02 the role of modeling, simulation and analysis stage in mechatronics systems design education

Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 The Role Of Modeling, Simulation And Analysis Stage In Mechatronics Systems Design Education 1,2 Farhan A Salem Mechatronics engineering program, Dept of Mechanical Engineering, College of Engineering, Taif University, 888, Taif, Saudi Arabia Alpha center for Engineering Studies and Technology Researches, Amman, Jordan Abstract—Mechatronics systems are designed with synergy and integration toward constrains like higher performance, speed, precision, efficiency, lower costs and functionality and operate with exceptional high levels of accuracy and speed despite adverse effects of system nonlinearities, uncertainties and disturbances, therefore, such constrains must be tested, verified, refined, ensured and met In order to evaluate such concepts and others generated during the design process, without building and testing each one and take corresponding design decisions, Modeling, simulation and evaluation, play a critical role and considered as highly important during the design stages of a Mechatronic system The primary challenge in modelling and simulation of Mechatronic systems lies in their multidisciplinary and crosses domain boundaries nature This paper focuses on modelling, simulation, analysis and evaluation stage in Mechatronics design and development education oriented methodology, concepts, description, role, classification and applications are presented and discussed, and by means of examples-projects The paper is intended to support engineering educators and help students in solving Mechatronics design and development tasks A short review of scientific resources on modelling and simulation in Mechatronics are also presented Keywords—Mechatronics education, Design methodology, Modeling, Simulation, Analysis I INTRODUCTION The modern advances in information technology and decision making, as well as the synergetic integration of different fundamental engineering domains caused the engineering problems to get harder, broader and deeper Problems are multidisciplinary and to solve them require a multidisciplinary engineering systems approach, such modern multidisciplinary systems are called Mechatronics systems[1-2].Mechatronics engineer is expected to design products with synergy and integration toward constrains like higher performance, speed, precision, efficiency, lower costs and functionality, also in order to evaluate such concepts and others generated during the design process, without building and testing each one, Mechatronics engineer must be skilled in the modeling, simulation, analysis and control of dynamic systems and understand the key issues in hardware implementation[3] due to different disciplines involved, the Mechatronics design process may become very complex, and correspondingly, engineering educators face daunting challenges The key element in success of a Mechatronics engineering program, and correspondingly Mechatronics engineering graduates, is directly related to the applied structural design methodology A guidelines for structural design methodology and tools for the development process of Mechatronic products, that can support educators and help students in solving Mechatronics design integrated tasks with their specific properties and can be applied in educational process is highly required, such guidelines for structural design methodology are proposed in [1-2], this methodology is developed, based on VDI 2206 guideline [5] and different industrial, scientific and educational resources including [4-20], and is proposed to fulfill Mechatronics optimal program requirements The proposed methodology consists of a systematic specific simple and clear steps (depicted in diagram 1) that are easy to memorize, follow and aims to support engineering educators and help non experienced student or group of students to integrate gained multidisciplinary abilities and knowledge, in various stages in solving Mechatronics design integrated tasks This paper extends writer's work [1-2] and focuses on Modeling, simulation, analysis and evaluation stage and corresponding concepts in Mechatronics design and development methodology, concepts, description, role, classification and applications are to be presented, explained and discussed, and by means of examples-projects The papers is intended to support engineering educators and help students in solving Mechatronics design and development tasks, also, a review of scientific resources on modelling and simulation in Mechatronics are presented I.I MECHATRONICS SYSTEMS DESIGN APPROACH There are many definitions of Mechatronics, it can be defined as multidisciplinary concept, it is the synergistic integration of mechanical engineering, electric engineering, electronic systems, information technology, intelligent control system, and computer www.jmest.org JMESTN42351003 2700 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 hardware and software to manage complexity, uncertainty, and communication through the design and manufacture of products and processes from the very start of the design process, thus enabling complex decision making Modern products are considered Mechatronics products, since, it is comprehensive mechanical systems with fully integrated electronics, intelligent control system and information technology Such multidisciplinary and complex products, considering the top two drivers in industry today for improving development processes, that are shorter product-development schedules and increased customer demand for better performing products, demand another approach for efficient development Mechatronic system design process addresses these challenges, it is a modern interdisciplinary design procedure, it is the concurrent selection, evaluation, integration, and optimization of the system and all its sub-systems and components as a whole and concurrently, all the design disciplines work in parallel and collaboratively throughout the design and development process to produce an overall optimal design– no after-thought add-ons allowed, this approach offers less constrains and shortened development, also allows the design engineers to provide feedback to each other about how their part of design is effect by others Integration refers to combining disparate data or systems so they work as one system The integration within a Mechatronics system can be performed in two kinds, a) through the integration of components (hardware integration) and b) through the integration by information processing (software integration) based on advanced control function The integration of components results from designing the Mechatronics system as an overall system, and embedding the sensor, actuators, and microcomputers into the mechanical process, the microcomputers can be integrated with actuators, the process, or sensor or be arranged at several places Integrated sensors and microcomputers lead to smart sensors, and integrated actuators and microcomputers developed into smart actuators For large systems bus connections will replace the many cable Hence, there are several possibilities to build up an integrated overall system by proper integration of the hardware Synergy from the Greek word synergeia meaning "working together“ and refers to the creation of a whole final products that is better than the simple sum of its parts, an integrated and concurrent design should result in a better product than one obtained through an uncoupled or sequential design [2][21] synergy can be generated by the right combination of parameters www.jmest.org JMESTN42351003 2701 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 Pre-Study Process (The problem statement ) : (It is the process of understanding what the problem is, its goals and functions , and to state it in clear terms Done by identification, gathering and analysis as much as possible information about) : Target user, market and user interests/needs/requirements id entification and analysis; (build user requirements table) System requirements/specifications identification, definition and analysis; functional, Performance and environmental and non-functional requirements a Build requirements analysis table; fixed