System Dynamics Modeling, Simulation, and Control of Mechatronic Systems

by Karnopp, Dean C.; Margolis, Donald L.; Rosenberg, Ronald C.

• ISBN13: 9780470889084
• ISBN10: 047088908X
• Edition: 5th
• Format: Hardcover
• Copyright: 2012-02-28
• Publisher: Wiley

Summary

This is a revision of a book currently in its fourth edition which deals with the modeling of physical systems. With this edition (as with prior editions) one of the key features is the extensive use of bond graphs to illustrate and model physical systems. Dynamic systems are taught either using bond graph or not - so the market for Karnopp's book is clearly defined. Bond graphs are a graphical breakdown of a system which illustrates the structure of the system focusing on the flow of information and energy. In this way engineers can better understand the overall system, the various components, and whether they are electrical, chemical, mechanical, etc. The book includes coverage of electromechanical transducers, mechanical systems in plane motion, and formulas for computing hydraulic compliances and for modeling acoustic systems. New chapters and sections are being added that cover the use of physical system models beyond simply predicting system performance - including automatic control, observers, parameter studies for system design, and concept testing. As with the previous editions there will be a solutions manual to accompany this edition.

Author Biography

Dean C. Karnopp and Donald L. Margolis are Professors of Mechanical Engineering at the University of California, Davis. Ronald C. Rosenberg is Professor of Mechanical Engineering at Michigan State University. The authors have extensive experience in teaching system dynamics at the graduate and undergraduate levels and have published numerous papers on the industrial applications of the subject.

Table of Contents

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
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