Preface | p. xi |

Introduction | p. 1 |

Models of Systems | p. 4 |

Systems, Subsystems, and Components | p. 7 |

State-Determined Systems | p. 9 |

Uses of Dynamic Models | p. 10 |

Linear and Nonlinear Systems | p. 11 |

Automated Simulation | p. 12 |

References | p. 13 |

Problems | p. 14 |

Multiport Systems and Bond Graphs | p. 17 |

Engineering Multiports | p. 17 |

Ports, Bonds, and Power | p. 24 |

Bond Graphs | p. 27 |

Inputs, Outputs, and Signals | p. 30 |

Problems | p. 33 |

Basic Bond Graph Elements | p. 37 |

Basic 1-Port Elements | p. 37 |

Basic 2-Port Elements | p. 50 |

The 3-Port Junction Elements | p. 57 |

Causality Considerations for the Basic Elements | p. 63 |

Causality for Basic 1-Ports | p. 64 |

Causality for Basic 2-Ports | p. 65 |

Causality for Basic 3-Ports | p. 66 |

Causality and Block Diagrams | p. 67 |

Reference | p. 71 |

Problems | p. 71 |

System Models | p. 77 |

Electrical Systems | p. 78 |

Electrical Circuits | p. 78 |

Electrical Networks | p. 84 |

Mechanical Systems | p. 91 |

Mechanics of Translation | p. 91 |

Fixed-Axis Rotation | p. 100 |

Plane Motion | p. 106 |

Hydraulic and Acoustic Circuits | p. 121 |

Fluid Resistance | p. 122 |

Fluid Capacitance | p. 125 |

Fluid Inertia | p. 130 |

Fluid Circuit Construction | p. 132 |

An Acoustic Circuit Example | p. 135 |

Transducers and Multi-Energy-Domain Models | p. 136 |

Transformer Transducers | p. 137 |

Gyrator Transducers | p. 139 |

Multi-Energy-Domain Models | p. 142 |

References | p. 144 |

Problems | p. 144 |

State-Space Equations and Automated Simulation | p. 162 |

Standard Form for System Equations | p. 165 |

Augmenting the Bond Graph | p. 168 |

Basic Formulation and Reduction | p. 175 |

Extended Formulation Methods-Algebraic Loops | p. 183 |

Extended Formulation Methods-Derivative Causality | p. 188 |

Output Variable Formulation | p. 196 |

Nonlinear and Automated Simulation | p. 198 |

Nonlinear Simulation | p. 198 |

Automated Simulation | p. 202 |

Reference | p. 207 |

Problems | p. 207 |

Analysis and Control of Linear Systems | p. 218 |

Introduction | p. 218 |

Solution Techniques for Ordinary Differential Equations | p. 219 |

Free Response and Eigenvalues | p. 222 |

A First-Order Example | p. 223 |

Second-Order Systems | p. 225 |

Example: The Undamped Oscillator | p. 230 |

Example: The Damped Oscillator | p. 232 |

The General Case | p. 236 |

Transfer Functions | p. 239 |

The General Case for Transfer Functions | p. 241 |

Frequency Response | p. 244 |

Example Transfer Functions and Frequency Responses | p. 249 |

Block Diagrams | p. 255 |

Introduction to Automatic Control | p. 258 |

Basic Control Actions | p. 259 |

Root Locus Concept | p. 273 |

General Control Considerations | p. 285 |

Summary | p. 310 |

References | p. 311 |

Problems | p. 311 |

Multiport Fields and Junction Structures | p. 326 |

Energy-Storing Fields | p. 327 |

C-Fields | p. 327 |

Causal Considerations for C-Fields | p. 333 |

I-Fields | p. 340 |

Mixed Energy-Storing Fields | p. 348 |

Resistive Fields | p. 350 |

Modulated 2-Port Elements | p. 354 |

Junction Structures | p. 357 |

Multiport Transformers | p. 359 |

References | p. 364 |

Problems | p. 365 |