and soft requirements, d escription and types Create d etailed functional specifications Aesthetics: if pleasing elegant design is required, color, shape, form and texture to be specified The problem statement in clear terms : based on up steps, d escription of what is the problem? the goal? simultaneous synergistic integration and optimization of the system and all its subsystems as a whole, no after-thought add-ons allowed Iterate forward and backward to fulfill requirements b the top-level functions, and/or state the problem in terms of the deficiency that must be ameliorated user and system requirements, Conceptual Design, functional specifications and their structure (Consider the system as a whole, building a description of it in terms of an interdisciplinary set of integrated general ideas and concepts, conceptual design is usually evolve from problem statement; user and system requirements) Id entification, d escription and analysis of the required system ,what is the system?, it's overall function? , sub-functions?, behavior/performance?, how it looks like? a Id entify system’s preliminary necessary structure ( e.g mechanical, electric, control….), Break down the overall function/system into subfunction/subsystems; what are major subsystems/components? what are subsystem’s/components' f unctions? how components interact ?and how they should be connected? Built system functional mod el (function box, Sequence or Hierarchy ), d epicting the flow of (information, Energy or Material) between the system’s components Generate preliminary d ecisions about the d ominant mechanical properties, (e.g matrials, sizing, volume, DOF, joints types) Morphological analysis; Build Morphological table, suggest solutions for functions, evaluate the best solution b A preliminary id eas about mechanical, electric problems and the necessary sensors, actuators, interfaces c Build preliminarysystem block d iagram and layout of main components d A preliminary economic analysis;feasibility stud y , cost -benefit evaluation Parallel (concurrent) selection, evaluation, synergetic integration and optimization of the system and all its sub-systems as a whole and concurrently, all the design disciplines work in parallel and collaboratively throughout the design and development process to produce an overall optimal design– no after-thought add-ons allowed Designing system as a whole, serve as methodological basis for Mechatronic Systems development a Divid ed the system into realizable mod ules ( subsystems) b Parallel (concurrent) optimal selection, evaluation, synergetic integration and optimization of the system and all its mod ules-sub-systems and all components as a whole and concurrently throughout the d esign and d evelopment process, with respect to the realization of the d esign specifications and requirements Mechanical sub-system; the d esign of all mechanical aspects in full d etails to meet the requirements; structure Eements, Mechanisms, Dimensions, Materials, Properties, Parameters (CAD/CAM tools ) Control unit sub-system Control algorithm and d esign Human–machine interaction field Sensors subsystem Actuators subsystem Electric & Electronics; Interconnections, signal cond itioning, interfacing Develop system's complete and d etailed block d iagram layout c d Synergy can be generated by the right combination /selection of proper parameters that is, the final prod uct can be better than just the sum of its parts Integration refers to co mbin ing d isparate d ata or systems so they work as one system The integration can be performed in two kind s: The integration of components (hard ware integration ), results from designing the mechatronics system as an overall system and embedding (placement ) the sensors, actuators, and microcomputers into the mechanical process The integration by information processing (software integration) is based on advanced control function Modeling, simulation ,analysis and evaluating: The main goal; early identifying system level problems (to verify main and sub-functions and to test and analyze sub-systems and the whole system model), and ensuring that all design requirements are met (satisfied) a Modeling process ; Verifying sub-functions and testing sub-systems, consists of two levels: Subsystems models; in open and closed loop Overall system model; the verified sub-functions and tested sub-systems are integrated in one overall system mod el interacting similar to real situation is checked b Two types of modeling process ; Analytical modeling; Represent the sub-systems and whole system using mathematical equations suitable for computer simulation ( e.g MATLAB, Labviev) Physical (Experimental ) modeling; based on obtained measurements from the system c Simulation process ; is used to d ecid e on the d esign specifications of the mechatronic system in terms of specification of requirements simulation d ivid ed into three parts: Mechanical simulation; To test the kinematics and d ynamics variables System simulation; To test the system’s response to d ifferent inputs in both open and closed loop Electronic simulation; To test circuits functionality and compatibility Prototyping, testing, evaluation and optimization To take into account the unmodeled errors and enhance precision, performance and gather early user feedback Prototype development may be carried out in the following two forms a Virtual Prototype: 2-3D mod el of a prod uct presented in a virtual (PC) environment with, ideally, all information and properties includ ed , used to examine, manipulate, and test the form, fit, motion, logistics, and human factors of conceptual d esigns on a computer monitor, Physical Prototype: system integration to ensure that subsystems, components and whole system work together und er operating cond ition Manufacturing and Commercialization Support, Service and Market feedback Analysis Figure Systematic guideline steps for Mechatronics systems design education-oriented methodology www.jmest.org JMESTN42351003 2702 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 II MODELING, SIMULATION, ANALYSIS AND EVALUATION Modeling, simulation, analysis and evaluation, play a critical role during the design stages of a Mechatronic system, the primary challenge in modeling and simulation of Mechatronic systems lies in their multi-domain nature, consisting of many different interconnected, interdisciplinary, integrated subsystems (and components such as, sensors, actuators, interfaces and mechanical geometry), modeling and simulation are multidisciplinary and crosses domain boundaries In evaluating concepts, a modeling-simulation-andanalysis approach must replace any design-build-andtest approach, due to this, the key essential characteristics of a Mechatronics engineer and success in Mechatronics design, are a balance between two skills; Modeling/Analysis skills and Experimentation/Hardware implementation skills [1-3] The main goal of Modeling, simulation and evaluation in Mechatronics design are; to support important design decisions by early identifying system level problems (to verify sub-functions and test subsystems), and ensuring that all design requirements are met Mechatronics design approach challenge conventional sequential design approach, by connecting machine design-test tools and creating a virtual machine prototype before designing the physical machine, to take all advantages that can result from an integrated design, this approach offers less constrains and shortened development, also allows the design engineers to provide feedback to each other about how their part of design is effect by others [1,2,9] II.I CONCEPTS, DESCRIPTION, ROLE, CLASSIFICATION AND APPLICATIONS Referring to VDI 2206 design guidelines[5], four types of models are usually given for Mechatronic systems; namely topologic, physic, mathematic and numeric models [5] A short introduction to these models and corresponding concepts in Mechatronics system design are followed next, later explained by examples A model is a simplified representation of a system at some particular point in time or space intended to promote understanding of the real system Modeling is the construction process of physical, conceptual or mathematical simulations of the real world Mathematical Modeling: A process