After the course the student:
- Understands trade-offs when modelling multi-domain dynamical systems
Understands the role of trade-off between conceptual and numerical complexity in the decision process of modelling systems that comprise multiple domains.
Type of knowledge: Insight
Level: Can defend modelling choices.
- Has specific knowledge about modelling of mechatronic systems
Understands how behaviour of for example robotic manipulators is influenced by motor drivers, motor-gearbox selection, control laws, and kinematics.
Type of knowledge: Insight
Level: Demonstrated on 2D and complex 3D mechatronic systems.
- Is able to analyse Bond graph models of dynamical systems
Is able to verify model behaviour and evaluate or review existing models of dynamical systems.
Type of knowledge: Insight
Level: Demonstrated on 2D and complex 3D mechatronic systems.
- Knows how to enter dynamic systems in 20-sim and use its analysis tools and simulation
Knows how to enter dynamic systems in 20-sim using traditional equations, block diagrams, and Bond graphs.
Type of knowledge: Skill
Level: Demonstrated through weekly problems and final assignments.
- Understands how to use simulation to gain insight into, analyse, and optimise models
Knows how to use 20-sim to analyse, simulate, and optimise models to guide system design.
Type of knowledge: Insight
Level: Demonstrated on 2D and complex 3D mechatronic systems.
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- Extension and application of modelling in terms of Bond graphs
- Modelling of 2D and 3D mechanical systems using multiple different methods
- Modelling of electrical and thermal dynamics of motors and actuators
- Modelling of nonlinear friction effects
- Cascaded and discrete-time control for mechatronic systems
- Energy-based control concepts
- Simulation program 20-sim
- Numerical integration methods
- Optimization by means of multiple run simulations
Organisation
Modelling and Simulation is taught as a student-centered learning and problem-based learning (PBL) course. You will work on a (modelling and simulation) problem each week, in groups of up to 5 people. For each problem, you will need to master some new material, which can be found in the reader (see Course material), or in other scientific literature that is provided. You share the solutions with your peers, give feedback and learn from each other. The PBL assignments lead to the larger, more complex, final assignment.
Assessment
Your grade will be determined by the PBLs, final assignment, and an oral exam. In other words, it consists of both group work and individual components.
Prerequisite knowledge
Engineering System Dynamics (ESD, 5 EC, 202001141), or:
Modelling, Dynamics and Kinematics (MDK, 5 EC, 202200101).
In Modelling and Simulation, we expect you to be familiar with, and to some degree proficient in, energy-based modelling concepts and the bond graph notation. As such, the course Engineering System Dynamics or Modelling, Dynamics and Kinematics is compulsory prior knowledge.
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