DDM Module:
Dynamics
Key words:
Multi-Body Systems, Simulation of Multi-Body Systems
Module number:
106
Target group(s):
1
ECTS credits:
4
Language of instruction:
English
Responsible:
Prof. Dr. Gipser
st
semester DDM students
Extent of work (hours)
Workload
120
Contact hours
45
Self study
45
Exam preparation
30
Prerequisites:
Fundamentals of engineering mechanics; momentum, angular momentum,
energy conservation
Mathematics: matrix algebra, vector geometry, basic knowledge in ordinary
differential equations
Programming: basic knowledge, preferably in Matlab or C
Objectives:
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Module content:
Knowledge of the role and range of application of multi-body dynamics within
CAE
Understanding the minimum required theoretical foundations
Ability to model and simulate multi-body systems with commercial software
Gaining experience with numerical methods and specialties related to MBS
1. Foundations and applications of multi-body dynamics, structure and
functionality of multi-body software. Kinematics, equilibrium points (static),
dynamics, inverse dynamics, linearization, modal analysis, optimization
2. Notation. Kinematics of free bodies: point mass, rigid body, flexible body.
Position, velocity, acceleration. Angular orientation descriptions:
transformation matrices, Euler angles, cardan angles, quaternions. Kinematic
equations of rotation
3. Rigid body kinetics. Newton-Euler equations. Inertia tensor. Inertial and
body-fixed description. State-space description of multi-body systems
4. Force elements. Spring, damper, bushing, force elements with inner
dynamics, contacts
5. Kinematic constraints. Constraint functions. Degrees of freedom. Jacobian.
Basic types of joints and linkages
Small Matlab programs, being developed during the lectures, illustrate all
theoretical foundations. A short introduction into Matlab is given if required
Lab exercises:
1. Multi-body systems analysis using Adams™, using examples of vehicle
suspension analysis
2. Completion and application of a multi-body block-set for Simulink™
Methods:
On-line programming and software demos, computer software (Matlab/Simulink
and Adams), example programs.
DDM-DYN 106
Updated: 26.06.2014
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Literature:
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Type of assessment:
Nikravesh, P. E.: Computer-Aided Analysis of Mechanical Systems. Prentice
Hall 1988
Several Adams™ tutorials
Matlab™ student edition
Multi Body Systems: Written exam, 90 minutes
Simulation of Multi Body Systems: semester project, developed during virtual lab
exercises
DDM-DYN 106
Updated: 26.06.2014
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