of representing the behavior of a real system by a collection of mathematical equations and/or logic, any modeling task requires the formulation of mathematical models suitable for computer simulation or solution Topological modeling (Figure 2(b)): a mathematical approach that allows to structure data based on the principles of feature adjacency and feature connectivity (describes and reflects interlinks, the function-performing elements, basically the relative position between each component, without considering the physics behind), Topology of mechanical elements could be presented in various ways (e.g graphs, free-body diagrams, tree-structure) and essentially determines the kinematics of Mechatronic systems, Based on topology descriptions, a physical model is created and describes system properties in system adapted variables – e.g masses and length for mechanical systems [4,23] Physical model; One that physically represents an object (figure 2(b)), may be applied to understand the type of forces being acting and applied Simulation is the process of solving the model i.e solving mathematical equations and/or logic equations, simulation generally refers to a computerized version of the model which is run over time to study the implications of the defined interactions In order to simulate a Mechatronic system, a multi-domain simulation environment is required Multi-domain simulation could be achieved in different ways: a more traditional way is to use a general-purpose solver to simulate each subsystem and the whole integrated system, other way, called co-simulation, [26] Co-simulation is to use different communicating solvers, to simulate each subsystem and whole system It is a test software tool, used in order to validate the design choices and to develop the model on gradually decreasing levels of abstraction Hardware-in-the-Loop simulation (HILS) is a technique that is used in the development and test of complex process systems and real-time embedded systems It differs from pure real-time simulation by the addition of a real component in the loop via their electrical interfaces to a simulator, which reproduces the behavior of the real time environment; this component may be an electronic control unit or a real engine The hardware-in-the-loop simulation testing provides the designer with reassurance that any assumptions made on the plant model were correct, if any assumptions were incorrect, however, the designer has the opportunity to optimize the design [24] Various kinds of HILS can be realized, simulation of electronics, mechanics, sensors and actuators Optimization is to obtain maximum benefits, from the given resources under the given constraints, the achievement of optimal performance for the required system performance specifications Unmodeled errors, it is usually very difficult to build exact mathematical model for complex Mechatronics systems including all components However, there is no single model which can ever flawlessly reproduce reality, there will always be errors called as unmodeled errors between behavior of a product model and the actual product These unmodeled errors are the reason why there are so many modelbased designs failed when deployed to the product In order to take into account the unmodeled errors in the design process, the Mechatronics design approach includes virtual and physical prototyping phase Prototyping is putting together a working model, serves to provide specifications for a real, working system rather than a theoretical one, it is believed to reduce project risks and cost Modeling, simulation, analysis and evaluation processes in Mechatronics design consists of two levels; subsystems models (e.g mechanical, electrical and electronic components, plant-dynamics, www.jmest.org JMESTN42351003 2703 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 inertias, energy flow, gears, interfaces, sensors, actuators, control) and overall system model with various sub-system models interacting similar to real situation, all engineering subsystems should be included in overall system model There are two types of modeling process; a) Analytical modeling: (models can be obtained by either a theoretical approach based on physical laws), It is the process of representing the system using mathematical equations, suitable for computer simulation and used to describe changes in a system, analytical models are used to assist in systems analysis; calculations and predictions and plays a critical role during the design stages of a Mechatronic system For all but the simplest systems, the performance aspects of components (such as sensors, actuators, and mechanical geometry) and their effect on system performance can only be evaluated by simulation [6] b) Physical (Experimental) modeling: models can be obtained experimental approach based on obtained measurements from the system Once models are available, simulation is used to decide on the design specifications of the whole Mechatronic system, based on the specification of requirements, the performance aspects of subsystems (and components) and their effect on system performance and test circuits functionality and compatibility, can only be evaluated by simulation[24] The simulation can be divided into three parts: mechanical, electronic and system simulation; Mechanical simulation; used to test the kinematics and dynamics variables System simulation; to test the system‟s response to different inputs in both open and closed loop, where control system (laws) design involves formulation of reasonably accurate models of the plant to be controlled, designing control laws based on the derived models and simulating the designed control laws using available simulation tools e.g ProEngineer and Solid-Works, MATLAB/Simulink, Labview The subsystem model parameters should be determined based on the designed mechanical components and the selected actuators and sensors The designer has the freedom to modify these values, increase the number of inputs/outputs used and include non-linearities in the subsequent design iterations [26] Electronic simulation; To test circuits functionality and compatibility and evaluate the selection and design of interconnections, signal conditioning, and interfacing circuits, including; Drivecircuits ( e.g relays, MOSFETs, L93DIC, transistors,), signals ( e.g control signal, PWM signal), programming of control unit (e.g Microcontroller), sensors, motor position-speed, the overall system or any such subsystem can be simulated using different computer software tools e.g Saber, ISIS-Proteus and MATLAB Commercial software tools available to design, model and simulate Mechatronic systems, that allow the stydy and analysis of components interaction and variation in design include MATLAB/Simulink, labview, Scilab/Scicos, Ptolemy, JMathLib [19] , ADAMS, CAE tools, 3D-CAD softwares Pro/Engineer, CATIA, AMESim, ASCET-SD/CT, Saberand SolidWorks for visualization and collision detection ,MATRIX-X, ACSL A flow of modeling, simulation analysis and evaluation for Mechatronics systems design and integration procedure could be as follows (diagram 2(a) [23]: a) Problem statement: establish the goals to achieve; based on the specification of requirements and design (as well as, constrains, assumptions, performance predictions) b) System representation: 1) Since Mechatronic system consists of many different interconnected subsystems (components and elements), divided the system into realizable modules (sub-systems/sub-functions), and develop physical model; represent the integrated physical system using physical model 2) Develop the functional block diagram and show interconnections of sub-systems and components, 3) Develop mathematical model: represent system by correct dynamic equations (differential equations), this is done by first by modeling the component, then the subsystem, and finally integrated all subsystems to develop whole system model In this stage, the component, plant and subsystems models parameters should be determined based on the specification/ requirements, designed mechanical components and the selected actuators and sensors Mechatronic design requires that a mechanical system and its control system be designed as an integrated system Modeling should be considered as the