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

An expanded new edition of the bestselling system dynamics book using the bond graph approach A major revision of the go-to resource for engineers facing the increasingly complex job of dynamic systems design, System Dynamics, Fifth Edition adds a completely new section on the control of mechatronic systems, while revising and clarifying material on modeling and computer simulation for a wide variety of physical systems. This new edition continues to offer comprehensive, up-to-date coverage of bond graphs, using these important design tools to help readers better understand the various components of dynamic systems. Covering all topics from the ground up, the book provides step-by-step guidance on how to leverage the power of bond graphs to model the flow of information and energy in all types of engineering systems. It begins with simple bond graph models of mechanical, electrical, and hydraulic systems, then goes on to explain in detail how to model more complex systems using computer simulations. Readers will find: New material and practical advice on the design of control systems using mathematical models New chapters on methods that go beyond predicting system behavior, including automatic control, observers, parameter studies for system design, and concept testing Coverage of electromechanical transducers and mechanical systems in plane motion Formulas for computing hydraulic compliances and modeling acoustic systems A discussion of state-of-the-art simulation tools such as MATLAB and bond graph software Complete with numerous figures and examples, System Dynamics, Fifth Edition is a must-have resource for anyone designing systems and components in the automotive, aerospace, and defense industries. It is also an excellent hands-on guide on the latest bond graph methods for readers unfamiliar with physical system modeling.

Table of Contents:
Preface xi 1 Introduction 1 1.1 Models of Systems 4 1.2 Systems, Subsystems, and Components 7 1.3 State-Determined Systems 9 1.4 Uses of Dynamic Models 10 1.5 Linear and Nonlinear Systems 11 1.6 Automated Simulation 12 References 13 Problems 14 2 Multiport Systems and Bond Graphs 17 2.1 Engineering Multiports 17 2.2 Ports, Bonds, and Power 24 2.3 Bond Graphs 27 2.4 Inputs, Outputs, and Signals 30 Problems 33 3 Basic Bond Graph Elements 37 3.1 Basic 1-Port Elements 37 3.2 Basic 2-Port Elements 50 3.3 The 3-Port Junction Elements 57 3.4 Causality Considerations for the Basic Elements 63 3.4.1 Causality for Basic 1-Ports 64 3.4.2 Causality for Basic 2-Ports 65 3.4.3 Causality for Basic 3-Ports 66 3.5 Causality and Block Diagrams 67 Reference 71 Problems 71 4 System Models 77 4.1 Electrical Systems 78 4.1.1 Electrical Circuits 78 4.1.2 Electrical Networks 84 4.2 Mechanical Systems 91 4.2.1 Mechanics of Translation 91 4.2.2 Fixed-Axis Rotation 100 4.2.3 Plane Motion 106 4.3 Hydraulic and Acoustic Circuits 121 4.3.1 Fluid Resistance 122 4.3.2 Fluid Capacitance 125 4.3.3 Fluid Inertia 130 4.3.4 Fluid Circuit Construction 132 4.3.5 An Acoustic Circuit Example 135 4.4 Transducers and Multi-Energy-Domain Models 136 4.4.1 Transformer Transducers 137 4.4.2 Gyrator Transducers 139 4.4.3 Multi-Energy-Domain Models 142 References 144 Problems 144 5 State-Space Equations and Automated Simulation 162 5.1 Standard Form for System Equations 165 5.2 Augmenting the Bond Graph 168 5.3 Basic Formulation and Reduction 175 5.4 Extended Formulation Methods—Algebraic Loops 183 5.4.1 Extended Formulation Methods—Derivative Causality 188 5.5 Output Variable Formulation 196 5.6 Nonlinear and Automated Simulation 198 5.6.1 Nonlinear Simulation 198 5.6.2 Automated Simulation 202 Reference 207 Problems 207 6 Analysis and Control of Linear Systems 218 6.1 Introduction 218 6.2 Solution Techniques for Ordinary Differential