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2.141

Modeling and Simulation of Dynamic Systems

3-0-9 units · Graduate

Modeling multidomain engineering systems at a level of detail suitable for design and control system implementation. Network representation, state-space models; multiport energy storage and dissipation, Legendre transforms; nonlinear mechanics, transformation theory, Lagrangian and Hamiltonian forms; Control-relevant properties. Application examples may include electro-mechanical transducers, mechanisms, electronics, fluid and thermal systems, compressible flow, chemical processes, diffusion, and wave transmission.

Fall 2006

Topics

  • Review: Interaction between Domains and Equivalent Dynamic Behavior
  • Magnetism and Electro-mechanical Transduction
  • Nonlinear Mechanical Transformations and Impedance Control
  • Term Project Presentations
  • Term Project Presentations (cont.)

Readings

  • Pourmovahed, A., and D. R. Otis. “Effects of Thermal Damping on the Dynamic Response of a Hydraulic Moto-Accumulator System.” Journal of Dynamic Systems, Measurement, and Control 106 (1984): 21-26.
    Listed reading
  • Hogan, Neville, and Stephen P. Buerger. “Impedance and Interaction Control.” Robotics and Automation Handbook . Edited by Thomas R. Kurfess. New York, NY: CRC Press, 2004, pp. 19.1-19.24. ISBN: 9780849318047.
    Listed reading
  • Sharon, Andre, Neville Hogan, and David E. Hardt. “The Macro/Micro Manipulator: An Improved Architecture for Robot Control.” Robotics and Computer-Integrated Manufacturing 10 (1993): 209-222. An example of matching approximate transmission line impedance to improve force control.
    Listed reading
  • Sharon, Andre, Neville Hogan, and David E. Hardt. “Controller Design in the Physical Domain.” Journal of the Franklin Institute 328 (1991): 697-721. Using physical system theory to improve controller performance.
    Listed reading
  • Dunn, H. Searl. “Equivalent Circuit Representation of Web Conveyance Systems.” Applied Mechanics (1969): 316-318. Dunn’s 1969 paper on equivalent network analysis of web conveyors and their wave-like behavior.
    Listed reading
  • Skeel, Robert D., Guihua Zhang, and Tamar Schlick. “A Family of Symplectic Integrators: Stability, Accuracy, and Molecular Dynamics Applications.” SIAM 18 (1997): 203-222. Symplectic integrators for molecular dynamic simulation.
    Listed reading
  • McLachlan, Robert I., Matthew Perlmutter, and G. R. W. Quispel. “On the Nonlinear Stability of Symplectic Integrators.” BIT Numerical Mathematics 44 (2004): 99-117. A paper on stability of numerical integrators.
    Listed reading
  • Brown, Forbes T. Engineering System Dynamics . New York, NY: CRC, 2001. ISBN: 9780824706166.
    Required

Prerequisites & course information

Prereq: Permission of instructor G (Fall) Not offered regularly; consult department 3-0-9 units

Sources