spring 2018
STE6304 Mathematical Modeling and Simulation - 5 ECTS

  1. Startsida
  2. Emnekatalog
  3. Mathematical Modeling and Simulation

Application deadline

Applicants from Nordic countries: 1 December for the spring semester. Exchange students and Fulbright students: 1 October for the spring semester.

Type of course

The course may be taken as a single subject.  

Admission requirements

A relevant undergraduate bachelor Engineering programme with minimum 30 credits Mathematics/statistics topics

Application Code: 9371

Prerequisite(s): Control engineering 1, Linear algebra 2, Numerical Methods, Experience with C++

Obligatory prerequisites

SMN6190 Linear Algebra 2, SMN6191 Numerical Methods, STE6215 Control Engineering I

Course content

The following technical topics will be presented throughout this course:
  • State space modeling
  • Newton's laws of motion
  • Euler's moment equation
  • Stability
  • Energy-based methods
  • The rotation matrix
  • Euler angles
  • Quaternions
  • Angular velocity
  • Motor modeling and control
  • Differentiation of vectors in inertial and non-inertial frames
  • Interfacing Beaglebone Black with Matlab/Simulink
  • Creating hardware drivers using the S-function builder
  • Kalman filter

Objectives of the course

Knowledge: After completing the course, the student shall

  • Know how to model rigid bodies by accounting for forces and moments acting on them
  • Understand the concept of stability and energy-based methods
  • Know the most important parameterization of rotations
  • Know the principles for use of Newton-Euler equations of motion

Skills: After completing the course, the student shall be able to:

  • Differentiate vectors in inertial and non-inertial coordinate frames
  • Use energy-based methods to design control laws
  • Implement mathematical models in Matlab/Simulink
  • Perform hardware in the loop simulations using Beaglebone Black

General competence: After completing the course, the student shall be able to:

  • Communicate technical issues related to mathematical modeling, simulation and hardware implementations

Language of instruction and examination

English

Teaching methods

The subject contains a number of assignments that the student must complete. The theory and results from these assignments shall result in a report, which will be used to evaluate the student.

Software

Matlab/Simulink

Assessment

Portfolio assessment, grading will be done by using A-F grading scale, where F is a fail.

Recommended reading/syllabus

Egeland, O. and J. T. Gravdahl, Modeling and simulation for automatic control, Norwegian University of Science and Technology, Marine Cybernetics, Trondheim, Norway, ISBN: 82-92356-01-0, 2002.

Molloy, D., Exploring Beaglebone, John Wiley & Sons, Inc., ISBN: 978-1-118-93512-5, 2015.

Selected datasheets and papers presented during the lectures.

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  • About the course
  • Campus: Narvik |
  • ECTS: 5
  • Course code: STE6304
  • Tidligere år og semester for dette emnet