Mathematical modelling and simulation of a washing machine: A robotic approach

Abstract

In this paper, it will be described alternative approach for modeling and simulation of washing machines as rigid multi-body systems (MBS) to overcome difficulties of classical approaches. Instead of regular Newton-Euler and Langrange method will be introduced modified Langrange's equations as robotically approach. Because, it has been proved for more efficient and simplified approach for automatic setting of differential equations as well as suitable for parametric simulation. In order to prove it, we have demonstrated it on washing machine as planar rigid MBS within the Symbolic Toolbox of MATLAB environment. Also, numerical simulation is done using Runge-Kutta method with 5 th order. At last, it will be suggested using fractional PID controller which is an extension of PID controller for obtaining better transient response.