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ENGM 541, ENGM 670-X5 670& MECE 758-X5 758Modeling and Simulation of Engineering Systems Winter 2011 Lecture

1: Introduction; Course Overview; Modeling Physical Systems, LumpedLumped-Parameter Equilibrium Systems


M.G. Lipsett Department of Mechanical Engineering University of Alberta
http://www.ualberta.ca/~mlipsett/ENGM541/ENGM541.htm

Department of Mechanical Engineering Engineering Management Group

Introduction
Engineering systems often comprise complicated assemblies of components, which can have complex behaviours that are difficult to predict

Internet Sources: www.coolestgadgets.com; www.nasa.gov; www.microway.com.au; www.pbs.org; www.emercedesbenz.com; www.syncrude.com


MG Lipsett, 2011

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Mathematical Analysis in Engineering


Engineering analysis: formulating governing equations that describe the behaviour of physical and technological systems, for the purpose of analysis and design Numerical analysis: solving mathematical equations using algorithms Scientific computing: development of reliable numerical models that can be tested in a range of cases (including known benchmarks)

MG Lipsett, 2011

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

What is Modeling?
A model is a representation of knowledge
Rules, physical analogs, algebraic equations of physical laws

A system is a bounded region comprising known elements that each interact in understandable ways Applied numerical modeling has joined empirical experimentation and analytical methods for solving problems of mathematical physics The types of systems of interest in this course include: Models of physical systems
Mechanical, electrical, thermal, structural, hydraulic, etc. Combinations of different physical systems (mixed systems)

Models of material, energy, and information flow for engineering decisions



MG Lipsett, 2011

Production systems Economics Scheduling Inventory, and so on, and so on,

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

What is Simulation?
Simulations are solutions of equations that are functions of time For continuous systems, we develop (and solve) differential equations Examples:
Vehicle dynamics Thermofluid interactions Industrial processes Biological processes Climate change, and so on, and so on,

Often the equations can not be solved in closed-form


Sometimes simulations are based on empirical understanding of time-varying behaviour that is not expressed as differential equations (correlations, discrete events, etc.). These are valuable for systems that are not characterised well by differential equations.
MG Lipsett, 2011

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Scientific Computing at a Glance


Interesting problem Data from the problem Understanding of the problem

Computer simulation & post-processing


Visualisation of results

Defining the system Uncertainty Sensitivity Modeling the Parameter identification system Statistical analysis Geometry and mesh/network Governing equations & analysis Numerical approximation Algorithms for solving

Validation / Verification

Comparison to known results Benchmark cases Experiments

(Adapted from A. Quarteroni, Mathematical Models in Science and Engineering, Notices of the American Mathematical Society Jan 2009)
MG Lipsett, 2011

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Engineering Analysis for Design at a Glance


Problem definition

Performance specifications Possible solution

Decision
Assessment of Performance of proposed solution

Design
Modeling to predict how a design will perform is key to a successful solution

Model of System behaviour

MG Lipsett, 2011

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

ENGM 541 Course Introduction


Why do engineers need to learn about modeling and simulation? Most engineering problems are too complicated or complex to solve analytically Engineers rely on numerical modeling and simulation to analyse and design systems that have time-varying aspects Engineering managers use models of technologies and business processes for decision making You may want do develop models to solve a technical or business problem, by designing a solution and modeling how you expect it to perform You may need to interpret the results of models created by others
MG Lipsett, 2011

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

General Course Outline


Understanding concepts of formulating mathematical models based on physics (and other rules of interaction) between the elements of a system Formulating governing equations and choosing solution methods for different types of analyses of physical systems Understanding advantages and limitations of numerical solution methods Understanding simple models for financial decisions and technological systems that have event-based dynamics Using modeling and simulation for design Presenting and interpreting analysis and simulation results Analysing engineering systems and processes using general purpose programs: MATLAB and SIMULINK
MG Lipsett, 2011

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

ENGM 541 Course Overview (1)


Lecture Room: Time Slots: ETLE 2-001 Lectures: Wednesdays 5:00 pm 8:00 pm Laboratories: Thursdays 5:00 pm 8:00 pm in ETLE 2-005 (required for ENGM 541 only) MG Lipsett (michael.lipsett@ualberta.ca) Room 5-8J, Mechanical Engineering Building (5th Floor West) Wednesdays 1:003:00 pm (other times by appointment) Masoud Mashkournia Modeling and Analysis of Dynamic Systems, by R. Esfandiari & B. Lu (CRC Press)
Lecture slides Assignments FAQ and announcements Worked examples and sample test questions

Instructor: Office: Office Hours: TA: Course Text:

E-Class & Course Web Site:http://www.ualberta.ca/~mlipsett/ENGM541/ENGM541.htm

CHECK ECLASS & THE WEB SITE OFTEN !!


