《动力系统建模分析与控制》教学大纲
课程代码
082100291
课程名称
动力系统建模分析与控制
英文名称
Modeling, Analysis and Control of Dynamic Systems
课程类别
专业必修课
课程性质
必修
学时
总学时：64 上机学时：0 实验学时：0 实践学时：0
学分
4
开课学期
第一学期
开课单位
吴贤铭智能工程学院
适用专业
机器人工程、智能制造工程
授课语言
英文授课
先修课程
动力学与振动导论
完成本课程后，学生学会：
•
将物理系统分解为各部分，并确定合适的物理学原理来描述各部分的
动力学。(№1, №2)
毕业要求（专业
培养能力）
•
写代数和微分方程来描述物理系统各部分和它们之间的联系，从而获
得整个系统的行为。(№1, №2, №10)
•
通过数值和解析的方法，在时域和频域上求解和描述动力系统方程。
(№3, №5)
•
建立和利用传递方程来分析系统的行为。(№2)
本课程的目标是：
课程培养学生的
能力（教学目标）
(1) 展示动力系统建模分析与控制的方法
(2) 展示用拉普拉斯变换求解状态空间方程
对机械，电气，流体系统和他们的结合体等物理系统行为的数学描述；利用状
课程简介
态变量和传递函数进行系统描述；掌握系统相应分析的方法包括卷积积分，频
率响应，数值模拟和拉普拉斯变换；掌握系统概念包括输入输出，因果分析，
1
和类比；掌握一般过程的描述包括一阶和二阶系统。
1. 课程介绍
2. MATLAB
3. 复数
4. 拉普拉斯变换
5. 拉普拉斯逆变换
6. 求解线性微分方程
7. 部分分式展开法
8. 机械元件单元
9. 机械系统建模
10. 功，能，和功率
11. 传递函数和块状图
12. 瞬态响应分析
13. 状态空间
14. 基本电路理论
15. 电机系统
16. 流体系统
17. 非线性系统的线性化
18. Simulink
19. 时域分析
20. 频域分析
21. 不平衡和基础激振
22. 动力减振器
23. 两个自由度的系统
24. 反馈控制
25. 控制器
26. 响应特性
27. 稳定性
教学内容与学时
分配
2 class hours
2 class hours
2 class hours
3 class hours
2 class hours
2 class hours
3 class hours
2 class hours
2 class hours
2 class hours
3 class hours
3 class hours
3 class hours
2 class hours
2 class hours
2 class hours
2 class hours
3 class hours
2 class hours
3 class hours
2 class hours
3 class hours
2 class hours
2 class hours
3 class hours
2 class hours
3 class hours
实验教学（包括
上机学时、实验
无
学时、实践学时）
教学方法
考核方式
学生通过理论课程、测试、堂上讨论和期末考试来学习。
出勤:
5%
作业:
15%
测试 1:
15%
2
教材及参考书
制定人及制定时
间
测试 2:
15%
期末考试:
50%
System Dynamics by Katsuhiko Ogata, Prentice Hall, 4th Edition
林远, 2021.5.25
“Modeling, Analysis and Control of Dynamic Systems” Syllabus
Course Code
082100291
Course Title
Modeling, Analysis and Control of Dynamic Systems
Course Category
Specialty-related Course
Course Nature
Compulsory Course
Class Hours
64
Credits
4
Semester
Semester 1
Institute
S. M. Wu School of Intelligent Engineering
Program Oriented
Robotics Engineering, Intelligent Manufacturing Engineering
Teaching Language
English
Prerequisites
Introduction to Dynamics and Vibrations
Upon successful completion of this course students will:
•
Separate physical systems into component parts and identify the
appropriate physical principles governing the dynamics of these
Student Outcomes
component parts. (№1, №2)
(Special
Training
•
Ability)
Write algebraic and differential equations to describe the dynamics of
these component parts and the relations between the component parts
to produce the overall system behavior. (№1, №2, №10)
•
Solve and interpret the dynamics equations in the time and frequency
domains both numerically and analytically. (№3, №5)
3
•
Develop and use transfer-function descriptions of systems to analyze
the behavior of systems. (№2)
The objectives of the course are:
(1) to present the methods for modeling, analysis, and control of dynamic
Teaching Objectives
systems
(2) to present Laplace Transform in solving state-space equations
Mathematical descriptions of physical systems' behavior including mechanical,
electrical, and fluid systems and their combinations; system descriptions using
Course Description
state variable and transfer functions; analysis of system responses: convolution
integral, frequency response, numerical simulations, and Laplace transform
methods; systems concepts: input-output, causality, and analogies; general
process descriptions including first-order, second-order.
Teaching Content and
Class
Distribution
Hours
1. Introduction
2. MATLAB
3. Complex Numbers
4. Laplace Transform
5. Inverse Laplace Transform
6. Solving Linear Differential Eqns
7. Partial Fraction Expansion
8. Mechanical Element Units
9. Modeling Mechanical Systems
10. Work, Energy, & Power
11. Transfer Function & Block Diagram
12. Transient Response Analysis
13. State-Space Introduction
14. Basic Electrical Theory
15. Electrical-Mechanical
16. Fluid Systems
17. Linearization of Nonlinear Systems
18. Simulink
19. Time Domain Analysis
20. Frequency Domain Analysis
21. Imbalance & Base Excitation
22. Dynamic Vibration Absorber
4
2 class hour
2 class hours
2 class hours
3 class hours
2 class hours
2 class hours
3 class hours
2 class hours
2 class hours
2 class hours
3 class hours
3 class hours
3 class hours
2 class hours
2 class hours
2 class hours
2 class hours
3 class hours
2 class hours
3 class hours
2 class hours
3 class hours
23. 2 DOF Systems
24. Feedback Control
25. Controllers
26. Response Characteristics
27. Stability
Experimental
Teaching
Teaching Method
Examination Method
Teaching
Materials
and Reference Books
Prepared by Whom
and When
2 class hours
2 class hours
3 class hours
2 class hours
3 class hours
None.
Students learn via lecture, test, discussion and examination.
Attendance:
5%
Homework:
15%
Test 1:
15%
Test 2:
15%
Final Exam:
50%
System Dynamics by Katsuhiko Ogata, Prentice Hall, 4th Edition
Yuan Lin, 2021.5.25
5