MECH ENG 3028 - Dynamics & Control II

North Terrace Campus - Semester 2 - 2020

Dynamic systems are found everywhere, from musical instruments to transportation vehicles such as automobiles and aircraft. Even static civil structures such as bridges and buildings exhibit a dynamic response, which must be considered during design and construction of such systems. This course introduces the fundamental concepts of vibrating dynamical systems, from single degree of freedom systems through to continuous and multi-degree of freedom systems. Design of vibration control devices, such as vibration isolators and vibration absorbers, is also considered. A module on engineering acoustics covers the fundamentals of acoustics, an introduction to psychoacoustics, general noise control, and occupational and environmental noise assessment. Concurrently, this course also addresses how to control such dynamic systems using modern state-space control. This involves time domain descriptions of dynamic systems using state-space system models. The characteristics responsible for the dynamic response (poles, zeros, eigenvalues) are presented. Control laws using state-space are introduced, including specification of controller characteristics, controller design using pole placement and optimal (LQR) control (introduction). State observers are presented, including observer design using both pole placement and optimal (Kalman) observers (introduction). Finally, a computer aided control system design methodology is applied to a real MIMO Aerospace platform and several other unstable MIMO systems.

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Course Details

Course Code	MECH ENG 3028
Course	Dynamics & Control II
Coordinating Unit	School of Mechanical Engineering
Term	Semester 2
Level	Undergraduate
Location/s	North Terrace Campus
Units	3
Contact	Up to 7 hours per week
Available for Study Abroad and Exchange	Y
Prerequisites	MECH ENG 2019
Assumed Knowledge	6 units of Level II Applied Maths courses, MECH ENG 1007, MECH ENG 2019
Restrictions	Available to BE(Mechanical & Aerospace), BE(Computational), BE(Mechanical), BE(Mechatronic), BE(Mechanical & Sports), BE(Mechanical & Sustainable Energy) and associated double and combined degree students only
Assessment	Assignments, laboratory experiments, final exam

Course Staff

Course Coordinator: Professor Anthony Zander

Name	Role	Building/Room	Email
Prof Anthony Zander	Course Coordinator & Lecturer - Vibrations component	Engineering South, S116a	anthony.zander@adelaide.edu.au
A/Prof Boyin Ding	Lecturer - Controls component & Acoustics component	Engineering South, S324e	boyin.ding@adelaide.edu.au

Course Timetable

The full timetable of all activities for this course can be accessed from .

Course Learning Outcomes

1	Discuss the principles of vibrations, including concepts of modes and natural frequencies, and the influence of mass, stiffness and damping on the motion of vibratory systems;
2	Demonstrate how to estimate system parameters and measure the damping of simple vibratory systems;
3	Explain the principles controlling basic vibration systems including forced vibratory systems, vibration isolation systems, and vibration absorbers;
4	Explain the modes and natural frequencies of simple, idealised continuous systems;
5	Explain the fundamentals of modelling complex continuous systems with discrete lumped-masses and springs;
6	Construct state space models of dynamic systems, and explain basic control concepts relating to these such as controllability, observability, poles and zeros, stability;
7	Design full-state feedback control system and optimal control systems;
8	Design an observer to estimate system states, including exposure to stochastic state estimation;
9	Design complex controllers such as observer-feedback and command-tracking;
10	Design real control systems;
11	Understand the fundamentals of acoustics;
12	Understand basic noise control systems;
13	Be able to assess occupational and environmental noise problems.

The above course learning outcomes are aligned with the Engineers Australia Stage 1 Competency Standard for the Professional Engineer. The course is designed to develop the following Elements of Competency:

1.1. Comprehensive, theory based understanding of the underpinning natural and physical sciencesand the engineering fundamentals applicable to the engineering discipline.
1.2. Conceptual understanding of the mathematics, numerical analysis, statistics, and computer andinformation
sciences, which underpin the engineering discipline.
1.3. In-depth understanding of specialist bodies of knowledge within the engineering discipline.
1.4. Discernment of knowledge development and research directions within the engineeringdiscipline.
1.5. Knowledge of contextual factors impacting the engineering discipline.
1.6. Understanding of the scope, principles, norms, accountabilities and bounds of contemporaryengineering practice in the specific discipline.

2.1. Application of established engineering methods to complex engineering problem solving.
2.2. Fluent application of engineering techniques, tools and resources.
2.3. Application of systematic engineering synthesis and design processes.

3.1. Ethical conduct and professional accountability.
3.2. Effective oral and written communication in professional and lay domains.
3.4. Professional use and management of information.
3.5. Orderly management of self, and professional conduct.
3.6. Effective team membership and team leadership.

