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Instructor: |
Professor Brian C. Fabien |
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Office: |
206 Mechanical Engineering Building |
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Phone: |
(206) 543-6915 |
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Email: |
fabien@u.washington.edu |
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Office hours: |
Wed 9:00 am - 12 noon, and by appointment |
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Internet: |
http://abs-5.me.washingon.edu/me469/me469.html |
Textbook: Lecture notes/handouts
B. C. Fabien, Analytical System Dynamics: Modeling and simulation, Springer, 2009.
Matlab tutorial
Matlab plotting tutorial
Slider crank mechanism slider run_slider file1 file2 file3 file4 file5
Extra problems: problems1 problems2 problems3
Implicit differential equation solver: ride.m ride_options.m ride_set_option.m
printf.m
To use the function ride, put the files ride.m,
ride_options.m, ride_set_option.m, and printf.m
in the same directory as your simulation model m-files.
References:
Richard A. Layton, Principles of analytical system dynamics, Springer-Verlag, 1998.
J. H. Williams, Jr. Fundamentals of Applied Dynamics, John Wiley & Sons, 1996.
D. T. Greenwood, Principles of Dynamics, Prentice-Hall, 1988.
E. J. Haug, Intermediate Dynamics, Prentice-Hall, 1992.
L. Meirovitch, Methods of Analytical Dynamics, McGraw-Hill, 1970.
Class schedule:
Lectures: MW 1:30 - 2:20, Th 3:30 - 5:20 (MEB 237)
Grading:
Homework: 25%, Exam 1: 25%, Exam 2: 25%, Final 25%.
Exam Schedule: All exams will be closed book and closed notes.
Exam 1: Thursday Oct 29
Exam 2: Thursday, Nov. 19
Final Exam: Monday, Dec. 14; 2:30 pm - 4:20 pm (MEB 237)
Course syllabus:
Kinematics
Kinematics of a point and a rigid body moving in space.
Kinematic structure of mechanisms and machines (robots).
Joint constraints.
Kinematic analysis of planar mechanisms
Four-bar, slider crank, Scotch yoke.
Kinematic analysis of spatial mechanisms
Spherical four-bar, spatial slider crank, R-P robot.
Lagrange's Equation
Generalized coordinates
Virtual displacements, virtual work
Derivation of Lagrange's equation for unconstrained systems
Application of Lagrange's equation
1 DOF oscillator, 2 DOF oscillator, simple pendulum, double pendulum, 1/4 car model
1/2 car model, unbalanced rotor, symmetric top, flywheel
Constrained Systems
Lagrange's equation for holonomic and nonholonomic constraints
Application of Lagrange's equation
Slider crank mechanism, four-bar mechanism, rolling coin
Simulation
Analytical solution of ordinary differential equations
Numerical solution of ODEs
Explicit and implicit Euler method
Explicit and implicit Runge-Kutta methods
Backward differentiation method
Differential-Algebraic equations
Implicit differential equations
Week 1: Chapters 1
9/30 Introduction to modeling and system dynamics
(Section 1.1)
10/1 Fundamental variables, energy storage, energy dissipation (Section
1.1 - 1.2)
Week 2: Chapter 1 and Chapter 2
10/5 Energy dissipation & transforming elements
(Section 1.2)
10/7 Effort sources Paynter's diagram
10/8 Planar Mechanisms (Section 2.2)
Week 3: Chapter 2
10/12 -
10/14 Networks (Section 2.3)
10/15 Mechanism/network analysis
Week 4: Chapter 3
10/19 Review HW 1
10/21 Review HW 2
10/22 Virtual work/Lagrange's Equation (Section 3.2)
Week 5: Chapter 3
10/26 Mechanical system models (Section 3.3.1)
10/28 Electrical system models/Fluid system models (Section 3.3.2/3.3.3)
10/29 Exam 1
Week 6: Chapter 4
11/2 Review Exam 1
11/4 Constraint classification (Section 4.1)
11/5 Displacement constraints (Section 4.2)
Week 7: Chapter 4
11/9 Flow constraints (Section 4.3), Effort constraints
(Section 4.4)
11/11 Veterans Day
11/12 Differential-algebaric equations (Section 4.5)
Week 8: Chapter 4
11/16 Constrained systems
11/18 Homework 4 review
11/19 Exam 2
Week 9: Chapter 6
11/23 Review Exam 2
11/25 System analysis (Section 6.1)
11/26 Thanksgiving
Week 10: Chapter 6
11/30 System simulation (Section 6.2)
12/2 First-order and second-order model simulation (Section 6.2.3)
12/3 Nonlinear system simulation (Section 6.2.3)
Week 11: Chapter 6
12/7 Mechanism simulation (Section 6.2.3)
12/9 Control system simulation (Section 6.2.3)
12/10 Homework 5 review
Homework problems:
Homework 1: Due 10/12, Chapter 1, Problems: 1, 5, 6, 7,
9,
16a, 16e, 16f, 16i, 16l SOLUTION
Homework 2: Due 10/19, Chapter 2, Problems: 12, 14a, 14b,
14c, 14d, 16, 17, 19, 20 (No plots required for problem 20)
Homework 3: Due 10/26, Chapter 3, Problems: 3, 4, 5, 12,
15, 17, 20 SOLUTION
Homework 4: Due 11/16, Chapter 4, Problems: 8, 9, 10, 11,
12, 13a, 13b, 13c, 13d SOLUTION
Homework 5: Due 12/9, Chapter 6, Problems: 4, 5, 6, 9