STE6304 Mathematical Modeling and Simulation - 5 stp

• 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

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++

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

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

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.