THE UNIVERSITY OF TEXAS AT AUSTIN DEPARTMENT OF MECHANICAL ENGINEERING

ME 344 DYNAMIC SYSTEMS & CONTROLS

SPRING 2011 SYLLABUS

COURSE NUMBER: ME 344 (unique no. 18490) MEETING TIME TTh 11:00am-12:30pm AND PLACE: ETC 2.114 INSTRUCTOR: Tess J. Moon, Ph.D., P.E. OFFICE HOURS: ETC 4.170; TTh 12:20-1:50pm, also by appointment

CONTACT tmoon@mail.utexas.edu (preferred contact method) INFORMATION: (512) 471-0094 (phone) • (512) 471-8727 (fax) ADMINISTRATIVE Lori Holloway ASSOCIATE: ETC 7.142 lholloway@austin.utexas.edu (512) 471-4584 (phone) • (512) 471-1045 (fax) TEACHING ASSISTANT: None; this course has only been assigned a homework grader. WEB PAGE: Blackboard Learning System™ @ UT : courses.utexas.edu;

primary and supplemental course materials as well as useful links. CATALOG DESCRIPTION:

Lumped physical system models; electrical, fluid, mechanical, and thermal system analysis; linear system transient, steady–state behavior; introduction to feedback control. Three lecture hours a week for one semester.

PREREQUISITES:

Mathematics 427K and Mechanical Engineering 205 and 324 with a grade of at least C in each; Mechanical Engineering 340 and 140L or their equivalents with a grade of at least C in each; concurrent enrollment in Mechanical Engineering 144L or 244L; and admission to an appropriate major sequence in engineering.

TEXT*: D. Rowell & D.N. Wormley, System Dynamics: An Introduction, Prentice–Hall (Englewood

Cliffs, NJ) 1997. [ISBN 0-13-210808-9] (REQUIRED).

F.T. Brown, Engineering System Dynamics: A Unified Graph-Centered Approach, CRC Press, Taylor & Francis Group (Boca Raton, FL) 2007. [ISBN 0-8493-9648-4] (OPTIONAL).

SUPPLEMENT*: D. C. Karnopp, D. L. Margolis & R. C. Rosenberg, System Dynamics, 3rd edition, Wiley-

Interscience (New York) 2000; essential portions of Chapters 3, 4 & 5 [ISBN 0-471-70965-7]. (REQUIRED).

*Selected sections are assigned readings; see attached weekly schedule. BOND GRAPH METHOD REFERENCE: Bondgraphs.com (www.bondgraphs.com): A great on-line source for introductory tutorials

and example applications of the BG method.

DYNAMIC SYSTEMS REFERENCES: D. C. Karnopp, D. L. Margolis & R. C. Rosenberg, System Dynamics, 4th edition, John Wiley

& Sons (Hoboken, New Jersey) 2006. [ISBN 0-471-70965-7] C.M. Close, D. K. Frederick & J. C. Newell, Modeling and Analysis of Dynamic Systems, 3rd

edition; John Wiley & Sons (New York) 2002. [ISBN 0-471-39442-4] W.J. Palm III, System Dynamics, 1st edition, McGraw-Hill Companies (New York) 2004.

[ISBN 0-256-11449-8] I. Cochin & W. Cadwallender, Analysis and Design of Dynamic Systems, 3rd edition;

Prentice–Hall (Englewood Cliffs, NJ) 1997. [ISBN 0-673-98258-0] RECOMMENDED COFFEE TABLE BOOK & WEB SITE: D. Macaulay, The Way Things Work, Houghton Mifflin Co. (Boston) 1998. [ISBN 0-439-

13858-2] How Stuff Works (www.howstuffworks.com): On-line version of the popular book.

GRADING: Semester Exam #1............................................................. 20% performance Semester Exam #2............................................................. 20% performance Homework ........................................................................ 10% process Attendance, Pop Quizzes & Participation......................... 10% process Final Exam ........................................................................ 40% performance 100%

Students are given three class days after getting their exams, quizzes, projects and homework returned to raise any concerns regarding their grade or how the item was graded. Students are required to keep all their graded materials until they receive and accept with their course grade.

