# 2024/2025

## 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

• 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

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

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 exam ECTS 5 Assessment 7-point grading scale Type of grading Internal examination Criteria of assessment The criteria of assessment are stated in the Examination Policies and Procedures