Patent ID: 7236913
Filing Date: 2007-06-26
Classification: G05B

Abstract:
1. A method for simulating a mechatronic system having a plurality of interconnected components, comprising the steps of: defining physical parameters of the interconnected components, said physical parameters including a mass matrix M, a damping matrix D, stiffness matrix C, nodal forces {right arrow over (F)}, and a nodal displacement vector {right arrow over (u)}; transforming a fundamental equation of motion M·{umlaut over ({right arrow over (u)}+D·{dot over ({right arrow over (u)}(t)+C·{right arrow over (u)}(t)={right arrow over (F)}(t) into a first order linear differential equation; adding another differential equation for simulating a time delay of the nodal forces; generating an algebraic difference equation by transforming the first order linear differential equation and the added differential equation into a time-discrete state equation; actualizing the resultant algebraic difference equation at sampling instants of an associated control processor; and simulating the mechatronic system using the time-discrete state equation, thereby determining a temporal characteristic of the mechatronic system with a reduced number of calculations and an increased simulation accuracy.