Course content

* Basic modeling techniques using Power Bond Graph method

* Systematic basic element modeling (energy storing, transfer and transforming elements)

* Systems modeling and causal analysis

* State space equation formulation and simple Euler integration (using MaATLAB or Spreadsheet)

* Basic programming in MATLAB

* Simple simulation and model-based design in MATLAB

* Basic knowledge of coordination system transformation

* Basic controls theory - control of dynamic systems - P, PI and PID controllers

* Modeling and simulation in 20SIM

* Non linear systems modeling

* 2d AND 3D mechanics modeling (mechanisms)

Learning outcome

Knowledge:

After passed exam the student shall know the main principles of dynamic systems modeling and simulation, and understand the process from basic laws of physics via mathematical models to simulation and analysis. The student shall have basic knowledge using different tools and methods in a unified approach to perform dynamic simulations of multi-domain systems: mechanical-, hydraulic-, electrical- and thermal-energy systems. The student shall understand the basic principles of numerical simulation using simple Euler integration, and the basic routines behind the automated processes in the different modeling and simulation tools. The student shall also be aware of the many pitfalls in using inappropriate simplifications, incorrect boundary conditions, input data or simulator settings. The student shall be confident with the fact that all models are simplifications for specific applications, and that all models have specific limitations which are introduced through the modeling process. The student shall also know the difference between empirical models and models based on basic physical conservation laws.

Skills:

The student shall be able to carry out independent modeling and simulation of dynamic systems, from physical description to mathematical models described by a set of differential equations, and further to solve the equations in a simulation (integration) process. The student shall master different engineering tools for dynamic modeling and simulation, such as MATLAB and 20SIM including basic programming skills. The student shall be able to handle multi-domain systems, linear as well as non-linear systems. Meanwhile, the student will be able to not only do simple simulation and model-based design, but also do advanced simulation. In the end, the student shall be able to process simulation results and understand the level of accuracy regarding absolute and relative values

General Competence:

The student shall be able to master a systematic approach to model complex dynamic systems, and see the common behavior of systems in different energy domains. The student shall also understand the engineering

Learning methods and activities

Lectures, demonstrations and work on assignments / project

Specific conditions

Recommended previous knowledge

Engineering design fundamentals - (physics, dynamics of rigid bodies and fluids; energy thermodynamics, mechatronics, and control systems basics)

Course materials

* Lecture notes

* Mathematical Modelling and Simulation of Physical systems, Eilif Pedersen and Hallvard Engja

* Dynamical Systems for Creative Technology

* Dynamic systems – modelling, analysis and simulation – Finn Haugen

*System Dynamics – A Unified Approach – Dean Karnop, D.Margolis and R. Rosenberg