| |
| |
| Preface | |
| |
| |
| |
| Introduction | |
| |
| |
| |
| Models of Systems | |
| |
| |
| |
| Systems, Subsystems, and Components | |
| |
| |
| |
| State-Determined Systems | |
| |
| |
| |
| Uses of Dynamic Models | |
| |
| |
| |
| Linear and Nonlinear Systems | |
| |
| |
| |
| Automated Simulation | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Multiport Systems and Bond Graphs | |
| |
| |
| |
| Engineering Multiports | |
| |
| |
| |
| Ports, Bonds, and Power | |
| |
| |
| |
| Bond Graphs | |
| |
| |
| |
| Inputs, Outputs, and Signals | |
| |
| |
| Problems | |
| |
| |
| |
| Basic Bond Graph Elements | |
| |
| |
| |
| Basic 1-Port Elements | |
| |
| |
| |
| Basic 2-Port Elements | |
| |
| |
| |
| The 3-Port Junction Elements | |
| |
| |
| |
| Causality Considerations for the Basic Elements | |
| |
| |
| |
| Causality for Basic 1-Ports | |
| |
| |
| |
| Causality for Basic 2-Ports | |
| |
| |
| |
| Causality for Basic 3-Ports | |
| |
| |
| |
| Causality and Block Diagrams | |
| |
| |
| Reference | |
| |
| |
| Problems | |
| |
| |
| |
| System Models | |
| |
| |
| |
| Electrical Systems | |
| |
| |
| |
| Electrical Circuits | |
| |
| |
| |
| Electrical Networks | |
| |
| |
| |
| Mechanical Systems | |
| |
| |
| |
| Mechanics of Translation | |
| |
| |
| |
| Fixed-Axis Rotation | |
| |
| |
| |
| Plane Motion | |
| |
| |
| |
| Hydraulic and Acoustic Circuits | |
| |
| |
| |
| Fluid Resistance | |
| |
| |
| |
| Fluid Capacitance | |
| |
| |
| |
| Fluid Inertia | |
| |
| |
| |
| Fluid Circuit Construction | |
| |
| |
| |
| An Acoustic Circuit Example | |
| |
| |
| |
| Transducers and Multi-Energy-Domain Models | |
| |
| |
| |
| Transformer Transducers | |
| |
| |
| |
| Gyrator Transducers | |
| |
| |
| |
| Multi-Energy-Domain Models | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| State-Space Equations and Automated Simulation | |
| |
| |
| |
| Standard Form for System Equations | |
| |
| |
| |
| Augmenting the Bond Graph | |
| |
| |
| |
| Basic Formulation and Reduction | |
| |
| |
| |
| Extended Formulation Methods-Algebraic Loops | |
| |
| |
| |
| Extended Formulation Methods-Derivative Causality | |
| |
| |
| |
| Output Variable Formulation | |
| |
| |
| |
| Nonlinear and Automated Simulation | |
| |
| |
| |
| Nonlinear Simulation | |
| |
| |
| |
| Automated Simulation | |
| |
| |
| Reference | |
| |
| |
| Problems | |
| |
| |
| |
| Analysis and Control of Linear Systems | |
| |
| |
| |
| Introduction | |
| |
| |
| |
| Solution Techniques for Ordinary Differential Equations | |
| |
| |
| |
| Free Response and Eigenvalues | |
| |
| |
| |
| A First-Order Example | |
| |
| |
| |
| Second-Order Systems | |
| |
| |
| |
| Example: The Undamped Oscillator | |
| |
| |
| |
| Example: The Damped Oscillator | |
| |
| |
| |
| The General Case | |
| |
| |
| |
| Transfer Functions | |
| |
| |
| |
| The General Case for Transfer Functions | |
| |
| |
| |
| Frequency Response | |
| |
| |
| |
| Example Transfer Functions and Frequency Responses | |
| |
| |
| |
| Block Diagrams | |
| |
| |
| |
| Introduction to Automatic Control | |
| |
| |
| |
| Basic Control Actions | |
| |
| |
| |
| Root Locus Concept | |
| |
| |
| |
| General Control Considerations | |
| |
| |
| |
| Summary | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Multiport Fields and Junction Structures | |
| |
| |
| |
| Energy-Storing Fields | |
| |
| |
| |
| C-Fields | |
| |
| |
| |
| Causal Considerations for C-Fields | |
| |
| |
| |
| I-Fields | |
| |
| |
| |
| Mixed Energy-Storing Fields | |
| |
| |
| |
| Resistive Fields | |
| |
| |
| |
| Modulated 2-Port Elements | |
