System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems

System Dynamics......Page 3
 Contents......Page 7
 Preface......Page 13
 1 Introduction......Page 15
  1.1 Models of Systems......Page 18
  1.2 Systems, Subsystems, and Components......Page 21
  1.3 State-Determined Systems......Page 23
  1.4 Uses of Dynamic Models......Page 24
  1.5 Linear and Nonlinear Systems......Page 25
  1.6 Automated Simulation......Page 26
  References......Page 27
  Problems......Page 28
  2.1 Engineering Multiports......Page 31
  2.2 Ports, Bonds, and Power......Page 38
  2.3 Bond Graphs,......Page 41
  2.4 Inputs, Outputs, and Signals......Page 44
  Problems......Page 47
  3.1 Basic 1-Port Elements......Page 51
  3.2 Basic 2-Port Elements......Page 64
  3.3 The 3-Port Junction Elements......Page 71
  3.4 Causality Considerations for the Basic Elements......Page 77
   3.4.1 Causality for Basic 1-Ports......Page 78
   3.4.2 Causality for Basic 2-Ports......Page 79
   3.4.3 Causality for Basic 3-Ports......Page 80
  3.5 Causality and Block Diagrams,......Page 81
  Problems,......Page 85
 4 System Models......Page 91
   4.1.1 Electrical Circuits,......Page 92
   4.1.2 Electrical Networks,......Page 98
   4.2.1 Mechanics of Translation,......Page 105
   4.2.2 Fixed-Axis Rotation,......Page 114
   4.2.3 Plane Motion,......Page 120
  4.3 Hydraulic and Acoustic Circuits,......Page 135
   4.3.1 Fluid Resistance,......Page 136
   4.3.2 Fluid Capacitance,......Page 139
   4.3.3 Fluid Inertia,......Page 144
   4.3.4 Fluid Circuit Construction,......Page 146
   4.3.5 An Acoustic Circuit Example,......Page 149
  4.4 Transducers and Multi-Energy-Domain Models,......Page 150
   4.4.1 Transformer Transducers,......Page 151
   4.4.2 Gyrator Transducers,......Page 153
   4.4.3 Multi-Energy-Domain Models,......Page 156
  Problems,......Page 158
 5 State-Space Equations and Automated Simulation......Page 176
  5.1 Standard Form for System Equations,......Page 179
  5.2 Augmenting the Bond Graph,......Page 182
  5.3 Basic Formulation and Reduction,......Page 189
  5.4 Extended Formulation Methods—Algebraic Loops,......Page 197
   5.4.1 Extended Formulation Methods—Derivative Causality,......Page 202
  5.5 Output Variable Formulation,......Page 210
   5.6.1 Nonlinear Simulation,......Page 212
   5.6.2 Automated Simulation,......Page 216
  Problems,......Page 221
  6.1 Introduction,......Page 232
  6.2 Solution Techniques for Ordinary Differential Equations,......Page 233
  6.3 Free Response and Eigenvalues,......Page 236
   6.3.1 A First-Order Example,......Page 237
   6.3.2 Second-Order Systems,......Page 239
   6.3.3 Example: The Undamped Oscillator,......Page 244
   6.3.4 Example: The Damped Oscillator,......Page 246
   6.3.5 The General Case,......Page 250
  6.4 Transfer Functions,......Page 253
   6.4.1 The General Case for Transfer Functions,......Page 255
  6.5 Frequency Response,......Page 258
   6.5.1 Example Transfer Functions and Frequency Responses,......Page 263
   6.5.2 Block Diagrams,......Page 269
  6.6 Introduction to Automatic Control,......Page 272
   6.6.1 Basic Control Actions,......Page 273
   6.6.2 Root Locus Concept,......Page 287
   6.6.3 General Control Considerations,......Page 299
  6.7 Summary,......Page 324
  Problems,......Page 325
 7 Multiport Fields and Junction Structures......Page 340
   7.1.1 C-Fields,......Page 341
   7.1.2 Causal Considerations for C-Fields,......Page 347
   7.1.3 I -Fields,......Page 354
   7.1.4 Mixed Energy-Storing Fields,......Page 362
