THE UNIVERSITY OF

ALABAMA
Department of Mechanical Engineering
ME 372: Dynamic Systems

Summer 2019, MTWRF 12:00-13:45 (Sections 100) – Hardaway Hall 252

Visit ME 372 on-line course activities at http:// ualearn.blackboard.com.

Instructor: S. Nima Mahmoodi, Department of Mechanical Engineering

Office: 3015 SERC
Tel: 348-5056
Email: nmahmoodi@eng.ua.edu
Office hours: Weekdays 10:30-11:30 AM.

Textbook: Modeling and Analysis of Dynamic Systems, 3rd Ed.

Authors: Charles M. Close, Dean K. Frederick, and Jonathon C. Newell.
Publisher: Wiley.

Other Useful Books:

1. Ogata, System Dynamics, Prentice Hall, 1998.
2. Inman, Engineering Vibration, Prentice Hall, 2000.
3. Doebelin, System Dynamics: Modeling, Analysis, Simulation and Design, Marcel
Dekker, 1998.
4. Sheaper, Kulakowski and Gardner, Dynamic Modeling and Control of Engineering
Systems, 2nd Edition, Prentice Hall, 1997.

Handouts: available on blackboard before each class.

Prerequisites: MATH 238: Applied Differential Equations

AEM 264: Dynamics
ECE 320: Fundamentals of Electrical Engineering
ME 349: Engineering Analysis

Core "C" Designation: Since ME 372 is a UA core curriculum "C" course, additional special
considerations apply. Prerequisite computer knowledge is required through the co-
requisite of ME 349 (which has GES 132 – Foundations of Engineering II as a pre-
requisite). Computer "tools," including Matlab and Excel, will be extensively used in
ME 372. Students must demonstrate proficiency with the computer "tools" in order to
pass ME 372, regardless of their overall grade. Proficiency will be demonstrated by an
average of at least 70% on designated computer assignments.

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 ME 372: Dynamic Systems
Topical Course Outline and Contents:
Day/Date Subjects Chapters
1st 1. Introduction and Orientation:
7/2 Introduction and Familiarization with Course Objectives and Topics, 1
Reviewing Topics from Physics and Mathematics.

2nd to 4th 2. Mechanical Systems Modeling: 2, 3

7/2 and 7/3 Translational Mechanical Systems, State variables, Matlab solutions
Mechanical Systems Problems.

5th 3. Rotational Systems Modeling: 5

7/5 Levered Systems, Geared systems
Torsional Systems and Problems.

6th and 7th 4. Electrical and Electromechanical Systems Modeling: 6, 10

7/8 and 7/9 Electrical Circuits, Electromechanical Devices and
Motors, Representative Examples and Problems.

8th Test #1 Preparation

7/12 Sample Problems, Review of the Materials and Related Issues.

7/15 (Monday) Test #1. Closed book and notes.

9th and 11th 5. Analysis of Linear Systems: 7

7/10 and 7/11 Laplace Transforms, Transform solutions,
Transfer functions. Examples and problems.

12th and 13th 6. First Order and Second Order Systems: 8

7/16 to 7/18 Models for Second Order Systems Analysis,

14th Test #2 Preparation

7/19 Sample Problems, Review of the Materials and Related Issues.

7/22 (Monday.) Test #2. Closed book and notes.

15th and 16th 7. Frequency Domain Analysis: 8

7/23 and 7/24 Time-Domain versus Frequency-Domain Analysis.

17th and 18th 8. Block Diagrams: 13

7/25 and 7/26 Block Diagrams, Matlab and Simulink Simulations.

19th and 20th 9. Introduction to Feedback Control Systems: 14, 15

7/29 and 7/30 Analysis of Control Systems, Control System Problems.