| |
| |
| |
| Junction Structures | |
| |
| |
| |
| Multiport Transformers | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Transducers, Amplifiers, and Instruments | |
| |
| |
| |
| Power Transducers | |
| |
| |
| |
| Energy-Storing Transducers | |
| |
| |
| |
| Amplifiers and Instruments | |
| |
| |
| |
| Bond Graphs and Block Diagrams for Controlled Systems | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Mechanical Systems with Nonlinear Geometry | |
| |
| |
| |
| Multidimensional Dynamics | |
| |
| |
| |
| Coordinate Transformations | |
| |
| |
| |
| Kinematic Norlinearities in Mechanical Dynamics | |
| |
| |
| |
| The Basic Modeling Procedure | |
| |
| |
| |
| Multibody Systems | |
| |
| |
| |
| Lagrangian or Hamiltonian IC-Field Representations | |
| |
| |
| |
| Application to Vehicle Dynamics | |
| |
| |
| |
| Summary | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Distributed-Parameter Systems | |
| |
| |
| |
| Simple Lumping Techniques for Distributed Systems | |
| |
| |
| |
| Longitudinal Motions of a Bar | |
| |
| |
| |
| Transverse Beam Motion | |
| |
| |
| |
| Lumped Models of Continua through Separation of Variables | |
| |
| |
| |
| The Bar Revisited | |
| |
| |
| |
| Bernoulli-Euler Beam Revisited | |
| |
| |
| |
| General Considerations of Finite-Mode Bond Graphs | |
| |
| |
| |
| How Many Modes Should Be Retained? | |
| |
| |
| |
| How to Include Damping | |
| |
| |
| |
| Causality Consideration for Modal Bond Graphs | |
| |
| |
| |
| Assembling Overall System Models | |
| |
| |
| |
| Summary | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Magnetic Circuits and Devices | |
| |
| |
| |
| Magnetic Effort and Flow Variables | |
| |
| |
| |
| Magnetic Energy Storage and Loss | |
| |
| |
| |
| Magnetic Circuit Elements | |
| |
| |
| |
| Magnetomechanical Elements | |
| |
| |
| |
| Device Models | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Thermofluid Systems | |
| |
| |
| |
| Pseudo-Bond Graphs for Heat Transfer | |
| |
| |
| |
| Basic Thermodynamics in True Bond Graph Form | |
| |
| |
| |
| True Bond Graphs for Heat Transfer | |
| |
| |
| |
| A Simple Example of a True Bond Graph Model | |
| |
| |
| |
| An Electrothermal Resistor | |
| |
| |
| |
| Fluid Dynamic Systems Revisited | |
| |
| |
| |
| One-Dimensional Incompressible Flow | |
| |
| |
| |
| Representation of Compressibility Effects in True Bond Graphs | |
| |
| |
| |
| Inertial and Compressibility Effects in One-Dimensional Flow | |
| |
| |
| |
| Pseudo-Bond Graphs for Compressible Gas Dynamics | |
| |
| |
| |
| The Thermodynamic Accumulator-A Pseudo-Bond Graph Element | |
| |
| |
| |
| The Thermodynamic Restrictor-A Pseudo-Bond Graph Element | |
| |
| |
| |
| Constructing Models with Accumulators and Restrictors | |
| |
| |
| |
| Summary | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| |
| Nonlinear System Simulation | |
| |
| |
| |
| Explicit First-Order Differential Equations | |
| |
| |
| |
| Differential Algebraic Equations Caused by Algebraic Loops | |
| |
| |
| |
| Implicit Equations Caused by Derivative Causality | |
| |
| |
| |
| Automated Simulation of Dynamic Systems | |
| |
| |
| |
| Sorting of Equations | |
| |
| |
| |
| Implicit and Differential Algebraic Equation Solvers | |
| |
| |
| |
| Icon-Based Automated Simulation | |
| |
| |
| |
| Example Nonlinear Simulation | |
| |
| |
| |
| Some Simulation Results | |
| |
| |
| |
| Summary | |
| |
| |
| References | |
| |
| |
| Problems | |
| |
| |
| Appendix: Typical Material Property Values Useful in Modeling Mechanical, Acoustic, and Hydraulic Elements | |
| |
| |
| Index | |