Chapter 5: Dynamic models and Analogies

5.1. Introduction
Design, development, modification, and control of a mechatronic system require an understanding and
a suitable “representation” of the system; specifically, a “model” of the system is required. Any model is
an idealization of the actual system. Properties established and results derived are associated with the
model rather than the actual system, whereas the excitations are applied to and the output responses
are measured from the actual system. This distinction is very important particularly in the context of the
present chapter. A mechatronic system may consist of several different types of components, and it is
termed a mixed system. It is useful then to use analogous procedures for modeling such components. In
this manner the component models can be conveniently integrated to obtain the overall model. In
particular, analytical models may be developed for mechanical, electrical, fluid, and thermal systems in
a rather analogous manner, because some clear analogies are present among these four types of
systems. In view of the analogy, then, a unified approach may be adopted in the analysis, design, and
control of mechatronic systems. A system may possess various physical characteristics incorporating, for
example, mechanical, electrical, thermal, and fluid components. The procedure of model development
will be facilitated if we understand the similarities of the characteristics of different types of
components. This issue is addressed in the present section. Analogies exist among mechanical,
electrical, hydraulic, and thermal systems.

5.2. Concept of system similarities

The basis of system similarities is that in every engineering discipline, we can find some common
variables used in describing the system. One such method of generalizing variables is, based on power,
and these variables are often called power variables. Power variables can be divided into two groups.
1. Effort variables
2. Flow variables

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5.2.1. Effort variables [ ( )]
Effort variables are the system variables that express the effort which can be placed on a component. It
can also describe as the ability to do work of the potential. Effort variable for different systems are
shown in table 5.1.

System ( )
Mechanical Force ( )
Electrical Voltage ( )
Fluid Pressure ( )
Thermal Temperature ( )

Table 5.1

5.2.2. Flow variables [ ( )]

Flow variables are the system variables that express the flow, or rate of change of the system variables.
The flow variables will often be a derivative form. Flow variable for different systems are shown in table
5.2.

System ( )
Mechanical Velocity ( )
Electrical Current ( )
Fluid Flow rate ( )
Heat flow rate
Thermal
( )

Table 5.2

5.3. Generalized system elements

Based on above generalization the basic system elements can be divided into two groups:
1. Energy storage elements
2. Energy dissipation elements

Energy storage elements are divided into two parts such as effort storage elements and flow storage
elements.

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5.3.1. Effort storage elements
A flow storage element, the energy is stored by virtue of the flow variables (e.g.: Capacitive).

= ×

Above expression that the effort variable is differentiated, and it is possible to have an initial condition
on the effort variable. Therefore, it is possible to store potential energy in the initial condition of the
effort variable.

Effort storage variable Example

1
1 = ×
Mechanical systems = ×

Electrical systems = × = ×

= Fluid capacitors are,

Fluid systems accumulators, volume of a
×
compressible fluid in a container
= Thermal capacitance is the mass
Thermal systems of the element times the specific
×
heat capacity of the material.

5.3.2. Flow storage elements

Effort storage elements, the energy is stored by virtue of the effort variables (e.g.: Inductive).

= ×

Flow storage variable Example

Mechanical systems = × = ̈

Electrical systems = × = ×

=
Fluid systems = ×
×

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Thermal systems None

5.3.3. Dissipative elements

These are elements that dissipate energy. Since dissipative elements do not have store energy, it can be
described by algebraic equations rather that in differential equations.
= ×

Dissipative variable Example

Mechanical systems = × Damper

Electrical systems = × Resistor

Fluid systems = × Viscosity resistor

Thermal systems Thermal resistance

= ×

5.4. Force – Voltage analogy

Element Mechanical Electrical

= 1
Stiffness (Spring) =

Mass = =

Dissipative (Damping) = =

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5.5. Force – Current analogy

Element Mechanical Electrical

Stiffness (Spring) = =

1
Mass = =

1
Dissipative (Damping) = =

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