SEMESTER EXAMS:

Specific exam dates, times and rooms are “to be announced,” but generally occur according the attached schedule. Makeup exams will NOT be given, although allowances are granted for well-documented medical reasons. Due to the nature of the material, all Semester exams are comprehensive.

HOMEWORK:

This course will include 8–10 individual homework assignments. Students are encouraged to discuss homework problems, but are expected to turn in their own work. As homework solutions will be available on-line and in fairness to those who turn their homework in on time, late homework is strongly discouraged and will be accepted on a case-by-case basis.

POP QUIZZES:

There will be occasional, unannounced, brief (e.g. 10 minute) quizzes in this class. They are intended as self–assessment tools for students and concept–mastery feedback for the instructor.

PARTICIPATION & ATTENDANCE:

This class is sequential in nature. As a result, in–class participation and regular attendance is an important component of this class. Excessive Absences Reports will be submitted as necessary in accordance with the College of Engineering’s class attendance policy.

FINAL EXAM: A comprehensive Final Exam will be given on the date and location specified by the Registrar’s website: www.utexas.edu/student/registrar/. Until the actual schedule is available, according to the Registrar the best estimate of the exam schedule is: Thursday, May 12th, 2–5 pm (location to be announced).

DEAN’S SCHOLASTIC DISHONESTY & ATTENDANCE POLICIES:

Any plagiarism or cheating on exams, quizzes and homework will be reported according to The University’s Policy on Scholastic Dishonesty and the Mechanical Engineering Department’s Honor Code. According to the Dean of Engineering, testing environments (seating, access to notes, hats, etc.) should be designed to discourage cheating and faculty are asked to keep records of student’s participation and attendance for Excessive Absences Reports.

CLASS FORMAT: Students are strongly encouraged to “keep up” with the lectures and homework. Historically, there is a strong correlation between class attendance and independent completion of the homework with success on the exams and the course in general.

LAST DAY TO DROP “WITHOUT CAUSE”:

The 4th class day (Friday, January 21st, 2011) is the last day to drop this class “without cause”; after this date withdrawal will require permission from the Office of the Dean of Engineering (Office of Student Affairs, ECJ 2.200, (512) 471-4321) and will be governed by the University’s academic policy for “Adding and Dropping Courses” in the General Information Catalog, www.utexas.edu/student/registrar/catalogs/.

KNOWLEDGE, SKILLS, AND ABILITIES STUDENTS SHOULD HAVE BEFORE ENTERING THIS COURSE:

Basic understanding of Solid Mechanics (Statics, Dynamics, Kinematics), Fluid Mechanics, Heat Transfer (Conduction, Convection, Radiation), Electromagnetics and Electrical Circuit Theory

Mathematical abilities through and including Differential Equations KNOWLEDGE, SKILLS, AND ABILITIES STUDENTS GAIN FROM THIS COURSE:

Structured modeling and analysis of lumped-parameter dynamic systems; Learn use of bond graphs to describe mechanical, electrical, electromagnetic, thermal and fluid

systems; Ability to develop a realistic model of a given physical system; Ability to predict via analysis the system's dynamic behavior.

IMPACT ON SUBSEQUENT COURSES IN CURRICULUM:

This required course satisfies 3 credits for the ME undergraduate program. It prepares students to perform the system design, synthesis and analysis required in the capstone design sequence (ME 266K Mechanical Engineering Design Project and ME 266P Design Project Laboratory).

ABET EC2000 PROGRAM OUTCOMES ACHIEVED: This course contributes to the following ME Program Outcomes for ME (√). Outcome Outcome

1. Knowledge of and ability to apply engineering and science fundamentals to real problems.

√√√

6. Ability to communicate in written, oral and graphical forms.

√√

2. Ability to formulate and solve open-ended problems.

√ 7. Ability to work in teams and apply interpersonal skills in engineering contexts.

