Prerequisite/Recommended prerequisite for participation in the module

Mathematics and physics from a relevant Bachelor of Science.

Content, progress and pedagogy of the module

Purpose

• to contribute to students’ attainment of knowledge and comprehension of systematic methods for modelling complex mechanical structures and non-rigid (flexible) mechanical structures, and further to achieve knowledge and comprehension about advanced dynamics equations and solutions for motion of systems with rigid or non-rigid bodies.
• to contribute to students’ attainment of knowledge and comprehension of fluid power systems and components and enable them to analyze and model such systems.

Content

Advanced mechanic systems:

• Planar and spatial rigid body kinematics
• Cartesian coordinates and Euler parameters
• Transformation matrices
• Cinematic constraints for plane and spatial joints and actuators
• Cinematic constraints for a cinematically determined system
• Position, velocity and acceleration analysis
• Energy methods
• Lagrange multipliers
• Reaction forces and torques
• Rigid body motion (equations of motion) for planar and spatial cases
• Modelling flexible mechanical bodies and joints
• Advanced friction models

Fluid power:

• Introduction to dynamic hydraulic systems
• Properties of the pressure media and the stiffness influence on the system dynamics
• Continuity and momentum equations
• Systematic approach for deriving dynamic lumped parameter models of system components such as: cylinders, pumps, motors, valves and flow and pressure regulating components
• Flow forces in valves
• Fluid power (servo) drives
• Modelling and simulation of selected characteristic component(s)
• Examples of control system design for fluid power systems

Learning objectives

Knowledge

• Have knowledge and comprehension for complex mechanical structures
• Have knowledge of modelling non-rigid (flexible) mechanical structures and friction between two moving parts.
• Have knowledge and comprehension for advanced dynamics for motion of systems with rigid or non-rigid bodies.
• Have knowledge and comprehension for 3-dimensional kinematic problems.
• Have comprehension of the characteristics of the pressure media and its influence on the system dynamics

Skills

• Be able to apply systematic methods for modelling complex mechanical structures dynamically in both planar and spatial cases.
• Be able to analyze and model the dynamics of fluid power components and systems
• Be able to judge the usefulness of the set up methods
• Be able to relate the methods to applications in the industry

Competences

• Independently be able to define and analyze scientific problems within the area of advanced mechanic systems
• Independently be able to be a part of professional and interdisciplinary development work within fluid power and advanced mechanic systems.

Type of instruction

The program is based on a combination of academic, problem-oriented and interdisciplinary approaches and organized based on the following work and evaluation methods that combine skills and reflection: • Lectures • Classroom instruction • Project work • Workshops • Exercises (individually and in groups) • Teacher feedback • Reflection • Portfolio work

Extent and expected workload

Since it is a 5 ECTS course module, the work load is expected to be 150 hours for the student

Exam

Exams

Name of exam	Advanced Modeling of Dynamic Systems
Type of exam	Written or oral examination
ECTS	5
Permitted aids	With certain aids, see list below Unless otherwise stated in the course description in Moodle, it is permitted to bring all kinds of (engineering) aids including books, notes and advanced calculators. If the student brings a computer, it is not permitted to have access to the Internet and the teaching materials from Moodle must therefore be down loaded in advance on the computer. It is emphasized that no form of electronic communication must take place.
Assessment	7-point grading scale
Type of grading	Internal examination
Criteria of assessment	As stated in the Joint Programme Regulations. http:/​/​www.engineering.aau.dk/​uddannelse/​studieadministration/​

Additional information

Elective course
On this semester one course must be chosen out of three elective courses (total: 5 ECTS).