Modelling, Simulation and Analysis of Mechatronic Systems

This course gives an introduction to physical principles and laws that are used to describe the dynamic behaviour of physical systems and introduces methods for development of mathematical models for such systems. An energy based approaches to modelling of such systems are introduced using a graphical systematic and unified method used as both an representation and as a methodology for development of consistent proper mathematical models. From a set of generalized variables a set of basic elements are developed and used for modelling of mechanical, electric, hydraulic, thermal and composite systems. Introduction to numerical methods for solution of mathematical models in state space form, system analysis and numerical simulation are given. A broad selection of engineering systems will be selected for modelling and simulation.

Having successfully completed this course the students should be able to demonstrate competence in:

• understanding of the consept of mathematical models and modeling of physical systems, simulation and analysis of physical systems and the steps involved in using such methods as a tool for problem solution.
• knowledge about the physical foundation of the Bond-Graph method as a methodology to derive mathematical models.
• how to indentify physical laws and component descriptions according to the Bond Graph methodology, and to assess the validity of these for use in model building and simulation. how to use the Bond Graph method for modeling of mechanical, electrical, hydraulic, termal and thermodynamic systems plus hybrid and multidisiplinar systems in general.
• how to develop the dynamic equations in state space form directly from the Bond Graph. how to develop the state space equations for systems with differential causality or algebraic loops, i.e. implicit or differential-algebraic first order differential equations, using causality analysis and/or model modification.
• how to develop models of mechatronic or hybrid systems and carry out simulations for evaluation of the dynamic properties of the models or in support of problem solution.
• how to use co-simulation for modelling and simulation of large system simulators
• how to utilize modern modeling and simulation software as 20-Sim and Matlab or similar for modeling, simulation and analysis of dynamic systems.

Lectures, exercises, computerlab and project work. All lectures will be in English.