研究生教学网
课程代码 Course Code | ME6120H | *学时 Teaching Hours | 48 | *学分 Credits | 3.0 | |||||
*课程名称 Course Name | （中文）高等机械动力学 | |||||||||
（English）Higher Dynamics of Machinery | ||||||||||
*授课语言 Instruction Language | 中文 (Chinese) | |||||||||
*开课院系 School | 机械与动力工程学院School of Mechanical Engineering | |||||||||
先修课程 Prerequisite | 理论力学Theoretical Mechanics、机械原理Theory of Machines and Mechanisms, | |||||||||
授课教师 Instructors | 姓名Name | 职称Title | 单位Department | 联系方式E-mail | ||||||
王皓 Hao Wang | 教授 Professor | 机械与动力工程学院 School of Mechanical Engineering | wanghao@sjtu.edu.cn | |||||||
费燕琼 Yanqiong Fei | 教授 Professor | 机械与动力工程学院 School of Mechanical Engineering | fyq@sjtu.edu.cn | |||||||
*课程简介（中文）Course Description |
该课程为机械工程研究生学位课。课程系统地介绍机械动力学的理论方法和应用。理论方法包括机械刚体动力学、弹性动力学、多体动力学、多领域建模方法、动力学计算方法、动力学综合方法等。应用领域包括机构动力学、机器人动力学、回转系统动力学、动力机械、生物运动力学、机电液一体化分析、动平衡设计、机械系统动态设计等。
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*课程简介（English）Course Description |
The course is compulsory for graduates pursuing the Master Degree of Mechanical Engineering. Theories of machinery dynamicsand its application will be comprehensively explained during the course. The theories include Dynamics of Rigid Mechanical Systems, Elastic-Dynamics, Multi-body System Dynamics, Multi-Domain Modeling, and Calculating Methods for Dynamics, Synthesizing Methods for Dynamics, etc. The application areas include Mechanism Dynamics, Robot Dynamics, Rotary System Dynamics, Power Machinery, Kinetic-Biomechanics, Mechanical-Electro-Hydraulic Coupled Analysis, Dynamic Balance Design, Dynamic Design of Mechanical Systems, etc.
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*教学安排 Schedules | 教学内容Content | 授课学时 Hours | 教学方式 Format | |||||||
1. 绪论/机构的动态静力分析Introduction/Kineto-Static Analysis of Mechanisms ü 基本概念Fundamental Concepts ü 动力学普遍方程 GeneralEquations of Dynamics ü 机构的动态静力分析Kineto-Static Analysis of Mechanisms | 4 | 课程教学 Lectures | ||||||||
2. 平面机构的平衡Balancing of Planar Mechanisms ü 机构平衡概述Summary of Mechanism Balancing ü 质量代换 Equivalents of Mass ü 摆动力平衡分析Analysis of Shaking Force Balancing ü 机构的完全平衡 Complete Balancing of Mechanisms ü 机构的优化综合平衡Optimum Balancing of Mechanisms | 4 | 课程教学 Lectures | ||||||||
3. 刚体机械系统动力学 Dynamics of Rigid Mechanical Systems ü 机械系统动力学概述 Summary of Mechanical System Dynamics ü 单自由度机械系统等效力学模型Equivalent Mechanical Models of Single-DOF Systems ü 运动学分析及求解方法Analysis and Solving Methods for Kinematics Analysis ü 动力学的稳定性问题 Stability about Dynamics ü 多自由度机械系统动力分析 DynamicAnalysisof Multi-DOF Systems | 4 | 课程教学 Lectures | ||||||||
4. 多刚体系统动力学 Multi-rigid-body System Dynamics ü 多刚体运动学基础Fundamentals of Multi-rigid-body System Kinematics ü 多刚体动力学基础Fundamentals of Multi-rigid-body SystemDynamics ü 系统运动方程求解的数值方法 NumericalSolving Methods for Kinematic Equations | 4 | 课程教学 Lectures | ||||||||