most important because the quality of the final product and its performance depend on the model developed and used The designer has the freedom to modify these values, increase the number of inputs/outputs used and include non-linearities in the subsequent design iterations [18] c) Simulation: Solve the mathematical model (differential equations) d) Analyze and evaluate the design analytically, that is to early identify system level problems (to verify sub-functions and test sub-systems) and to ensure that all design requirements and specifications are met, if the specification are not met, modifications-refinements can be made, if the specifications are met, the model can be optimized e) System optimization; the achievement of optimal performance for the required system performance specifications, this can be is divided as follow: First each component are optimized, This operation can be done in parallel Second components are combined together into subsystems and each subsystem is optimized Finally subsystems are combined together into whole system is optimized h) prototyping (virtual and physical) a prototype is built to take into account the unmodeled errors in the design process and tested, if the prototype behaves as required (meets optimal performance), the design need not advance any further i) Iterate this procedure www.jmest.org JMESTN42351003 2704 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 Requirements, Specification Overall integrated system physical model mechanical, electrical and electronic components Mechanical system control system Electronics Overall system Mathematical model actuators,sensors Simulation; solving Mathematical model (software tools) Analyze & evaluate Optimization Virtual prototyping Modifications & integration Figure 2(a) flow of modeling, simulation analysis and evaluation for Mechatronics systems design [23] Figure 2(b) The modeling process of Mechatronic product [23] III EXAMPLES -CASE STUDIES Considering that industrial projects are quite different from academic projects Industrial project require a quick and dynamic interaction oriented to reduce the project time and get the final results [25] In this part, are to be introduced and discussed Mechatronics system education oriented design example-projects with emphasize on modeling, simulation analysis and evaluation concepts, also, for engineering educators and students for getting more and detailed information on application of Mechatronics design approach concepts applied in products design and deployment, the following industrial, scientific, educational and research recourse, are proposed: [1-2][26-43] A detailed explained example-projects on Mechatronics system design and mathematical modeling, as a stage of design process, can be found in [2,26,44-52] In [52], an overview of the state-of-the art in modeling and simulation, and studies to which extent current simulation technologies can effectively support the design process is presented, that focuses on modeling for design of multi-disciplinary engineering systems that combine continuous time and discrete time phenomena III.I MODELING , SIMULATION AND ANALYSIS OF SOLAR ELECTRIC VEHICLE (SEV) considerations regarding design, modeling and control solutions are proposed SEV system consists of eight main subsystems, shown in Figure 3(a)(b), in particular: PhotoVoltaic panel, DC/DC converter, PWM generator, battery bank, DC machine (one or more electric or traction motors) for propulsion drive system, sensing devices, control units (one or more controllers) and vehicle platform with its kinematic and dynamic Evaluating concepts, and supporting important design decisions can by done by early identifying system level problems (to verify subfunctions and test sub-systems), and ensuring that all design requirements are met, therefore, each subsystem, is mathematically described and corresponding Mechanical or System simulation sub-model in Simulink is developed, then an integrated of all subsystems, overall SEV system model is developed, tested and evaluated simulation (sub-)models of overall SEV system, are developed to allow designer to have the maximum output data to to design, tested, analyze and evaluate overall SEV system and/or each subsystem outputs characteristics and response, for desired overall and/or either subsystem's specific outputs, under various PV subsystem input operating conditions, to meet particular SEV system requirements and performance Each of these subsystems modeling, simulation and synergetic integration is summarized/discussed next In [44], a refined model for Mechatronics design of pure solar electric vehicles (SEV) and some www.jmest.org JMESTN42351003 2705 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 III.I.I PV PANEL SUBSYSTEM MODELING AND SIMULATION SEV uses the PV panel as electricity generator to convert the irradiance from sunlight into electricity to generate its own power, The circuit diagram of PV cell is shown as sub-circuit in Figure (a) A mathematical description of a PV cell/panel in terms of output voltage, current, power and I-V and P-V characteristics are given by Eq.(1), based on these equation, PV Panel System simulation ( in MATLAB) sub-model shown in Figure 3(c) is developed III.I.II DC/DC BUCK CONVERTER SUBSYSTEM MODELING AND SIMULATION The circuit diagram is shown as sub-circuit in Figure 3(a) The exact control of output voltage is accomplished by using a Pulse-Width-Modulation (PWM) signal to drive the buck converter MOSFETswitch ON or OFF, by controlling the switch-duty cycle D, based on this, if the principle of conservation of energy is applied then the ratio of output voltage to input voltage is given by Eq.(2) DC/DC Buck converter subsystem Simulink system simulation sub-model shown in Figure 3(d) is developed During the design of Mechatronic systems, it is important that changes in the mechanical structure and other subsystems be evaluated simultaneously; a badly designed mechanical system will never be able to give a good performance by adding a sophisticated controller, therefore, Mechatronic systems design requires that a mechanical system, dynamics and its control system structure be designed as an integrated system (this desired that (sub-)models be reusable), and correspondingly modeled and simulated to obtain unified model of both, that will simplify the analysis and prediction of whole system effects and performance This unified model is to be developed after modeling each subsystem separately III.I.III MODELING AND SIMULATION OF ELECTRIC VEHICLE SUB-SYSTEM DYNAMICS The electromechanical structure of EV is shown in Figure 3(e) The modeling of an EV sub-system dynamics involves the balance among the several acting on a running EV forces (Figure 3(f)), these acting forces are categorized into road-load and attractive force The disturbance torque to EV is the total resultant torque generated by all acting forces, given by Eq.(3), main of acting on running vehicle forces to be mathematically described including: Rolling resistance force and torque are given by Eq (4) Aerodynamic Drag force and torque given by Eq.(5) The force of wind given by Eq.(6) The hillclimbing resistance force and torque given by Eq.(7) Based on all derived forces-torques models, expressions given by Eq.(8) (9) can be proposed for total force, such that can be used to develop Simulink SEV dynamics Mechanical simulation sub-model III.I.IV MODELING AND SIMULATION OF ELECTRIC MACHINE SUBSYSTEM PMSM motor used as actuator subsystem, it is equivalent PMDC motor transfer function model given by Eq.(10), to develop Simulink Mechanical simulation sub-model, with SEV dynamics sub-model, all as one integrated model, is shown in figure 3(g) the total equivalent inertia, Jequiv and total equivalent damping, bequiv at the armature of the motor with gears attaches, are given by Eq.(11) Gears modeling: Gear ensures the transmission of the motor torque to the driving wheels The gear is modeled by the gear ratio n , rechargeable Energy source (battery) modeling is given by Eq.(12) III.I.V MODELING AND SIMULATION OF SENSING DEVICES SUBSYSTEM When the pedal is pushed, the controller delivers electrical currents from the battery to the motor; this gives the car acceleration to accelerate to the desired output speed, the sensors sense the actual output speed and fed it back to controller Tachometer is a sensor used to measure the actual output angular speed, ωL Dynamics of tachometer can be represented using Eq.