Course detail

Selected Chapters from Dynamics

FSI-RVDAcad. year: 2010/2011

This course deals with modelling of mechatronic systems. A mechatronic system typically consists of mechanism (multi body system) and other elements, mainly electrical. The aim of the course is to develop and to extend knowledge from previous study. The main focus of the course is numerical modelling. Classical methods of model building (Newton and Lagrange approach) and their application in numerical modelling process are explained. Exercises run on computers. A semester project is a part of the course.

Language of instruction

Czech

Number of ECTS credits

Mode of study

Not applicable.

Guarantor

prof. Ing. Ctirad Kratochvíl, DrSc.

Department

Institute of Solid Mechanics, Mechatronics and Biomechanics (ÚMTMB)

Learning outcomes of the course unit

- Presentation analytical and numerical methods of kinematics and dynamic modelling
- Numerical solution of mathematical models
- Examples of practical modelling of selected electromechanical systems
- Linearization methods
- Control of mechatronic systems, practical examples

Prerequisites

Vector algebra. Matrix algebra. Basics of kinematics and dynamics. Newton method, Lagrange equations. Basics of programming.

Co-requisites

Not applicable.

Planned learning activities and teaching methods

Teaching methods depend on the type of course unit as specified in the article 7 of BUT Rules for Studies and Examinations.

Assesment methods and criteria linked to learning outcomes

Graded course-unit credit. Conditions: active participation in exercises, semester project.

Course curriculum

Not applicable.

Work placements

Not applicable.

Aims

Student will learn classical and modern modelling methods of mechatronic systems with lumped parameters. They obtain theoretical and practical knowledge in this field.

Specification of controlled education, way of implementation and compensation for absences

Organization of lectures will be specified by the teacher at the beginning of the semester.

Recommended optional programme components

Not applicable.

Prerequisites and corequisites

Not applicable.

Basic literature

Dynamic Simulation of Electric Machinery Using Matlab Simulink, Prentice Hall, 1998
Kratochvíl, C., Slavík, J.: Mechanika těles-dynamika, PC-DIR, skriptum VUT Brno, 1997
Stejskal, V. a kol.: Mechanics Using Matlab, Leonardo Pilot project No. CZ/98/1/82500/PI/I.1.1.b/FPI, http://fsinet.fsid.cvut.cz/en/U2052/leo.html, 2001
Szklarski, L., Kazimierz, J., Horodecki, A.: Electric Drive Systems Dynamics-Selected Problems, PWN Warszawa, 1990
Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995

Recommended reading

Janíček, P., Ondráček, E.: Řešení problémů modelováním - Téměř nic o téměř všem, skriptum VUT v Brně, PC-DIR Real, 1998
Kratochvíl, C., Slavík, J.: Mechanika těles-dynamika, PC-DIR, skriptum VUT Brno, 1997
Valášek M. a kol.: Mechatronika, Vydavatelství ČVUT Praha, 1995

Classification of course in study plans

  • Programme N3901-2 Master's

    branch M-IMB , 2 year of study, winter semester, compulsory-optional

Type of course unit

 

Lecture

26 hod., optionally

Teacher / Lecturer

prof. Ing. Ctirad Kratochvíl, DrSc.

Syllabus

- Selected problems of kinematics of rigid bodies
- Building of dynamical models. Newton and Lagrange approach
- Numerical modelling on computer
- Examples of particular mechatronic system modelling
- Vibration of system with one degree of freedom
- Methods for numerical solution of mathematical models
- Linearization methods
- Selected problems of control of mechatronic systems, implementation into simulation model, practical examples

Computer-assisted exercise

13 hod., compulsory

Teacher / Lecturer

prof. Ing. Ctirad Kratochvíl, DrSc.

Syllabus

- Introduction into modelling in Matlab
- Introduction into modelling in Matlab – Simulink
- Solution of selected simple examples (harmonic oscillator, double pendulum)
- Analysis of dumped harmonic oscillator, sceleton curve
- Modelling of nonlinear oscillator, modelling of discontinuous parameters change
- Modelling of electromechanical system
- Modelling of electromechanical controlled system