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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

ENGM 541 Course Overview (2) Marks:


Assignments: 25%
Will be due in class and cannot be accepted after solutions are posted

ENGM 541 Labs: 5% ENGM 541 Project: 15% (ENGM 670 & MECE 758: 20%)
Individual, criteria to be announced, due April 6 2011 (before the exam)

Midterm Examination: 20%


Wednesday March 2, 2011, 5:00 pm 7:00 pm in ETLE 2-001

Final Examination: 30%


Wednesday April 13, 2011, 5:00 pm 7:30 pm in ETLE 2-001

Examinations will be open book & open notes Calculators are allowed but communication features must be turned off (no computers)
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

ENGM 670 & MECE 758 Course Outline


Lectures will be the same for ENGM 541, ENGM 758, and ENGM 670 But there are additional requirements for grad students: Supplementary readings
MECE 758: more on physical systems ENGM 670 more on technological systems

More assignment problems Additional scope for the individual project Different exam questions

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

ENGM 670 & MECE 758 Course Overview (2) Marks:


Assignments: 25%
Will be due in class and cannot be accepted after solutions are posted

Lab attendance is not required; but you are responsible for being able to do the Matlab coding covered in the labs Project: 20%
Individual, criteria to be announced, due April 6 2011 (before the exam)

Midterm Examination: 25%


Wednesday March 2, 2011, 5:00 pm 7:00 pm in ETLE 2-001

Final Examination: 30%


Wednesday April 13, 2011, 5:00 pm 7:30 pm in ETLE 2-001

Examinations will be open book & open notes Calculators are allowed but communication features must be turned off (no computers)
MG Lipsett, 2011

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

General Course Success Factors Keys to success:


Do the homework to master model building Try the examples in MATLAB Check E-Class and the web site often
FAQ, worked examples, sample tests

Ask questions! (but think first)

This is a demanding course but you will gain a valuable approach to analysis and design We have to unlearn some things to do general systems analysis correctly We will also learn by doing Ill do my best to be interesting
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

ENGM 541 Course Overview (4)


University policy: suspected cheating or plagiarism will be reported and investigated Professional ethics and integrity

Do the right thing. It will gratify some people and astonish the rest. -Mark Twain
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Your Instructor: MG Lipsett

Professional Engineer since 1986 Research


Reliability of complex systems (anomalies, machinery diagnostics) Robotics and automation (excavation, remote embedded sensing) More sustainable processes for oilsands bitumen production and reclamation

Industrial Experience
Atomic Energy of Canada Ltd (R&D in robotic inspection, hazardous waste site remediation, reliability) Syncrude Canada Ltd (mining automation & space robotics teleoperation, extraction process R&D, mine maintenance & reliability) Seven years in leadership and management roles (Operations, R&D, Projects)
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Engineering Analysis
Types of analysis:

Two means of modeling physical systems:

Once a model has been developed, then numerical procedures can be used to study system behaviour using computers
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Modeling Physical Systems


Consider a beam:

This is an inherently continuous structure. When we analyse this beam for deflections, natural frequencies, etc., we can start from one of two approaches.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

LumpedLumped-Parameter Model
The properties of the continuous system are visualised as being separate from one another

The beam is modeled as a linkage mechanism

We find a set of algebraic equations from which we can determine the deflections The price we pay is one of approximating the physical system at the modeling level.
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Continuous Model
Alternatively, the beam is modeled by deriving differential equations that represent the continuous system

The solution to the differential equations requires that they be approximated by algebraic equations (e.g. finite difference expressions), for almost all non-trivial cases
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Solving Algebraic Equations of the Model


In either case, we are solving algebraic equations.

After the modeling is complete, we choose the type of solution:

We want to have a consistent way to set up problems and to solve them.


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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Equilibrium Problems for Lumped-Parameter Systems Lumped We are looking for steady-state solutions to problems where the continuous system has been modeled using lumped parameters. We are concerned with systems of interconnected elements. elements The elements within the problem have properties that we must know before we can proceed. Elements are connected at nodes. Here is an example of a system network:

Loops are paths that start at a particular node, pass through a number of elements, and return to the original node.
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Loop and Node Variables


A system will have both loop and node variables. Loop variables describe the path around the loop. Examples: Node variables describe variables that come together at a node. Examples: Loop and node variables:

The loop and node variables are related by the constitutive relationships of the elements.
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Formulating Constitutive Relationships


1. State the variables 2. Describe the element

3. Sketch the constitutive relationship.

4. Use an analytic expression for the relationship

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Constitutive Relationship Example #1


1. State variables: 2. Describe element:

3. Sketch:

4. Write analytical relationship:

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Constitutive Relationship Example #2