(13) III.I.VI MODELING CONTROL ALGORITHM SUBSYSTEMS PI controller is widely used in variable speed applications and current regulation separate PI controller configurations will be applied for achieving desired outputs characteristics of PVPC subsystem and meeting desired output speed of whole EV system The PI controller mathematical model-transfer function is given by Eq.(14) Mechatronic systems design requires that a mechanical system, dynamics and its control system structure be designed as an integrated system and correspondingly modeled and simulated to obtain unified model of both, that will simply the analysis and prediction of whole system effects and performance The unified model of mechanical/actuator/dynamics and control/algorithm subsystems is shown in Figure 3(h,i) These subsystem to be designed, tested and evaluated as one unified model Integrating all subsystem simulation sub-models, in one model, will result in one integrated whole SEV system simulation model shown in Figure 3(g), this simulation model is to be used to Evaluate concepts, and support important design decisions, by testing, verifying and ensuring the whole SEV system, and each subsystem functions and performance III.I.VII TESTING, ANALYSIS AND EVALUATION OF WHOLE SEV SYSTEM With reference to testing a maximum speed of 23 m/s, (that is 82.8 km/h) in maximum of 10 seconds, for generated converter's output voltage of 38 DC V and for all subsystems parameters defined in[44] Each subsystem and component sub-model is to be test, evaluated and optimized, then whole system model is tested and evaluated Running whole SEV www.jmest.org JMESTN42351003 2706 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 Simulink model, will result in response curves shown in Figure 4, where in Figure 4(a) are shown linear speed, acceleration, current and motor torque response curves Meanwhile in Figure 4(b)(c) are shown generated PV panel's output voltage and converter's output voltage in Figure 4(d)(e), PV panel V-I and P-V characteristics for defined operating condition are shown Analyzing these response curves for each subsystem and/or whole SEV system, we can verify sub-functions and test sub-systems and ensure that all design requirements are met, The obtained response curves show that most of design (and performance) requirements are met, The PV panel-converter generates output constant voltage of 38 DC V, and the SEV reaches desired speed of 23 m/s in less that 10 s, without overshoot and oscillation) In case, if the specification are not met, modifications-refinements can be made, if the specifications are met, the model can be optimized, for optimal performance for the required system performance specifications, I  I ph  I d  IRSH  I   I sc  K i T T ref    T  T  T ref I S (T )  I S   e T ref   qE g  1   NKT    T  T ref  I S (T )  I S   e T ref   qE g     T  NKT  V out Ton I  D  in V out  D *V in  D  V in I out T on T off (2) FTotal  Faerod  Frolling  Fclimb  Fangl _ acc  Flin _ acc  Fw in d (3) FRolling  Fnormal _ force *Cr  M * g *Cr *cos( ) FRolling  M * g *Cr , on a level surface ,   0, cos    (4) TRolling   M * g *Cr *cos( )  * r Faerod  0.5* * A*Cd * vehicl  wind  1  Taerod   *  * A*Cd *vehicl  * r 2  Fwind  0.5*  * A*Cd * vehicl  wind  Fclimb  M * g *sin( ) Tclimb  Fslope =  M * g *sin( )  * r (5) (6) (7) (1)  IR )   V  R S I      q (VNKT   Is  e  1      1000       R sh  S FTotal  M   M  g sin( )  sign ( )Mg cos( )C r  sign (  wind )0.5C d A (  wind )2 (8) Or FTotal  0.5*  *A*Cd *vehicl  M * g *Cr *cos( )  M * g *sin( )  J  0.5*  *C L * B *  Faerod  Kwind   Gopen (s )  platform (s ) V in (s ) N  bequiv  bm  b Load   N2  J load  I Battery     wind   wind 0.98    0.63        J n2   d a   M  wheel  2  r r  dt    wind    0.4          Kt / n  Las  R a  (J equiv s  bequiv s )   Las  R a T   K b K t N   J equiv  J m  J Load   N2  N  bh  J equiv  J motor  J gear  Jveh  (J wheel  mr )   12 N2  (11) V oc  V oc2  4(R in  Rt ) Pb V out t   K tach d  t  dt V out t   K tach   K tach  (12) V out  s  (13)  s   K  K P s  I  K P  K P s  Z o  K I K Ps  K I  G PI (s )  K P       s s s s   (T s  1) G PI (s )  K PI * I  K PI * 1   TI s  TI s  Gopen (s )  (14) 2K tach * K t 2bequiv La s  r MLa s  2bequiv R a s  r MR a s  C r La s  2J equiv La s  2K b K t  C r R a  2J equiv R a 2 (10) 2(R in  R t ) (9) (15) www.jmest.org JMESTN42351003 2707 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 36.76 1/L Vin 1 s Product Duty cycle, D IL ((RL+Ron)+((R*Rc)/(R+Rc)))/L Duty cy cle, D switchin signal (0,1) PWM (R*Rc)/(R+Rc) Vo R/(C*(R+Rc)) PWM Generator Subsystem I s R/(R+Rc) 1/(C*(R+Rc)) Figure (a) SEV system circuit diagram, main subsystems IPV R/(L*(R+Rc)) Figure 3(d) Buck converter system simulation submodel[44] I Battery* VPV V Vc Gears Tmotor DC Machine TEV ωmotor PV Control systems EV Load V, I Power converter Driver s I Figure 3(e) EV's Electromechanical structure[44] Mechanical transmission Controller : Current & speed Electric motor Mechanical coupling Battery * V.R ωEV Speed sensor α Figure (b) SEV system diagram, main subsystems Figure 3(a)(b) SEV system diagram and main subsystems, including; PV panel, DC/DC converter, battery bank, DC machine, control units and platform, [44] α M*g Road incl Figure 3(f) Forces acting on a running vehicle[44] P: The invironment ( air) density (kg/m3) 22 A:Cross-sectional area of SMEV, where it is the widest, (m2)1 21 Cd : Aerodynamic drag coefficient1 20 Divide43 Divide31 Divide45 aerodaynamic torque, 0.5*p*A*Cd*v^1 Divide46 Cd aerodynamics lift force [P] B : SMEV underside area1 15 Divide25 From Isc 10 Vo Ns Module V Is Derivative,1 Divide48 Divide49 0.5 V.mat To File ' Panel V out 17 Speed PI Prefilter 18 PI or PID (outer speed) Current PI Prefilter '' 16 Inverter summing d3 95.37 L, Armature Inductance B0 Cell Vout P [P] B PV cell voltage V Goto q Cell P-V- 1000 V V1 P eu V OUTER controller output Id I I du/dt rads2mps= R_wheel*(2*pi)/(2*pi).1 Derivative1 Divide,2 den(s) Divide39 Integrator1 Divide40 -K4 Inertia motor+ load angular speed Torque [conv_Iout] Transfer function 1/(Js+b) Current to load 95.37 Ra, Armature Resistance All viscous damping output anguale speed, Omega Converter I out Divide36 Divide37 n, Gear ratio ''3 T, Torque, Kt, Torque constant 10 current Cell I out To File1 , , Acceleration in m/(s^2) Kb, EMF constant 19 Cell Power out -10.4 P.mat linear speed in m/s 11 Divide1 r, wheel radius [load_Iout] s OUTER LOOP from summing d2 T Ki 10 wheel radius, V=W*r2 Divide19 11 7 Vin, Input Volt,(0 :30) OUTER LOOP from summing d1 B r*m/2 d1 d3 ' du/dt r^2m/2 correct2 Coloum friction INNER controller output 0.5 -K- r*m*g/2 , correct2 r^2*m*g/1 Load current, I PV.mat Iph CL: The coefficient of lift, ( CL to be 0.10 or 0.16)1 14 Cd=0.01 g: The gravity acceleration (m/s2).1 INNER LOOP from CL r/2 1r/2 Divide47 Cr: The rolling resistance coefficients1 13 K 12 M : The mass of the mobilr robot 23 Goto1 PV module output voltage 1 conv I out PI or PID (Inner current) N Tref [conv_Iout] 25 72 , 1 ,1 Rolling resistance force M*g*Cr*cos() SinCos.1 Cd ''4 eu sin(u) cos(u) 24 Inclination angle (0:75)1 Fill Factor Ktac, Tachometer constant , Figure 3(g) integrated DC machine system - dynamic simulation sub-model [44] V Rs ''1 I Cell I-V - ''2 Np I.mat Rsh Panel I out Ish To File2 -0.3467 cell current A Cell Power in 11 Figure 3(c) PV Panel system simulation submodel[44] Cell Efficiency 100 Figure 3(h) unified model of mechanical/actuator/dynamics and control/algorithm subsystems www.jmest.org JMESTN42351003 2708 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 Duty cycle, D PV panel I out D [D] [control] PVPC Subsystem PVPV_PI_signal Signal Builder Speed regulator PI Controller [panel_Iout] PV panel current out T Linear Acceleration Vin, Input Volt,(0 :30) Ramp Input Volt(0:36) Out1 PI or PID (outer speed) Tw.s+1 Kpw T PD(s) PD(s) Irradiation, B Inertia motor+ load T, Torque, B3 n PD speed2 PV panel Volt out A n Ktach Angular speed Ktac, Tachometer constant , Kpi*Ti.s+Kpi M : The mass of the mobilr robot g: The grav ity acceleration (m/s2).1 M PI current1 CL