TEK4040 – Mathematical Modelling of Dynamic Systems
Course description
Course content
The main part of the course presents the mathematics to describe the dynamic of rigid bodies. This includes how?vectors and linear operators are represented by matrices. Then, the direction cosine matrices and rotation matrices?are defined and interpreted,?and the direction cosine matrix?differential equation, rotation matrix?representations and?relative motion are presented.
The mathematical part is then used to understand how physical forces on rigid bodies yield their motion. This part presents angular momentum for rigid bodies, geometric description of torque-free movements for general and axes-symmetric rigid bodies, in addition to examination of the stability of rotation.
The final part of the course is an introduction to modelling of manipulators,?inertial navigation systems and aircrafts.