Equations 219 6.3 Free Response and Eigenvalues 222 6.3.1 A First-Order Example 223 6.3.2 Second-Order Systems 225 6.3.3 Example: The Undamped Oscillator 230 6.3.4 Example: The Damped Oscillator 232 6.3.5 The General Case 236 6.4 Transfer Functions 239 6.4.1 The General Case for Transfer Functions 241 6.5 Frequency Response 244 6.5.1 Example Transfer Functions and Frequency Responses 249 6.5.2 Block Diagrams 255 6.6 Introduction to Automatic Control 258 6.6.1 Basic Control Actions 259 6.6.2 Root Locus Concept 273 6.6.3 General Control Considerations 285 6.7 Summary 310 References 311 Problems 311 7 Multiport Fields and Junction Structures 326 7.1 Energy-Storing Fields 327 7.1.1 C-Fields 327 7.1.2 Causal Considerations for C-Fields 333 7.1.3 I -Fields 340 7.1.4 Mixed Energy-Storing Fields 348 7.2 Resistive Fields 350 7.3 Modulated 2-Port Elements 354 7.4 Junction Structures 357 7.5 Multiport Transformers 359 References 364 Problems 365 8 Transducers, Amplifiers, and Instruments 371 8.1 Power Transducers 372 8.2 Energy-Storing Transducers 380 8.3 Amplifiers and Instruments 385 8.4 Bond Graphs and Block Diagrams for Controlled Systems 392 References 397 Problems 397 9 Mechanical Systems with Nonlinear Geometry 411 9.1 Multidimensional Dynamics 412 9.1.1 Coordinate Transformations 416 9.2 Kinematic Nonlinearities in Mechanical Dynamics 420 9.2.1 The Basic Modeling Procedure 422 9.2.2 Multibody Systems 433 9.2.3 Lagrangian or Hamiltonian IC -Field Representations 440 9.3 Application to Vehicle Dynamics 445 9.4 Summary 452 References 452 Problems 453 10 Distributed-Parameter Systems 470 10.1 Simple Lumping Techniques for Distributed Systems 471 10.1.1 Longitudinal Motions of a Bar 471 10.1.2 Transverse Beam Motion 476 10.2 Lumped Models of Continua through Separation of Variables 482 10.2.1 The Bar Revisited 483 10.2.2 Bernoulli–Euler Beam Revisited 491 10.3 General Considerations of Finite-Mode Bond Graphs 499 10.3.1 How Many Modes Should Be Retained? 499 10.3.2 How to Include Damping 503 10.3.3 Causality Consideration for Modal Bond Graphs 503 10.4 Assembling Overall System Models 508 10.5 Summary 512 References 512 Problems 512 11 Magnetic Circuits and Devices 519 11.1 Magnetic Effort and Flow Variables 519 11.2 Magnetic Energy Storage and Loss 524 11.3 Magnetic Circuit Elements 528 11.4 Magnetomechanical Elements 532 11.5 Device Models 534 References 543 Problems 544 12 Thermofluid Systems 548 12.1 Pseudo-Bond Graphs for Heat Transfer 548 12.2 Basic Thermodynamics in True Bond Graph Form 551 12.3 True Bond Graphs for Heat Transfer 558 12.3.1 A Simple Example of a True Bond Graph Model 561 12.3.2 An Electrothermal Resistor 563 12.4 Fluid Dynamic Systems Revisited 565 12.4.1 One-Dimensional Incompressible Flow 569 12.4.2 Representation of Compressibility Effects in True Bond Graphs 573 12.4.3 Inertial and Compressibility Effects in One-Dimensional Flow 576 12.5 Pseudo-Bond Graphs for Compressible Gas Dynamics 578 12.5.1 The Thermodynamic Accumulator—A Pseudo-Bond Graph Element 579 12.5.2 The Thermodynamic Restrictor—A Pseudo-Bond Graph Element 584 12.5.3 Constructing Models with Accumulators and Restrictors 587 12.5.4 Summary 590 References 592 Problems 592 13 Nonlinear System Simulation 600 13.1 Explicit First-Order Differential Equations 601 13.2 Differential Algebraic Equations Caused by Algebraic Loops 604 13.3 Implicit Equations Caused by Derivative Causality 608 13.4 Automated Simulation of Dynamic Systems 612 13.4.1 Sorting of Equations 613 13.4.2 Implicit and Differential Algebraic Equation Solvers 614 13.4.3 Icon-Based Automated Simulation 614 13.5 Example Nonlinear Simulation 616 13.5.1 Some Simulation Results 620 13.6 Summary 623 References 624 Problems 624 Appendix: Typical Material Property Values Useful in Modeling Mechanical, Acoustic, and Hydraulic Elements 630 Index 633