Ts.s+1 B : SMEV underside area1 Cl Inv erter B Speed PI Pref ilter s+1/Tw OUTER LOOP f rom summing d2 Current loop Prefilter Current PI Pref ilter 1/Ti Kb, EMF constant s+1/Ti -C- INNER LOOP f rom [conv_Vout] 0.5 Cd Cd : Aerody namic drag coef f icient1 Kb, EMF PVPV_PI_signal [panel_Vout] OUTER controller output B 1/Tw Current PI I, controller [load_Iout] CL: The coef f icient of lif t, ( CL to be 0.10 or 0.16)1 g Kpwm PI(s) INNER controller output 9.8 inverter TF Speed loop prefilter V electic_vehicl19.mat m [conv_Vout] 36 22.29 r r I linear speed in m/s r, wheel radius Kt [conv_Iout] Linear Speed I electic_vehicl4.mat Kt PI(s) Conv erter V out 95.37 Ra, Armature Resistance Kt, Torque constant Ra PI current Converter V out Current to load La Ra 95.37 Np Alpha electic_vehicl3.mat L, Armature Inductance B4 PI(s) Nm Current La [conv_Iout] Conv erter I out Ns 74.31 All v iscous damping bequiv Ti.s Ns output anguale speed, Omega Ktach current regulator PI Controller Cell surf ace area A T electic_vehicl2.mat n, Gear ratio PID speed1 [panel_Vout] V Converter I out a electic_vehicl1.mat 95.86 -C- 72 sun Irrad V PI or PID (Inner current) - , Torque Acceleration in m/(s^2) MOTION PROFILE Tw.s PV panel V out B Signal Step Input Volt(0:36) -10.4 Duty cy cle D calculated [D] V_out_desired [control] PI Controller V, control electic_vehicl5.mat A:Cross-sectional area of SMEV, where it is the widest, (m2)1 Cd A PI(s) OUTER LOOP f rom summing d1 P: The inv ironment ( air) density (kg/m3) A P Cr: The rolling resistance coef f icients1 Rou, air Cr 0.5 Vout desired Cr [load_Iout] Load current, I Inclination angle (0:75)1 D desired Road slope Out1 95.37 conv I out [conv_Iout] Subsystem Load current Dawn hill profile [panel_Iout] Cell power Panel P-V [panel_Vout] , Figure 3(i) DC machine with dynamics and PI,PD controllers subsystems sub-models[44] 95.37 conv I out Inclination angle (0:75)1 Cr: The rolling resistance coef f icients1 [conv_Iout] Cd Road slope Cr Cr Out1 Rou, air A P 1/Ti s+1/Ti Current loop Prefilter 1/Tw s+1/Tw Dawn hill profile Cd A Ts.s+1 Speed loop prefilter Kpwm inverter TF PI current1 PI(s) PI current PI(s) Ti.s Kpi*Ti.s+Kpi Subsystem Load current, I OUTER LOOP f rom summing d1 P: The inv ironment ( air) density (kg/m3) Kb, EMF -C- Kb, EMF constant Cd : Aerody namic drag coef f icient1 A:Cross-sectional area of SMEV, where it is the widest, (m2)1 INNER LOOP f rom OUTER LOOP f rom summing d2 Current PI Pref ilter Speed PI Pref ilter OUTER controller output B g 9.8 M m Cl CL B Inv erter B : SMEV underside area1 g: The grav ity acceleration (m/s2).1 M : The mass of the mobilr robot r Kt Kt Ra Ra La La r B4 bequiv current regulator PI Controller PID speed1 PD speed2 PD(s) PD(s) - Panel I-V Panel P-V , [panel_Vout] [panel_Iout] D desired 0.5 D calculated 0.5 Current PI I, controller PI(s) I Np Vout desired [panel_Vout] [conv_Vout] [load_Iout] [conv_Iout] V_out_desired Nm Ns Ns A Cell surf ace area A V sun Irrad V B T Irradiation, B [D] Cell power Conv erter V out PI Controller electic_vehicl5.mat V, control [control] PVPV_PI_signal PI(s) 36 [conv_Vout] Converter V out 95.37 [conv_Iout] PV panel Volt out Conv erter I out [panel_Vout] 72 PV panel V out Converter I out , Tw.s Tw.s+1 Kpw T Duty cy cle [control] PVPV_PI_signal CL: The coef f icient of lif t, ( CL to be 0.10 or 0.16)1 INNER controller output linear speed in m/s r, wheel radius Ktach n n Ktach MOTION PROFILE Out1 Speed regulator Ramp Input Volt(0:36) PI Controller -10.4 PV panel current out [panel_Iout] Signal Signal Builder Step Input Volt(0:36) PV panel I out PVPC Subsystem D [D] Duty cycle, D Load current [load_Iout] 22.29 V electic_vehicl19.mat Linear Speed Kt, Torque constant Ra, Armature Resistance All v iscous damping L, Armature Inductance output anguale speed, Omega Current to load 95.37 I electic_vehicl4.mat Current 74.31 Alpha electic_vehicl3.mat Angular speed n, Gear ratio Ktac, Tachometer constant , Inertia motor+ load B3 -C- Vin, Input Volt,(0 :30) PI or PID (outer speed) PI or PID (Inner current) T, Torque, Acceleration in m/(s^2) 95.86 T electic_vehicl2.mat Torque a electic_vehicl1.mat Linear Acceleration Panel I-V www.jmest.org JMESTN42351003 2709 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 Figure 3(g) Whole SEV system Simulink model[44] Figure 4(d) V-I Characteristics for β=200, and T=50 SEV Response Curves 350 Linear speed Linear acceleration Tm: Torque Angular speed 300 250 Magnitude 200 150 100 50 0 0.2 0.4 0.6 0.8 1.2 Time(second) 1.4 1.6 1.8 Figure 4(a) Linear speed, acceleration, current and motor torque Response curves of SEV PV Panel Response Curves III.II CASE STUDY: MODELING, SIMULATION EVALUATION OF SMART GUIDANCE SYSTEM 80 60 X: 0.7938 Y: 36 Magnitude 40 20 Converter Vout Panel Vout -20 -40 0.2 0.4 0.6 Time(second) 0.8 Figure 4(b) PV Panel-Converter Response Curves 250 Converter I out Converter V out Panel V out Magnitude 200 150 100 X: 1.652 Y: 36 50 1.1 1.2 1.3 1.4 1.5 1.6 Time(second) 1.7 Figure 4(e) P-V Characteristics for β=200, and T=50 1.8 1.9 Figure 4(c) Figure 4(b)(c) generated PV panel's output voltage and Converter's output voltage AND In [53], the proposed Mechatronics design education oriented methodology developed in [2] was applied for Mechatronics design of smart guidance system in the form of smart Mechatronics wheelchair, shown in Figure 5(a), intended to help and support people with disabilities and special needs to perform specific predetermined tasks The system is an application example of line-follower This system is divided into the following sub-systems; Mechanical, Actuators, sensor, control unit, algorithm, electric and electronics; signals conditioning and interfaces subsystem and Human–machine interaction field, each of these subsystems is selected, modeled, simulated and integrated in whole system The selected subsystems are control unit -microcontroller, actuator - PMDC motor, Sensors - Ultrasonic proximity sensor, Speed sensor (Tachometer) and LDR-LED based line sensor (Figure 5(b) ) to track the predetermined path on ground In Mechatronics proposed design methodology, selecting sensors and actuators is followed by selecting and integrating of power supplies, drive, and signal processing conditioning circuits, in order to interface the system components ( sensor-controller-actuator) The drive is the link between the controller and actuator, the drive main job is to translate the low energy reference signals from the controller, (e.g Microcontroller), into high energy power signals to the actuator (e.g electric motor) Two software tools (MATLAB/Simulink and ISISProfessional Proteus) are used to simulate and analyze each subsystem, as well as, overall integrated robotic system Proteus software is used, to develop electronic simulation The control program written in C, with the help of MikroC program is converted to Hex File and downloaded on the simulated PIC-microcontroller and circuit, the electronic simulation of LDR-LED based line sensor, driver and whole system are shown in Figure 5(c)(d)(e), using this electronics simulation tool the circuits functionality and compatibility can be tested, also used to evaluate the selection and design of www.jmest.org JMESTN42351003 2710 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 interconnections, signal conditioning, and interfacing circuits III.II.I MODELING AND SIMULATION SUBSYSTEM AND DYNAMICS OF ACTUATOR The selected PMDC motor actuator, is described mathematically similarly as given by Eq.( 10), the mobile platform dynamics can be described mathematically as given by Eq.( 8), and can be further simplified, considering that, some of acting forces has less effect on overall system, due to the smaller size of mobile wheelchair, in comparison with SEV Mechanical simulation (to test the kinematics and dynamics) and System simulation (to test the system‟s response to different inputs) are similar to those shown in Figure 5(e), as well as, inertias, sensor (tachometer) and controller modeling and simulation The Overall system mathematical model of wheelchair system without control involved, is given by Eq.