Programming and Modelling Mechatronic Systems

Learning Outcomes

Knowledge and Understanding

Having successfully completed this module, you will be able to demonstrate knowledge and understanding of:

• State-space methods to transform between circuit problems and mechanical systems.
• The principles of Object-Oriented programming, including the concepts of inheritance, abstraction and polymorphism.
• The use of programs for numerical solution of mathematical equations.
• Application of Raleigh’s method to approximate natural frequencies and modes of vibration
• Analogue techniques to analyse and solve electrical circuit and mechanical system problems.
• Models of continuous mechanical systems and the causes and effects of vibration

Subject Specific Intellectual and Research Skills

Having successfully completed this module you will be able to:

• Analyse, enhance and debug existing OO programs.
• Effectively integrate reusable OO libraries.

Subject Specific Practical Skills

Having successfully completed this module you will be able to:

• Translate a physical problem in mechanical vibration to an appropriate dynamic model
• Use simple numerical programs to solve physical problems
• Design, write and debug Object-Oriented programs
• Apply modelling and programming environments to simulate and visualise vibrations

Transferable and Generic Skills

Having successfully completed this module you will be able to:

• Address novel design challenges by choosing appropriate analysis and design methods.
• Model software systems before implementation.
• Select an appropriate numerical approach for different simple mathematical problems.

Advanced Programming •Introduction to Object Oriented Programming (C++) •Encapsulation; Classes; Objects; Inheritance; Polymorphism •Programming in C++: The software lifecycle; Source code control; Testing •Use of OO modelling tools, including UML •Exception Handling; Storage (Files & Databases); Dynamic memory allocation •Introduction to data structures; Trees and Graphs; Stacks queues and linked lists; Searching and sorting •Programming Skills; Use of high-level program development tools; Collaborative programming Numerical Programming •Introduction to numerical simulation •Numerical solution of ODEs •Numerical simulation of PDEs Application of circuit and mechanical analogies.- •Procedures to convert between electrical and mechanical systems; •State space method; definition of terms: state-variable, state-matrices, etc.; consideration of the elements that store energy; formation of equations, in particular the formation of matrix equation in the form of X = A.X + B.E, nature of these terms.- •Solution of state space equations by Laplace transform methods; •Solution of simple circuit network problems. •Solution of state equations in the time domain (linear-time invariant case); •Solution of the state differential equation (exponential of a matrix, its computation, forced- and free response in the state-space setting). Approximate Frequency Analysis, •Rayleigh’s, Dunkerley’s Methods Lagrange’s Equations- •Continuous Systems Vibration of Strings, Rods, Beams and derivation of equations of motion.- •Application of Rayleigh’s method to approximate natural frequencies. •Vibration and Instrumentation, Transmissibility. Laboratory Coursework •Cantilever vibration experiment

The content of this module is delivered through lectures, module website, directed reading, pre-recorded materials and practical sessions. Students work on their understanding through a combination of independent study, preparation for timetabled activities and tutorials. Students work on their practical skills and professional skills through laboratory sessions and discussion tutorials.

Summative

This is how we’ll formally assess what you have learned in this module.