University Graduate Attributes

This course will provide students with an opportunity to develop the Graduate Attribute(s) specified below:

University Graduate Attribute	Course Learning Outcome(s)
Deep discipline knowledge informed and infused by cutting edge research, scaffolded throughout their program of studies acquired from personal interaction with research active educators, from year 1 accredited or validated against national or international standards (for relevant programs)	1-13
Critical thinking and problem solving steeped in research methods and rigor based on empirical evidence and the scientific approach to knowledge development demonstrated through appropriate and relevant assessment	1-13

Learning Resources

Required Resources

Course Notes available from Online Shop (https://shop.adelaide.edu.au/konakart/Welcome.action) for collection at the University Library or softcopy on MyUni.

Recommended Resources

Inman, D.J., Engineering Vibration, Pearson, Fourth Edition, 2014; or
Thompson W.T., 1993, Theory of Vibration with Applications, Fourth Edition, Stanley-Thornes.

Dorf and Bishop “Modern Control Systems”, Chapt 3;
Franklin, Powell and Emami-Naeini “Feedback Control of Dynamic Systems”, Chapt 2.2, Chapt 7.1-7.2;
Nise “Control Systems Engineering”, Chapt 3.

Bies and Hansen "Engineering Noise Control: Theory and Practice", CRC Press.

Online Learning

Significant links available to online resources available on MyUni.
Learning & Teaching Activities
Learning & Teaching Modes

Online lectures supported by computer lab-based tutorials and one laboratory experiment.

All lectures will be delivered online. These online lectures will be complemented by learning activities including computer lab-based tutorials, quizzes, assignments and a face-to-face laboratory experiment. Lecturers will also be available weekly at designated times for consulting in person or via Zoom. There will also be the option to participate in all activities entirely remotely.

Workload

The information below is provided as a guide to assist students in engaging appropriately with the course requirements.

As per university recommendations, it is expected that students spend 48hrs/week during teaching periods, and that a 3 unit course has a minimum workload of 156 hours regardless of the length of the course. Additional time may need to be spent acquiring assumed knowledge, working on assessment during non-teaching periods, and preparing for and attending examinations.

Learning Activities Summary
Below is a breakdown of the scheduled learning activities for this course:

Acoustics
- Fundamentals of Acoustics
- Psychoacoustics
- General Noise Control Techniques
- Occupational and Environmental Noise
Vibrations
- Free vibration of single degree-of-freedom systems (2 lectures)
- Forced vibrations (3 lectures)
- Damped vibrations (2 lectures)
- Vibration isolation (3 lectures)
- Multi-degree of freedom systems (4 lectures)
- Vibration of continuous systems (2 lectures)
- Determination of natural frequencies and mode shapes (5 lectures)
- Laboratory Experiment: Vibrating beam PRAC
Control
- Introduction to State Space Modelling (1 lecture)
- Lagrangian Mechanics (1 lecture)
- Linearisation of Non-linear Differential Equation (1 lecture)
- Construction of State Space Models (1 lecture)
- Modelling Multiple DOF Systems (1 lecture)
- Modelling Distributed Parameter Systems (1 lecture)
- Conversion between SS to TF and back again: Control canonical, observer canonical, Jordan form (1 lecture)
- Solution to state equations, poles, zeros and stability (1 lecture)
- Controllability and Observability (1 lecture)
- Feedback Control & Pole Placement (1 lecture)
- Optimal Control (LQR) (1 lecture) (1 lecture)
- Observers (Estimators) (1 lecture)
- Optimal Observers (Kalman-Bucy Filters, LQG) (1 lecture)
- Reduced Order Observers (1 lecture)
- Compensators (1 lecture)
- Reference Input & Command Tracking (1 lecture)
- Summary (1 lecture)
- Computer lab-based tutorials using MATLAB/SIMULINK and Quanser QuaRC (12 tutorials)
Specific Course Requirements

Nil.

The University's policy on Assessment for Coursework Programs is based on the following four principles:

Assessment must encourage and reinforce learning.
Assessment must enable robust and fair judgements about student performance.
Assessment practices must be fair and equitable to students and give them the opportunity to demonstrate what they have learned.
Assessment must maintain academic standards.

Assessment Summary

Assessment Task	Weighting (%)	Individual/ Group	Formative/ Summative	Due (week)*	Hurdle criteria	Learning outcomes
Coursework	40	Quizzes (Individual) Assignments (Individual) Lab report (Group)	Formative Summative Summative		None None Yes**	1-13 1-13 1-13
Exam	60	Individual	Summative		None	1-13
Total	100

* The specific due date for each assessment task will be available on MyUni. The detailed assessment
breakdown for the individual Acoustics, Auto Contgrol II and Vibrations components is shown under Assessment Detail.

** See Assessment Related Requirements.

This assessment breakdown complies with the University's Assessment for Coursework Programs Policy.

Auto Control II

The Auto Control II coursework comprises computer-lab based tutorials, quizzes and assignments. An assignment will be set approximately every four weeks. The computer lab-based tutorials are designed to provide instruction of Matlab and Simulink while simultaneously developing the understanding of the students’ control knowledge through simulation.

