLAB Programming and validate the solution by using SIMULINK. Assume m=1 kg, k=2 N/m, F=120N and ω=1 rad/sec.
M*(d2x/dt2)+K*x(t)=F*sin(w*t) Then the stage comes to reduce the second order differential equation in terms of x to a first order differential equation in terms of z which is termed as state-variable method.
MATLAB PROGRAM:- Create the function file and save it as expfour.m in the current working directory of MATLAB: Function of the program:- function dzdt = expfour(t,z); m=1; k=2 w=1; f=120; dzdt =[z(2); -(k/m)*z(1)+(f/m)*sin(w*t)];
Main body of the program:-
clc; clear all; m=1; k=2; w=1; f=120; z0=[0,1]; tspan =[0,120]; [t,z] = ode45('expfour',tspan,z0); x=z(:,1); v=z(:,2; acc=-(k/m)*x+(f/m)*sin(w*t); plot(t,x,t,v,t,acc); xlabel('t'); ylabel('x(t),v(t)and a(t)'); legend('displacement','velocity','acceleration'); title('position, velocity and acceleration variation with respect to time');
5) Write the program for the task given: The motion of the free vibratory system with spring-mass- damping system is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds).Analyze the system by MATLAB Programming and validate the solution by using SIMULINK. Assume m=1 kg, c=0.5 Ns/m, k=2 N/m.
M*(d2x/dt2)+C*(dx/dt)+K*x(t)=0 Then the stage comes to reduce the second order differential equation in terms of x to a first order differential equation in terms of z which is termed as state-variable method.
MATLAB PROGRAM:- Create the function file and save it as expfive.m in the current working directory of MATLAB: Function of the program:- function dzdt = expfive(t,z); m=1; k=2 c=0.5; dzdt =[z(2); -(k/m)*z(1)-(c/m)*z(2)];
Main body of the program:-
clc; clear all; m=1; k=2; w=1; f=120; z0=[0,1]; tspan =[0,120]; [t,z] = ode45('expfive',tspan,z0); x=z(:,1); v=z(:,2; acc=-(k/m)*x+(c/m)*v; plot(t,x,t,v,t,acc); xlabel('t'); ylabel('x(t),v(t)and a(t)'); legend('displacement','velocity','acceleration'); title('position, velocity and acceleration variation with respect to time');
6) Write the program for the task given: The motion of the forced vibratory system with spring- mass-damping system is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds).Analyze the system by MATLAB Programming and validate the solution by using SIMULINK. Assume m=1 kg, c=0.5 Ns/m, k=2 N/m, ω=1 rad/sec and F=120 N.
M*(d2x/dt2)+C*(dx/dt)+K*x(t)=F*sin(ω*t) Then the stage comes to reduce the second order differential equation in terms of x to a first order differential equation in terms of z which is termed as state-variable method.
MATLAB PROGRAM:- Create the function file and save it as expsix.m in the current working directory of MATLAB: Function of the program:- function dzdt = expsix(t,z); m=1; k=2 c=0.5; w=1; f=120; dzdt =[z(2); -(k/m)*z(1)-(c/m)*z(2)]; Main body of the program:- clc; clear all; m=1; k=2; w=1; f=120; z0=[0,1]; tspan =[0,120]; [t,z] = ode45('expsix',tspan,z0); x=z(:,1); v=z(:,2; acc=-(k/m)*x+(c/m)*v; plot(t,x,t,v,t,acc); xlabel('t'); ylabel('x(t),v(t)and a(t)'); legend('displacement','velocity','acceleration'); title('position, velocity and acceleration variation with respect to time');
7) Write the program for the task given: The motion of the forced vibratory system with nonlinear damping system is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds).Analyze the system by MATLAB Programming and validate the solution by using SIMULINK. Assume m=10 kg, CD=2 N/m/s, F(t)=12*sin(5*t)N.
m*(d2x/dt2)+CD*(dx/dt)^2=F(t) The above equation can be rewritten as:
Then the stage comes to reduce the second order differential equation in terms of x to a first order differential equation in terms of z which is termed as state-variable method.