5. 机器人动力学简介 Introduction of Robot Dynamics ü 机器人动力学逆问题 Inverse Dynamics of Robots ü 机器人动力学正问题Forward Dynamics of Robots ü 机器人动力学问题求解方法Solving Methods for Robot Dynamics | 4 | 课程教学 Lectures | ||||||||
6. 机械振动学基础Fundamentals of Mechanical Vibration ü 单自由系统的振动Vibrationsof Single-DOF Systems ü 多自由度系统的振动Vibrations of Multi-DOF Systems ü 基于有限元法的振动分析Vibration Analysis Based on FEMs | 4 | 课程教学 Lectures | ||||||||
7. 回转体机械动力学 Dynamics of Rotary Machines ü 概述 Summary ü 轴的横向振动临界转速计算Critical SpeedCalculating for Radial Vibration of Shafts ü 轴系的扭振固有频率计算Natural Frequency Calculating for Torsional Vibration of Shafts ü 转子动力学概述 Summary of Rotor Dynamics | 4 | 课程教学 Lectures | ||||||||
8. 机构弹性动力学Elasto-Dynamics of Mechanisms ü 单元运动微分方程 Differential Equations for Motion of Units ü 系统运动微分方程 Differential Equations for Motion of System ü 运动弹性动力分析方法 Analyzing Methods forKineto-Elastodynamic | 4 | 课程教学 Lectures | ||||||||
9. 机械系统弹性动力学Elastodynamics of Machinery Systems ü 机械系统弹性动力分析Elasto-Dynamic Analysis of Machinery Systems ü 弹性动力学应用 Applications of Elastodynamics | 4 | 课程教学 Lectures | ||||||||
10. 多柔体系统动力学简介Introduction of Flexible Multi-body System Dynamics ü 多柔体运动学Kinematics of Flexible Multi-bodySystems ü 多柔体动力学Dynamics of Flexible Multi-bodySystems ü 多体动力学前沿方向介绍 Cutting Edges ofMulti-body System Dynamics | 4 | 课程教学 Lectures | ||||||||
11. 现代机械动力学前沿介绍 Cutting Edges of ModernMachinery Dynamics ü 非线性动力学简介 Introduction of Nonlinear Dynamics ü 含间隙机械系统动力学Dynamics of Mechanical System with Clearances ü 机电液系统动力学建模 Dynamic Modeling of Mechanical-Electro-Hydraulic System ü 特殊系统动力学－非完整系统，变拓扑系统等Dynamics of Special Systems including Monholonomic System, Variable Topology System, etc. | 4 | 课程教学 Lectures | ||||||||
12. 课堂练习和讨论Classroom Exercise and Discussion | 4 | 课程讨论 Discussions | ||||||||
*考核方式Grading Policy |
1.作业：包括每次课后习题作业，主要考核课堂内容掌握程度。占课程综合成绩的20％。 Homework Assignments: Exercises after every single lesson weighted 20% of the total grade will be assigned to assess how much contents the students have mastered. 2. 课程设计：1次大设计作业，主要考核综合运用所学知识解决较复杂问题的能力。占课程综合成绩的40％。 Projects: A design project weighted 40% of the total grade will be conducted to assess the students’ ability for comprehensively using what they have learned to solve complicated problems. 3.考试：一次期末考试，采取开卷形式，主要考核对本课程基本概念和基础知识的全面掌握情况。占课程综合成绩的40％。 Exams: A final exam weighted 40% of the total grade, in open-book way, will be held to mainly assessthe students’ mastering status of fundamental concepts and knowledge.
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*教材或参考资料Textbooks &References |
机械动力学（第二版），张策，高等教育出版社 Dynamics of Machinery (2nd Edition), ZHANG Ce, Higher Education Press
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备注 Notes |
英文讲义，中文授课 English Handouts, Chinese Instructions
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