(15) Speaker Figure 5(d) Electronic Simulation of controlling DC motor driver IC L293D Control panel Electric motors Electronic circuit Sensors array Ultrasonic sensor Figure 5(a) system layout side views: Sensors ,actuator and electronics integration-placement [53] Figure 5(e)Overall system electronic simulations in Proteus III.III CO-SIMULATION Figure 5(b) LDR- LED cell Figure 5(c) LDR-LED based line sensor electronic simulation[53] Co-simulation is to use different communicating solvers, to simulate each sub-system and whole system One of the main advantages of the cosimulation is that each solver is optimized for its own specific domain From the software point of view, cosimulation is not only a simulation performed in two or more different physical domains, but it is a simulation in which several softwares run in parallel and continuously exchange data to verify the behavior of each different component of the product under specific working conditions the main disadvantage of the co-simulation approach is represented by the non trivial effort to synchronize the different solvers, though many simulators may be interfaced[26] Reference to [26], a case study on Co-simulation is introduced, a mobile elevated working platform with an articulated arm The platform is provided with four driving and steering wheels A great operational flexibility is guaranteed by four variable-length stabiliser legs Every leg has DOF, that allow multiple support configurations The articulated arm, conceived to easily cover a large work volume, has DOF There are 22 actuators for the movements of the various parts and each of them has a sensor position for the feedback control Thanks to the co- www.jmest.org JMESTN42351003 2711 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 simulation results, we were also able to implement a control-logic that allows the dynamic reconfiguration of the support stabilisers, making use of the balance of the whole structure on three of the four contact points with the ground Interactive co-simulation with the controlled machine is realized by drawing the higher performances through the integration of the ADAMS and MATLAB/Simulink softwares (Figure 6) The interface (link)between the MATLAB /Simulink environment and the Adams environment is the building block Adams-SubBlock , it is link between the control electronics developed in Simulink and the mechanical system of the machine modeled in Adams From the Adams point of view, this block receives forces in input and gives the position of the actuators in output From the MATLAB point of view, the Control Block receives positions in input and returns forces in output During the co-simulation, all the parts that formed the 3D model are moved according to the simulation results Figure 7(a) Main parts of HIL simulation for the ABS[54] Figure 7(b) The performance of the ABS HIL system[54] Figure Software integration for co-simulation III.IV HARDWARE-IN-THE-LOOP SIMULATION (HILS) In [54], a method for building a HILS of a hydraulic Antilock Braking System (ABS) based on MATLAB/Simulink is presented Figure 7(a) shows the hardware and software parts used in HIL experiments The hardware comprises of a brake handle, brake pump, hydraulic servovalves and force sensor The software comprises the vehicle dynamics, wheel dynamics, and tire model As the model is used in the context of HIL system, it has to run in real-time on the target The model is embedded as an S-function into a Simulink model by using Simulink interface block By this way, the new set of parameters can be passed into the model in the form of an array of double values The performance of the ABS HIL system signals such as; ABS input, the displacements of the spools, pressures of the master cylinder sides, and its displacement are recorded and illustrated in Figure 7(b) While Figure 7(c) shows the response of ABS and its master cylinder to foot brake push application examples on HILS and discussions can be found in different resources including: [55-58] Figure 7(c) the response of ABS and its master cylinder to foot brake push[54] IV.V TOPOLOGICAL AND PHYSICAL MODELING In [59] is described the implementation of the VDI 2206 design guideline during the modeling of a mechanism for a medical device which is operated with an electric linear actuator The topological, physical, mathematical and numerical models are obtained and proposed in order to improve an existing design Three topological models (topological model, describes and reflects interlinks, the functionperforming elements, basically the relative position between each component, without considering the physics behind) were suggested as shown in Figure 8, The main difference among them was the node www.jmest.org JMESTN42351003 2712 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 positioning of the linear actuator in reference to the nodes of the mechanic bars that resemble the leg folding mechanism After deciding upon a good topology (shaded subfigure from Figure 8) a physical model Figure 9, was created in order to understand the type of forces being applied on the main bar of the leg mechanism with the weight of a patient being applied [1] [2] [3] Figure 8: Leg folding mechanism topologies (Three topological models) [59] [4] [5] [6] [7] Figure Physical model of leg folding mechanism [59] 3.6 In [60] as a case study, Mechatronics design approach is formulated and discussed in some detail, to design and develop a students‟ final year Robotic Parking Garage project Robotic parking is a method of automatically parking and retrieving cars, using a computerized system Models of Sub-systems and whole system are developed, integrated tested, evaluated and built In [61] Mechatronics design approach is applied, where three student projects (Clamp Robot Manipulator, Mechatronics Education Kit, CNC Machine) are examined in detail, with descriptions of their goals, design, and implementation [8] [9] [10] [11] CONCLUSION In order to evaluate such concepts as performance, speed, precision, efficiency, costs, functionality, effects of system nonlinearities, uncertainties and disturbances, without building and testing each one, Modeling, simulation and evaluation, play a critical role and considered highly important during the design stages of a Mechatronic system In this paper, their main concepts, role, and description are presented and discussed, and by means of examples-projects A short review of scientific resources on modelling and simulation in Mechatronics are also presented REFERENCES [12] [13] [14] [15] [16] Farhan A Salem, Ahmad A Mahfouz Mechatronics Design And Implementation Education-Oriented Methodology; A Proposed Approach, Journal of Multidisciplinary Engineering Science and Technology Volume , Issue 03 , October – 2014 Farhan A Salem Ahmad A Mahfouz‟‟ A Proposed Approach to Mechatronics Design and Implementation Education-Oriented Methodology 'Innovative Systems Design and Engineering, Vol.4, No.10, pp 12-29, 2013 K Craig, F Stolfi (2002), “Teaching control system design through Mechatronics: academic and industrial perspectives.” Mechatronics, Vol 12, No 2, pp 371-381 Lyshevski, S.E.(2002): Mechatronic curriculum – retrospect and prospect, Mechatronics, Vol 12, No 2, pp 195-205 VDI, Verein Deutscher (2004), Ingenieure (Ed.), VDI guideline 2206,2004-06, title '' Design methodology for Mechatronic systems'' VDISociety Product and Process Engineering, Author: Technical Division Product Development and Mechatronics, Devdas Shetty, Richard A Kolk, Mechatronics systems design, II edition, (Ch 2, pp41-123, modeling and simulation of physical systems, Cengage Learning, Stamford, USA, 2011 De Silva, Clarence W (2008), Mechatronics: An Integrated Approach, CRC Press, 2005 Robert Bishop, Francis C Moon, 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Manfred Lohöfener (2008), design of Mechatronics system and benefits of open source software tools, 9th International Workshop on Research and Education in Mechatronics September 18th-19th , Bergamo, Italy John Billingsley (2008), ''Essentials of Mechatronics'' , John Wiley & Sons,2006 Kenway Chen, Jitesh Panchal, Dirk Schaefer , an integrated approach to design Mechatronics systems: cross-disciplinary constraint modeling'' , ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, IDETC/CIE 2008, New York City De Silva, Clarence W (2008), Mechatronics: An Integrated Approach, CRC Press, 2005 Sarah Brady (2008), Multidisciplinary machine