MATLAB PROGRAM:- Create the function file and save it as exptest.m in the current working directory of MATLAB: Function of the program:- function dzdt = exptest(t,z); m=10; CD=0.5; F=12*sin(5*t); dzdt =[z(2); (F/m)*sin(5*t)-(CD/m)*z(2)^2]; Main body of the program:- clc; clear all; m=10; CD=0.5; F=12*sin(5*t); z0=[0,1]; tspan =[0,120]; [t,z] = ode45('exptest',tspan,z0); x=z(:,1); v=z(:,2; acc=(F/m)*sin(5*t)-(CD/m)*v^2; plot(t,x,t,v,t,acc); xlabel('t'); ylabel('x(t),v(t)and a(t)'); legend('displacement','velocity','acceleration'); title('position, velocity and acceleration variation with respect to time');
8) Write the program for the task given: The motion of the compound pendulum is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds).Assume the value of d=0.023 m, m=0.43 kg, L=0.495 m, J=0.009 kg-m2, c=0.00035, g=9.81. Analyze the system by MATLAB Programming and validate the solution by using SIMULINK.
The system of above equation can be rewritten as
Equation can be written as the system of two differential equations for z=[z1,z2], with assumptions as
Then the stage comes to reduce the second order differential equation interms of Ѳ to a first order differential equation in terms of z which is termed as state-variable method.
MATLAB PROGRAM:- Create the function file and save it as explearn.m in the current working directory of MATLAB:
Function of the Program:-
Function dzdt=explearn(t,z) d=0.0023; m=0.43; l=0.495; j=0.009; c=0.00035; g=9.81; dzdt=[z(2); -(c/j)*z(2)-(m*g*d/j)*sin(z(1))];
9) Write the program for the task given: The motion of the Two Degree of freedom free vibratory system with spring-mass-damping system is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds). Analyze the system by MATLAB Programming and validate the solution by using SIMULINK. Assume m1=4 kg, m2=6 kg, k1=2N/m,k2=3N/m, c1=1.5Ns/m, c2=3.0 Ns/m.
MATLAB PROGRAM:- Create the following function file and save it as twodof.m in the current working directory of Matlab: Function of the Program:- function dxdt=twodof(t,x); c1=1.5; c2=3.0; k1=2; k2=3; m1=4; m2=6; dxdt=[x(2);-(c1/m1)*(x(2)-x(4))-(k1/m1)*(x(1)-x(3));x(4);-(c1/m1)*(x(4)-x(2)) (c2/m2)*x(4)-(k1/m2)*(x(3)-x(1))-(k2/m2)*x(3)];
clc; clear all; tspan=0:1:60; x0=[10,0,0,0]; %start with cart 1 deflected 10mm from equilibrium c1=1.5; c2=3.0; k1=2; k2=3; m1=4; m2=6; [t,x]=ode45('twodof',tspan,x0); disp1=x(:,1); vel1=x(:,2); disp2=x(:,3); vel2=x(:,4); acc1=(k1/m1)*(disp2-disp1)+(c1/m1)*(vel2-vel1); acc2=-(k1/m2)*(disp2-disp1)-(c1/m2)*(vel2-vel1)-(k2/m2)*disp2-(c2/m2)*vel2; plot(t,disp1,t,vel1,t,acc1); %plot(t,disp2,t,vel2,t,acc2); xlabel('Time'); ylabel('Cart 1 and cart2 behaviour of x1 v1 x2 v2'); legend('x1','v1','x2','v2'); title('two dof system behaviour');
NOTE:-There will be test to check the understanding level posing question on Two degree of freedom Free and forced vibratory system on spring-mass and spring-mass-damper system. Students should be able to obtain the solution for exercise by MATLAB Programming and validate your Solution by Simulink Design.
10) Write the program for the task given: The motion of the Two Degree of freedom forced vibratory system with spring-mass system by considering friction is modeled by the following equation, solve the differential equation and find the displacement, velocity with respect to time (from 0 to 120 seconds). Analyze the system by MATLAB Programming and validate the solution by using SIMULINK. Assume M1=1kg, M2=2kg, k=1N/m, F=1; mu=0.002; g=9.81.
MATLAB PROGRAM:- Create the following function file and save it as twodofwithfriction.m in the current working directory of Matlab: Function of the Program:- function dzdt=twodofwithfriction(t,z,mu,g,f,k,m1,m2); mu=0.02; g=9.81; f=1; k=1; m1=1; m2=2; dzdt=zeros(4,1); dzdt(1)=z(2); dzdt(2)=-(k/m1)*(z(1)-z(3))-mu*g*z(2)-(f/m1) dzdt(3)=z(4); dzdt(4)=-(k/m2)*(z(1)-z(3))-mu*g*z(4);