Vibrations

The Vibrations coursework consists of quizzes, assignments and one laboratory experiment.

Acoustics

The Acoustics coursework consists of one assignment.

Assessment Related Requirements

Note that the laboratory experiment is compulsory and that to pass the course each student must: attend the Vibrating Beam laboratory experiment (either in person or remotely); submit a lab report; and obtain at least 35% of the total possible lab mark.

Assessment Detail

Acoustics (weighted at 15% of overall course mark)

The acoustics assignment is submitted electronically and comprises 40% of the Acoustics component mark. The exam comprises 60% of the Acoustics component mark.

Controls (weighted at 42.5% of overall course mark)

The Controls assessment comprises 16 webinar quizzes each worth 0.5 mark (8% of Controls component in total), 12 CARM Lab quizzes each worth 1 mark (12% of Controls component in total), and two assignments submitted electronically worth 20% of the Controls component mark. The exam comprises 60% of the Controls component mark.

Vibrations (weighted at 42.5% of overall course mark)

The Vibrations assessment comprises quizzes (10% of Vibrations component in total), two assignments submitted electronically (20% of Vibrations component in total), and the Vibrating Beam laboratory experiment worth 10% of the Vibrations component mark. The exam comprises 60% of the Vibrations component mark.

Variations in the assessment scheme are negotiable only on medical or compassionate grounds or extenuating circumstances.

Submission

All quizzes, assignments and practical reports must be submitted electronically via MyUni as per instructions for each assessment. Late reports will be penalised 10% per day. All quizzes, tutorials and assignments are submitted online using Mobius/MyUni. Late submissions are not possible as Mobius/MyUni automatically prevents submission after the due time on the due date, unless an extension has been granted and implemented in Mobius/MyUni by the Course Coordinator.

Extensions for assignments will only be given in exceptional circumstances and a case for this with supporting documentation can
be made in writing via email to the Course Coordinator. The Course Coordinator must receive a completed Application for Assessment Extension form (/policies/3303/?dsn=policy.document;field=data;id=7446;m=view) prior to the Assessment Deadline when a student is seeking an extension. There are only three grounds for which an extension can be granted: Medical Circumstances, Compassionate Circumstances and/or Extenuating Circumstances. Course Coordinators cannot grant extensions based on balancing student workloads.

There will be no opportunities for re-submission of work of unacceptable standard.

Due to the large size of the class feedback on assignments will be limited to in-class discussion resulting from questions from students and individual automatic feedback through Mobius/MyUni.

Course Grading

Grades for your performance in this course will be awarded in accordance with the following scheme:

M10 (Coursework Mark Scheme)
Grade	Mark	Description
FNS		Fail No Submission
F	1-49	Fail
P	50-64	Pass
C	65-74	Credit
D	75-84	Distinction
HD	85-100	High Distinction
CN		Continuing
NFE		No Formal Examination
RP		Result Pending

Further details of the grades/results can be obtained from Examinations.

Grade Descriptors are available which provide a general guide to the standard of work that is expected at each grade level. More information at Assessment for Coursework Programs.

Final results for this course will be made available through .

Student Feedback

The University places a high priority on approaches to learning and teaching that enhance the student experience. Feedback is sought from students in a variety of ways including on-going engagement with staff, the use of online discussion boards and the use of Student Experience of Learning and Teaching (SELT) surveys as well as GOS surveys and Program reviews.

SELTs are an important source of information to inform individual teaching practice, decisions about teaching duties, and course and program curriculum design. They enable the University to assess how effectively its learning environments and teaching practices facilitate student engagement and learning outcomes. Under the current SELT Policy (http://www.adelaide.edu.au/policies/101/) course SELTs are mandated and must be conducted at the conclusion of each term/semester/trimester for every course offering. Feedback on issues raised through course SELT surveys is made available to enrolled students through various resources (e.g. MyUni). In addition aggregated course SELT data is available.
Student Support
Policies & Guidelines
This section contains links to relevant assessment-related policies and guidelines - all university policies.
Fraud Awareness

Students are reminded that in order to maintain the academic integrity of all programs and courses, the university has a zero-tolerance approach to students offering money or significant value goods or services to any staff member who is involved in their teaching or assessment. Students offering lecturers or tutors or professional staff anything more than a small token of appreciation is totally unacceptable, in any circumstances. Staff members are obliged to report all such incidents to their supervisor/manager, who will refer them for action under the university's student鈥檚 disciplinary procedures.

The 成人大片 is committed to regular reviews of the courses and programs it offers to students. The 成人大片 therefore reserves the right to discontinue or vary programs and courses without notice. Please read the important information contained in the disclaimer.

Authorised by:	Deputy Vice-Chancellor and Vice-President (Academic)
Maintained by:	Course Outlines Administrator

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