3. Ability to design mechanical components, systems, and processes.

√√√ √

8. Ability and desire to lay a foundation for continued learning beyond the baccalaureate degree.

√

4. Ability to set up and conduct experiments, and to present the results in a professional manner.

9. Awareness of professional issues in engineering practice, including ethical responsibility, safety, the creative enterprise, and loyalty and commitment to the profession.

√

5. Ability to use modern computer tools in mechanical engineering.

10. Awareness of contemporary issues in engineering practice, including economic, social, political, and environmental issues and global impact.

ASME PROGRAM CRITERIA OUTCOMES ACHIEVED: This course contributes to the following ASME Program Outcomes (√).

Mechanical Engineering Criterion

a. Knowledge of chemistry and calculus-based physics with in-depth knowledge of at least one.

b. Ability to apply advanced mathematics through multivariate calculus and differential equations.

√

c. Familiarity with statistics and linear algebra. d. Ability to work professionally in both the thermal and mechanical systems areas including the design and realization of such systems.

√

MAJOR TOPICS DISCUSSED:

1. Bond Graph Fundamentals & Modeling Elements 2. Bond Graph Modeling of Dynamic Systems

a. Mechanical: Translation & Rotational b. Electrical c. Hydraulic d. Electromagnetic e. Thermal (briefly)

3. Systems Analysis & Dynamic Behavior: Time Domain a. 1st Order Systems b. 2nd Order Systems c. Non–Linear & Higher Order Systems

4. Systems Analysis & Dynamic Behavior: Frequency Domain 5. Introduction to Automatic Control Systems & Their Design

ME 344 – Spring 2011 Schedule*

Week Topics Reading* Due

1 a. Course Administration; Syllabus; Survey b. Introduction to Bond Graphs (BG)

RW 1, 2

2 a. Bond Graph Conventions b. Electrical System BGs c. Constitutive Relations; Junction Equations; Linearization

RW 3, 4 KMR 3

3 a. Transformers & Gyrators; BG Examples b. Translational System BGs

RW 5, 6 KMR 4

4 a. Rotational System BGs; Hydraulic System BGs b. Multi-Energy Domain System BGs

KMR 4

5 a. Causality & System Order b. State Equation Derivation: Independent Elements

KMR 5

6 a. State Equation Derivation: Dependent Elements, Arbitrary Causality b. More Complex Systems: Progressive Modeling

RW 7, 8 KMR 5

7 a. Electromagnetic System BGs b. 1st Order Systems: Standard Form; Unforced & Zero-Input Response

RW 9

8 a. 1st Order Systems: Forced & Zero-State Responses to a Unit Step, Impulse and Step-Impulse; Examples

RW 9

Exam 1

9 a. 1st Order Systems: Forced & Zero-State Response to Ramp, Co/sinusoid or Combinations; Examples b. 1st Order Systems as Filters

RW 9

10 a. 2nd Order Systems: Standard Form; Unforced & Zero-Input Response; Response Characteristics vs. Pole Placement

RW 9

11 a. 2nd Order Systems: Forced & Zero-State Responses to a Unit Step, Impulse or Combination; Performance Metrics for Design

RW 10

12 a. 2nd Order Systems: Forced & Zero-State Responses to a Co/sinusoid b. 2nd Order Systems: Examples, incl. Automobile Suspension Design

RW 11

13

a. Nth Order and Nonlinear Systems: Determination of Responses b. Numerical Simulation; Laplace Transforms (time permitting)

RW 12

14

a. Transfer Functions for SISO and MIMO Systems b. Frequency Response; Bode Diagrams: Basic Factors

RW 14

15

a. Frequency Response of 1st, 2nd and Nth Order Systems b. Automatic Control System Design (time permitting) c. Student Course Evaluation

Exam 2

Notes: *This schedule is tentative and subject to revision. For lecture supplements, as well as reading and homework assignments, please check the class Blackboard web site at http://courses.utexas.edu/.