1. State variables: 2. Describe element:

3. Sketch:

4. Write analytical relationship:

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Admissibility Laws
The node laws satisfy the admissibility requirement that the node variable is conserved at a node

The loop laws are similar (but different). Loop variables are governed by loop admissibility laws that require the value of the loop variable at a node to have only one value

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Generalising Kirchoffs Law


We use a general approach for system networks using the principles of Kirchoffs Laws. Kirchoffs Laws for electrical circuits use the physical laws of conservation of charge (node law) and conservation of energy added or taken by a potential field (around loops, mesh law), including dissipation. Gain or loss around an entire loop has to be zero (because there is no net change in the location with respect to the field). For other types of physical systems, we construct our variable assignments so that we can exploit similar physical laws:
Conservation of momentum law (DAlemberts law for forces) Conservation of mass law for flows, etc., etc.

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For non-physical systems, we need similar loop & node laws 28

ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Example: Lumped-Parameter Electrical Network LumpedR2

R1

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Some Equilibrium Element Types


Type Node Variable Loop Variable

Mechanical

Electrical

Fluid Flow

Heat Transfer

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

General Procedure for Setting Up A Problem


1. Choose the variable in which you want your final equations expressed 2. Choose variables so as to satisfy the pertinent admissibility requirement 3. Choose other variable type & write as many equations as necessary to check that admissibility is satisfied. 4. Relate the loop and node variables using the constitutive relationships. 5. Eliminate all but the chosen variables (all of one type) from the equations. Substitute in the equations, and group terms. 6. Non-dimensionalise the variables.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Example: Lumped-Parameter Mechanical System Lumped-

K/6

K/6

2P K/3 K/2

To model this system, we have two possible approaches:


1) Find the forces in the springs (node variables) 2) Find the displacements of the carts (loop variables)

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Case 1: Find the Forces in the Springs


1) Choose a set of node variables (forces at nodes).

2) Satisfy node admissibility.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Case 1: Forces in Springs (2)


3) Choose loop variables (displacements across elements) and ensure they satisfy loop admissibility.

K/6

K/6

2P K/3 K/2

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Case 1: Forces in Springs (3)


4) Apply constitutive relationships. For linear spring element, this will be: fi = ki i
node variable loop variable

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Case 1: Forces in Springs (4)


5) Substitute into the loop equations.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Case 1: Forces in Springs (5)


6) Try to express in non-dimensional form.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Case 2: Find the Displacements in the Nodes


1) Choose a set of loop variables.
K/6

K/6

2P K/3 K/2

2) Satisfy loop admissibility.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Case 2: Displacement of Nodes (2)


3) Choose node variables (forces at nodes) and ensure they satisfy node admissibility.

4) Apply constitutive relationships.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Case 2: Displacement of Nodes (3)


5) Substitute into node equations.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Case 2: Displacement of Nodes (4)


Are we done yet? Well, not quite. From the solution for y1, y2, go back to the definition of the nondimensional variables to solve for the displacement (the loop variables); then, from their solution, we can find forces using the constitutive relationships.

These two methods are called Direct Approaches Approaches.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Extremum Functions
The other way of formulating the equations governing systems is to use extremum functions. This includes energy methods. We make up a scalar function from the constitutive relationships of all the elements in the system, and search for an extreme value of the function (e.g. minimum potential energy). We go back to our original definition of a constitutive relationship to define two quantities:
1. Content U (energy) 2. Co-Content U* (co-energy)

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Energy

Area under the curve is the energy U in the element: We write p (which is a node variable) as a function of q (loop variable) and U becomes a function of q only.

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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

Department of Mechanical Engineering Engineering Management Group

Co-Energy Co-

Similarly to energy, with co-energy U* as a function of p only

For all sets of state variables satisfying node (loop) admissibility, those also satisfying loop (node) admissibility will render the co-energy (energy) an extreme value.
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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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Department of Mechanical Engineering Engineering Management Group

Break Time: Flexibility of Thinking Problems


Each problem is an equation, which can be solved by substituting the appropriate words for the letters. Examples: 3F = 1Y (3 Feet = 1 Yard) 4LC = GL (4 Leaf Clover = Good Luck)

8D 24H = 1W 3P = 6 HH & MH @ 12 = N or M 4J+4Q+4K = All the FC S&M&T&W&T&F&S are D of W 23Y 3Y = 2D E8=Z Y + 2D = T

C + 6D = NYE YSSA=W NN = GN N + P + SM = S of C 1 + 6Z = 1M R=R=R 1B in the H = 2 in the B

Source: A Whack on the Side of the Head, R.von Oech


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ENGM 541, ENGM 670-X5, MECE 758-X5 Modeling and Simulation of Engineering Systems Lecture 1: Course Introduction; Lumped-Parameter Equilibrium Systems

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