  7.2 Resistive Fields,......Page 364
  7.3 Modulated 2-Port Elements,......Page 368
  7.4 Junction Structures,......Page 371
  7.5 Multiport Transformers,......Page 373
  References,......Page 378
  Problems,......Page 379
 8 Transducers, Amplifiers, and Instruments......Page 385
  8.1 Power Transducers,......Page 386
  8.2 Energy-Storing Transducers,......Page 394
  8.3 Amplifiers and Instruments,......Page 399
  8.4 Bond Graphs and Block Diagrams for Controlled Systems,......Page 406
  Problems,......Page 411
 9 Mechanical Systems with Nonlinear Geometry......Page 425
  9.1 Multidimensional Dynamics,......Page 426
   9.1.1 Coordinate Transformations,......Page 430
  9.2 Kinematic Nonlinearities in Mechanical Dynamics,......Page 434
   9.2.1 The Basic Modeling Procedure,......Page 436
   9.2.2 Multibody Systems,......Page 447
   9.2.3 Lagrangian or Hamiltonian IC -Field Representations,......Page 454
  9.3 Application to Vehicle Dynamics,......Page 459
  References,......Page 466
  Problems,......Page 467
 10 Distributed-Parameter Systems......Page 484
   10.1.1 Longitudinal Motions of a Bar,......Page 485
   10.1.2 Transverse Beam Motion,......Page 490
  10.2 Lumped Models of Continua through Separation of Variables,......Page 496
   10.2.1 The Bar Revisited,......Page 497
   10.2.2 Bernoulli–Euler Beam Revisited,......Page 505
   10.3.1 How Many Modes Should Be Retained?,......Page 513
   10.3.3 Causality Consideration for Modal Bond Graphs,......Page 517
  10.4 Assembling Overall System Models,......Page 522
  Problems,......Page 526
  11.1 Magnetic Effort and Flow Variables,......Page 533
  11.2 Magnetic Energy Storage and Loss,......Page 538
  11.3 Magnetic Circuit Elements,......Page 542
  11.4 Magnetomechanical Elements,......Page 546
  11.5 Device Models,......Page 548
  References,......Page 557
  Problems,......Page 558
  12.1 Pseudo-Bond Graphs for Heat Transfer,......Page 562
  12.2 Basic Thermodynamics in True Bond Graph Form,......Page 565
  12.3 True Bond Graphs for Heat Transfer,......Page 572
   12.3.1 A Simple Example of a True Bond Graph Model,......Page 575
   12.3.2 An Electrothermal Resistor,......Page 577
  12.4 Fluid Dynamic Systems Revisited,......Page 579
   12.4.1 One-Dimensional Incompressible Flow,......Page 583
   12.4.2 Representation of Compressibility Effects in True Bond Graphs,......Page 587
   12.4.3 Inertial and Compressibility Effects in One-Dimensional Flow,......Page 590
  12.5 Pseudo-Bond Graphs for Compressible Gas Dynamics,......Page 592
   12.5.1 The Thermodynamic Accumulator—A Pseudo-Bond Graph Element,......Page 593
   12.5.2 The Thermodynamic Restrictor—A Pseudo-Bond Graph Element,......Page 598
   12.5.3 Constructing Models with Accumulators and Restrictors,......Page 601
   12.5.4 Summary,......Page 604
  Problems,......Page 606
 13 Nonlinear System Simulation......Page 614
  13.1 Explicit First-Order Differential Equations,......Page 615
  13.2 Differential Algebraic Equations Caused by Algebraic Loops,......Page 618
  13.3 Implicit Equations Caused by Derivative Causality,......Page 622
  13.4 Automated Simulation of Dynamic Systems,......Page 626
   13.4.1 Sorting of Equations,......Page 627
   13.4.3 Icon-Based Automated Simulation,......Page 628
  13.5 Example Nonlinear Simulation,......Page 630
   13.5.1 Some Simulation Results,......Page 634
  13.6 Summary,......Page 637
  Problems,......Page 638
 Appendix: Typical Material Property Values Useful in Modeling Mechanical, Acoustic, and Hydraulic Elements......Page 644
 Index......Page 647