building, the institute of engineering technology http://eandt.theiet.org/magazine/2008/12/machin e-building.cfm Vasilije S Vasić (2008), Mihailo P Lazarević, Standard Industrial Guideline for Mechatronic Product Design , FME Transactions, 104 , vol 36, No Devdas Shetty, Lou Manzione, Ahad Ali, Survey of Mechatronic Techniques in Modern Machine Design , Journal of Robotics , Volume 2012, Article ID 932305, pages Ortiz Sánchez-Navarro D., Méndez-Canseco M and Vargas-Soto E „‟Mechatronics Methodology Applied toDesign and Control of a Mobile Robot‟‟ 2007 F Bruno, F Caruso, L Falbo, M Muzzupappa, a co-simulation based design methodology for Mechatronics peoducts , international conference on engineering design ICED's 07,28-31 august, 2007, France Farhan A Salem, Mechatronics Design of a Mobile Robot System, I.J Intelligent and application, IJISA, 2013,03,23-36 Farhan A Salem, Mechatronics Design of Ball and Beam System: Education and Research, Control Theory and Informatics , Vol.3, No.4, 2013 Farhan A Salem, Mechatronics Design of Solar Tracking System, International Journal of Current Engineering and Technology, Vol.3, No.3, 2013 [30] Farhan A Salem, Mechatronics Design of Small Electric Vehicles; Research and Education, International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS Vol:13 No:01,pp23-36,2013 [31] Farhan A Salem, Mechatronics Design of Motion Systems; Modeling, Control and Verification International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS Vol:13 No:02 pp1-17,2013 [32] Farhan A Salem, Refined models and control solutions for Mechatronics design of mobile robotic platforms , Estonian Journal of Engineering, 2013, 19, 3, 212–238 [33] Farhan A Salem,Mechatronics motion control design of electric machines for desired deadbeat response specifications, supported by new MATLAB built-in function and simulink model, European Scientific Journal December 2013 edition vol.9, No.36 [34] Farhan A Salem , Ahmad A Mahfouz, Dynamic Modeling, Simulation and Control of Electric Machines for Mechatronics Applications, international journal of control, automation and systems Vol.1, No, April 2013 [35] Farhan A Salem , Performance Analysis, Controller Selection And Verification Of Electric Motor For Mechatronics Motion Control Applications, Using New MATLAB Built-In Function And Simulink Model, I.J Engineering and Manufacturing, 2013, 2, 11-39 [36] Ahmad A Mahfouz , Mohammed M K , Farhan A Salem , Modeling, Simulation and Dynamics Analysis Issues of Electric Motor, for Mechatronics Applications, Using Different Approaches and Verification by MATLAB/Simulink, I.J Intelligent Systems and Applications, 2013, 05, 39-57 [37] Farhan A Salem , modeling and control solutions for electric vehicle, , European Scientific Journal May 2013 edition vol.9, No.15 [38] Farhan A Salem, New refined Model for Mechatronics design of solar mobile robotic platforms, International Journal of Scientific & Engineering Research, Volume 5, Issue 8,August-2014 [39] Farhan A Salem, Modeling and Simulation issues on PhotoVoltaic systems, for Mechatronics design of solar electric applications, IPASJ International Journal of Mechanical Engineering (IIJME), Volume 2, Issue 8, August 2014 [40] Farhan A Salem, New Generalized Photovoltaic Panel-Converter system model for Mechatronics design of solar electric applications, International Journal of Scientific & Engineering Research, Volume 5, Issue 8,August-2014 [41] Farhan A Salem, Dynamic and Kinematic models and control for differential drive mobile robots, International Journal of Current www.jmest.org JMESTN42351003 2714 Journal of Multidisciplinary Engineering Science and Technology (JMEST) ISSN: 3159-0040 Vol Issue 10, October - 2015 Engineering and Technology, Vol.3, No.2 (June 2013) [42] Farhan A Salem, New refined Model for Mechatronics design of solar differential drive mobile robotic platforms, International Journal Of Engineering And Computer Science , Volume Issue 9, September 2014 Page No 8399-8417 [43] Mohammed M K Farhan A Salem, Modeling, Simulation and Control Solutions For Mechatronics Design of Solar Light Tower, IJISET - International Journal of Innovative Science, Engineering & Technology, Vol Issue 7, September 2014 [44] Farhan A Salem, Ali S Alosaimy, Modeling and Control Solutions for Mechatronics Design of Solar Battery Electric Vehicles, International Journal Of Engineering And Computer Science, Volume Issue 9, September 2014 Page No 8418-8438 [45] Farhan A Salem, Mechatronics Design of Solar Tracking System, International Journal of Current Engineering and Technology, Vol.3, No.3, 2013 [46] Farhan A Salem, Refined models and control solutions for Mechatronics design of mobile robotic platforms , Estonian Journal of Engineering, 2013, 19, 3, 212–238 [47] Mohammed M K Farhan A Salem, Modeling, Simulation and Control Solutions For Mechatronics Design of Solar Light Tower, IJISET - International Journal of Innovative Science, Engineering & Technology, Vol Issue 7, September 2014 [48] Farhan A Salem, Mechatronics Design of Motion Systems; Modeling, Control and Verification, International Journal of Mechanical & Mechatronics Engineering IJMME-IJENS Vol:13 No:02,2013 [49] Farhan A Salem, modeling and control solutions for electric vehicle, European Scientific Journal May 2013 edition vol.9, No.15, 2013 [50] Farhan A Salem, Mechatronics Design of Ball and Beam System; Education and Research, International Journal of Computational Engineering Research, Vol, 03, Issue, 9, 2013 [51] Farhan A Salem, Dynamic Modeling, Simulation and Control of Electric Machines for Mechatronics Applications, INTERNATIONAL JOURNAL OF CONTROL, AUTOMATION AND SYSTEMS VOL.1 NO.2 APRIL, 2013 [52] Rajarishi Sinha, Vei-Chung Liang, Christiaan J.J Paredis, Pradeep K Khosla, Modeling and simulation methods for design of engineering system, [53] Farhan A Salem, A Proposed Approach To Mechatronics Design And Implementation Education-Oriented Methodology,Case Study; Mechatronics Design Of Smart Guidance System-Smart Mechatronics Wheelchair, Journal of Multidisciplinary Engineering Science and Technology Volume , Issue 03 , October – 2014 [54] Ayman A Aly, Hardware-in-the-loop of Simulation for a Hydraulic Antilock Brake System, I.J Intelligent Systems and Applications, 2013, 02, 91-95 [55] Hans-Petter Halvorsen, Telemark University College, Norway , http://home.hit.no/~hansha/ [56] Daniel Simon Hardware-in-the-loop test-bed of an Unmanned Aerial Vehicle using Orccad 6th National Conference on Control Architectures of Robots, May 2011, Grenoble, France 14p.,https://hal.inria.fr/inria00599685/PDF/Simon-hardware.PDF [57] Kresimir, Cosic, Ivica Kopriva, Todor Kostic, Miroslav Slamic,Marijo Volarevi, Design and implementation of a hardware-in-the- loop simulator for a semi-automatic guided missile system, Simulation Practice and Theory7 (1999)107-123 [58] M Bacic, On hardware-in-the-loop simulation, Proceedings of the44th IEEE Conference on Decision and Control, and the European Control Conference 2005 Seville, Spain, December 1215, 2005 [59] Alejandro Velásquez López1, Mauricio Aramburo Londoño, Olga L Barrientos Isaza , Modelling of mechanisms according to VDI 2206, Virtual Concept International Workshop, Medellin – Colombia, March 2014 [60] A Saleem, T Tutunji L Al-Sharif, Mechatronic system design course for undergraduate Programmes, European Journal of Engineering Education Vol 36, No 4, August 2011, 341–356 [61] Tarek A Tutunji, Ashraf Saleem, and Saber Abd Rabbo, An Undergraduate Mechatronics Project Class at Philadelphia University, Jordan: Methodology and Experience, IEEE Transaction on Education, Vol 52, N0 3, August,2009 www.jmest.org JMESTN42351003 2715 ... Mechatronics system design and mathematical modeling, as a stage of design process, can be found in [2,26,44-52] In [52], an overview of the state -of -the art in modeling and simulation, and studies to... critical role during the design stages of a Mechatronic system, the primary challenge in modeling and simulation of Mechatronic systems lies in their multi-domain nature, consisting of many different... developed in Simulink and the mechanical system of the machine modeled in Adams From the Adams point of view, this block receives forces in input and gives the position of the actuators in output