Transducers, Amplifiers, and Instruments | p. 371 |

Power Transducers | p. 372 |

Energy-Storing Transducers | p. 380 |

Amplifiers and Instruments | p. 385 |

Bond Graphs and Block Diagrams for Controlled Systems | p. 392 |

References | p. 397 |

Problems | p. 397 |

Mechanical Systems with Nonlinear Geometry | p. 411 |

Multidimensional Dynamics | p. 412 |

Coordinate Transformations | p. 416 |

Kinematic Norlinearities in Mechanical Dynamics | p. 420 |

The Basic Modeling Procedure | p. 422 |

Multibody Systems | p. 433 |

Lagrangian or Hamiltonian IC-Field Representations | p. 440 |

Application to Vehicle Dynamics | p. 445 |

Summary | p. 452 |

References | p. 452 |

Problems | p. 453 |

Distributed-Parameter Systems | p. 470 |

Simple Lumping Techniques for Distributed Systems | p. 471 |

Longitudinal Motions of a Bar | p. 471 |

Transverse Beam Motion | p. 476 |

Lumped Models of Continua through Separation of Variables | p. 482 |

The Bar Revisited | p. 483 |

Bernoulli-Euler Beam Revisited | p. 491 |

General Considerations of Finite-Mode Bond Graphs | p. 499 |

How Many Modes Should Be Retained? | p. 499 |

How to Include Damping | p. 503 |

Causality Consideration for Modal Bond Graphs | p. 503 |

Assembling Overall System Models | p. 508 |

Summary | p. 512 |

References | p. 512 |

Problems | p. 512 |

Magnetic Circuits and Devices | p. 519 |

Magnetic Effort and Flow Variables | p. 519 |

Magnetic Energy Storage and Loss | p. 524 |

Magnetic Circuit Elements | p. 528 |

Magnetomechanical Elements | p. 532 |

Device Models | p. 534 |

References | p. 543 |

Problems | p. 544 |

Thermofluid Systems | p. 548 |

Pseudo-Bond Graphs for Heat Transfer | p. 548 |

Basic Thermodynamics in True Bond Graph Form | p. 551 |

True Bond Graphs for Heat Transfer | p. 558 |

A Simple Example of a True Bond Graph Model | p. 561 |

An Electrothermal Resistor | p. 563 |

Fluid Dynamic Systems Revisited | p. 565 |

One-Dimensional Incompressible Flow | p. 569 |

Representation of Compressibility Effects in True Bond Graphs | p. 573 |

Inertial and Compressibility Effects in One-Dimensional Flow | p. 576 |

Pseudo-Bond Graphs for Compressible Gas Dynamics | p. 578 |

The Thermodynamic Accumulator-A Pseudo-Bond Graph Element | p. 579 |

The Thermodynamic Restrictor-A Pseudo-Bond Graph Element | p. 584 |

Constructing Models with Accumulators and Restrictors | p. 587 |

Summary | p. 590 |

References | p. 592 |

Problems | p. 592 |

Nonlinear System Simulation | p. 600 |

Explicit First-Order Differential Equations | p. 601 |

Differential Algebraic Equations Caused by Algebraic Loops | p. 604 |

Implicit Equations Caused by Derivative Causality | p. 608 |

Automated Simulation of Dynamic Systems | p. 612 |

Sorting of Equations | p. 613 |

Implicit and Differential Algebraic Equation Solvers | p. 614 |

Icon-Based Automated Simulation | p. 614 |

Example Nonlinear Simulation | p. 616 |

Some Simulation Results | p. 620 |

Summary | p. 623 |

References | p. 624 |

Problems | p. 624 |

Appendix: Typical Material Property Values Useful in Modeling Mechanical, Acoustic, and Hydraulic Elements | p. 630 |

Index | p. 633 |

Table of Contents provided by Ingram. All Rights Reserved. |