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Institutionernas doktorandkurser
Startdatum och periodicitet för kurser kan variera. Se detaljer för respektive kurs för aktuell information. För anmälan, kontakta respektive kursansvarig.
Dynamics of multibody systems
- Kurskod: FTME140
- ECTS-poäng: 7,5
- Institution: MEKANIK OCH MARITIMA VETENSKAPER
- Forskarskola: Solid- och strukturmekanik
- Periodicitet: -
- Undervisningsspråk: Kursen kommer att ges på engelska
- Nordic Five Tech (N5T): Kursen är kostnadsfri för doktorander från N5T-universitet
Short
description: The course will largely follow
the description in Shabana's book in describing dynamical systems of bodies
using co-rotating reference frames. This approach is beneficial over using
generalized coordinates in a Lagrangian/Hamiltonian fashion1 because of the
relative simplicity with which it allows for generalization. Programs such as ADAMS use
variants of this precisely because of this versatility. The drawback of the approach
is that in the derivation, the constraint equations connecting different bodies
together appear as explicit constraint equations, which results in a set of
differential-algebraic equations for which dedicated solution methods must be
used. Describing the theory behind this will be the lion share of the material
discussed during the weekly recurring lecture. In this course, students will build a framework for
multibody simulations with bodies exhibiting small deformations about an
undeformed setting by collaborative and competitive programming assignments.
The idea is for different solution techniques to be evaluated with respect to
each other.
Formalities: The programming language used will be discussed during a preliminary
meeting, butis leaning towards Matlab. The schedule will also be set at the
preliminary meeting. This first meeting, thus obviously important, will be held
Friday the 13th of February at 14:00 in TM room Newton.
1see e g Hand and Finch, Analytical Mechanics, 1998 or
the course compendium in Rigid body dynamics MMA092 for further descriptions of
this approach.
The course will be based on the book Dynamics of
Multibody Systems by Ahmed Shabana. Additional material will be provided during
the progress of the course.
Anders T. Johansson anders.t.johansson@chalmers.se
Peter Torstensson peter.torstensson@chalmers.se
Thomas Abrahamsson thomas.abrahamsson@chalmers.se
Examiner: Thomas Abrahamsson
Anders T. Johansson anders.t.johansson@chalmers.se
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