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DMS6021
Dynamics and Control of Mechanical Systems
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Course
instructor
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Dr.
Hirpa
G. Lemu, Professor of Mechanical Design Engineering
Dept. of Mechanical and Structural Engineering and Materials
Science,
University of Stavanger, Norway
Home page: http://www.ux.uis.no/~hirpa/
E-post: Hirpa@ux.uis.no
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Credts
(ECTS)
Course
delivered at
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6
[Course
Content]
Jimma
Institute of Technology, Jimma, Ethiopia
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Lecture
notes
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[2021] Lecture
Plan
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1.1 Review of the
basics of mechanics [Handout]
[Video]
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1.2
Kinematics
of rigid bodies - coordinate transformation, angular
velocity vector, description of velocity and acceleration in
relatively moving frames.
[Handout]
[Video]
-
2.1
Euler
angles, Review of methods of momentum and angular momentum of
system of particles, inertia tensor of rigid body
[Handout] [Video]
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2.2
Dynamics
of rigid bodies - Euler's equation, application to motion of
symmetric tops and gyroscopes and problems of system of bodies
[Handout]
[Video]
-
3.
Kinetic
energy of a rigid body, virtual displacement and
classification of constraints, D’
Alembert’s principle
[Handout]
[Video]
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4.
Introduction
to generalized coordinates, derivation of Lagrange's equation
from D’ Alembert’s principle, Small
oscillations, matrix formulation, Eigen value problem and
numerical solutions
[Handout]
[Video] ]
-
Modelling
mechanical systems, Introduction to MATLAB®, computer
generation and solution of equations of motion
[Handout]
[Video]
-
Introduction
to multibody dynamics simulation [Handout]
-
Introduction
to control of mechanical systems [Handout] [Video 1]
[Video 2]
(complex analytic functions, Laplace and Fourier transform,
... Analysis
of Control systems in state space, pole placement, computer
simulation through MATLAB
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Hometake
tests
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Semester
Project
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Project description and assignments
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Exercises
Reading
materials
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[Reference
1], [Reference
2] [Reference
3]
Class
of Summer 2017
Class
of Summer 2018
Class of 2021
 
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Sist oppdatert:
2021-12-21
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