21th 7/31 Review of the Course Materials and Summary:

8/1 Final Exam: Thursday Aug 1, 2019, from 2PM - 4:30PM

In-class Assignments/Homeworks:
In-class assignments and homeworks will be given according to the progress of the
course. There will be hand solution of problems, computer programming/ simulation, or
a combination of both. In-class assignments are open-book, open-notes quizzes to be
finished independently by each student. Homeworks will be posted on the Blackboard,

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 with the due date clearly marked on the assignment sheet. Students must upload their
solution on Blackboard before due date and time. No late homework will be accepted.
Midterm exams: Two one-hour tests will be given during class time at the assigned dates. They
are close-book, close-notes. There will be NO makeup exams. If you miss an exam (for
good reason, i.e. DOCUMENTED illness, etc.), then the equivalent average score that
you obtain in the other exams will be used in its place. Prompt notification is required in
advance for missed exams.
Final exam: Approximately one half of the final exam will be on material covered since the
previous tests. The other half will be comprehensive (almost 40% on new material, 60%
on full-semester material). The final exam will also be close-book, close-notes.
Office hours policy: Students are encouraged to see me during the designated office hours or
make an appointment to see me at other times. Email and phone contact is also possible.
Attendance Policy: Students are expected to attend ALL classes. The instructor reserves the
right to limit the quality/quantity of out-of-class assistance to students with excessive
absences.
Assignment sheets and course content are subject to modification when circumstances or sound
pedagogy dictate and as the course progresses. If changes are made, you will be given
due notice.

Keys to Success in ME 372:

 Keep up. You cannot get far behind in this type of course. If you need help, please
come talk to me ASAP.
 Stay focused in classes. The best way to save time, AND get a good grade.
 Start early. Don’t wait until the last minute to start working on your assignments.

Grading:
A+ A A- B+ B B- C+ C C- D+ D D- F

100 97 92 90 87 82 80 77 72 70 67 62 60

In-class Assignments: 15%

Homeworks: 20 %
Two closed book exams: 35 %
Final, comprehensive exam: 30 %
100 %

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Pre-Requisites ME 372 - Dynamic Systems

The following is a list of material which the student should have known at the beginning of this course. If you find
that you have difficulty with these topics as the semester progresses, you are strongly advised to seek the assistance
of the instructor.

Basic Trigonometry
 Given Cartesian coordinates of a point in a plane, find the sine, cosine, and tangents of the angles
associated with the point.
 Pythagorean theorem.

Ordinary Differential Equations (First and Second Order)

- Find the general form of the homogeneous solution;
 find the characteristic equation describing the system;
 find the roots of the characteristic equation;
 identify general characteristics about the behavior of the system from the locations of the roots in the
complex plane. (i.e., oscillatory, unstable - roots are imaginary and on right hand side).
 given the characteristics of the response of a first or second order system, draw the general location of
the roots of the system in the complex plane
- Find the general form for the particular solution based on the specified input;
- Find the coefficients for the particular solution using substitution into the original ODE;
- Find the final solution using superposition of the homogeneous and particular solutions and the initial
conditions.

First Order Systems

- Write the general form for first order systems;
- Identify the time constant, ; for a first order system;
- Write the characteristic equation for a first order system ...
 given the general equation of motion,
 given the system root, and
Given the time constant, ;
- Draw a sketch of the anticipated response to a step input including ...
 the steady state value,
 the initial condition, and
 the value of the response at time =  secs (= 63% of the difference between y(0) and yss).
- Plot the root on the real / imaginary axis and describe the general response (stable, unstable, speed with which
system reaches final value, etc.) based on the root’s location.

Second Order Systems

- Write the general form for second order systems;
- Find the roots of the system;
- Write the characteristic equation for a second order system ...
 given the general equation, and
 given the system roots;
- Draw a sketch of the anticipated response based on the location of the roots;
- Determine the general response of the system based on the location of the roots in the complex plane (stable,
oscillatory, ...).

Electrical Systems - Standard Circuits

- Write the proper units for electrical elements, charges, etc.;
- Write Kirchoff’s Node and Current Laws;
- Derive equivalent circuits for resistors in series or in parallel.

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Topics ME 372 - Dynamic Systems

The following is a list of material which the student should know by the end of this course:

Translational Mechanical Systems

- List appropriate assumptions for modeling a system;
- Draw a free body diagram of the system (probs 2.1, 2.2, 2.4, 2.6, etc.);
- Substitute forces on a FBD with the appropriate element law (FK = K(x2 - x1), etc.);
- Use the correct sign conventions on element laws (like the (x2 - x1) term above);
- Modify the element laws for relative coordinate systems where appropriate (probs 2.11, 2.14);
- Draw the FBD and derive the system equations for vertical systems (with gravity) where
 xi = 0 when springs are undeflected;
 xi = 0 when the system is in static equilibrium (probs 2.17, 2.20);
- Draw FBDs and write system equations for systems with ideal pulleys (prob 2.22);
- Draw the FBD of a massless point (probs 2.27, 2.29).
State Variable Form of System Models
- Determine a possible set of state variables for a system;
- Check state variables for dependence and eliminate dependent S.V.s.;
- Draw Free Body Diagrams for systems using state variables (for example, Bv instead of B x );
- Collect terms from FBDs and assemble into system equations of motion;
- Double check the equations of motion for sign conventions (all xi terms should have same signs);
- Rearrange equations of motion into state variable form, for any order system and multiple inputs
- Put output equations in state variable form;
- Use Matlab to find the time response of the state variable model system for arbitrary inputs
- Use Matlab to reduce a set of simulaneous linear equations to a valid set of state variable equations
Rotational Systems
- List appropriate assumptions for modeling a system;
- Substitute forces on a FBD with the appropriate element law ( K = K(2 - 1), etc.);
- Use the correct sign conventions on element laws (like the (2 - 1) term above);
- Modify the element laws for relative coordinate systems where appropriate;
- Draw FBDs and derive the system equations for ideal levers where
 state variables are stated in angular displacement and velocity ( x  r )
r
 state variables are stated in linear terms ( x 2  2 x1 )
r1
- Draw FBDs and derive the system equations for gears
 derive an expression for gear force, fc,,
 eliminate dependent state variables,
 write the expression on a FBD for gear force as either a force for linear systems (rack) or torque for
rotational systems (pinion),
 substitute the expression for fc in the system equations to eliminate non-state variable terms.
- Draw FBDs and write system equations for systems with combinations of linear and rotational elements

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Electrical Systems - Standard Circuits
- Correlate electrical elements for:
 energy storage  energy dissipation  work
 inertia  “force”  power
to equivalent mechanical systems;
- Write the voltage drop over any electrical element ( L di , iR , 1  idt );
dt C
- Derive the state variable equations for a circuit by:
 identifying nodes on a circuit and labeling voltages with respect to ground,
 showing positive senses for voltage drops and currents,
 choosing appropriate state variables and checking for dependence,
 finding algebraic expressions for all iC’s and eL’s, and
 writing the appropriate capacitor and inductor element laws;
 put the state variable equations in matrix form.
Electro-Mechanical Systems
- Identify the key parameters (ka, kb) which govern the coupling between the electrical and mechanical models
of a DC motor
- Draw FBDs and write system equations for systems with combinations of linear and rotational mechanical
elements and electrical elements such as a DC motor
Second Order Systems
- Derive the damping ratio and undamped natural frequency of a 2nd order system based on the system
equation,
- Given the damping ratio and undamped natural frequency of a system, find the characteristic equation and the
roots;
- Identify the general response of a second order system based on the damping ratio and undamped natural
frequency to a) the unit impulse function, and b) the unit step function;
Laplace Transforms
- Use tables (like the table in Appendix E of your text) to transform a time function into the frequency domain
or vice-versa.
- Find the Laplace Transforms and the Inverse Laplace Transforms of functions (including differentials, integrals,
multiplication by e-at, and so on);
- Perform a partial fraction expansion on polynomials with:
 real, distinct poles,
 repeated poles, and
 complex poles;
- Solve a system’s equations of motion (1st, 2nd, or 3rd order) using the Laplace Transform by:
 finding the Laplace Transforms of the differential equation and the forcing function,
 inserting appropriate initial conditions,
 solving algebraically for the desired output variable,
 performing a Partial Fraction Expansion of the expression, and
 finding the Inverse Laplace Transform of the expression to find the time response;
- Solve a system’s equations of motion (any order) using the ability of Maple to find Laplace Transforms and
inverse Laplace Transforms

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Transfer Functions and Frequency Response
- Develop a transfer function from block diagrams or a set of state variable equations
- Determine the analytical frequency response (magnitude and phase) for first and second order transfer
functions.
- Use Matlab to plot the frequency response (magnitude and phase) for higher order transfer functions.
Control Systems
- Describe the difference between open-loop and closed loop control systems
- Determine the system transfer function and the roots of the characteristic equation after "closing the loop" for
a control system;
- Explain the purpose and implementation of the following parts of the traditional PID controller:
 proportional,
 integral, and
 derivative term;
- Implement P, PI, PD, and PID controllers with the Matlab Simulink computer program and simulate systems
with typical control inputs (step, ramp, sine wave).