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

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  • Edition: 5th
  • Format: Hardcover
  • Copyright: 2012-02-28
  • Publisher: Wiley

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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

Prefacep. xi
Introductionp. 1
Models of Systemsp. 4
Systems, Subsystems, and Componentsp. 7
State-Determined Systemsp. 9
Uses of Dynamic Modelsp. 10
Linear and Nonlinear Systemsp. 11
Automated Simulationp. 12
Referencesp. 13
Problemsp. 14
Multiport Systems and Bond Graphsp. 17
Engineering Multiportsp. 17
Ports, Bonds, and Powerp. 24
Bond Graphsp. 27
Inputs, Outputs, and Signalsp. 30
Problemsp. 33
Basic Bond Graph Elementsp. 37
Basic 1-Port Elementsp. 37
Basic 2-Port Elementsp. 50
The 3-Port Junction Elementsp. 57
Causality Considerations for the Basic Elementsp. 63
Causality for Basic 1-Portsp. 64
Causality for Basic 2-Portsp. 65
Causality for Basic 3-Portsp. 66
Causality and Block Diagramsp. 67
Referencep. 71
Problemsp. 71
System Modelsp. 77
Electrical Systemsp. 78
Electrical Circuitsp. 78
Electrical Networksp. 84
Mechanical Systemsp. 91
Mechanics of Translationp. 91
Fixed-Axis Rotationp. 100
Plane Motionp. 106
Hydraulic and Acoustic Circuitsp. 121
Fluid Resistancep. 122
Fluid Capacitancep. 125
Fluid Inertiap. 130
Fluid Circuit Constructionp. 132
An Acoustic Circuit Examplep. 135
Transducers and Multi-Energy-Domain Modelsp. 136
Transformer Transducersp. 137
Gyrator Transducersp. 139
Multi-Energy-Domain Modelsp. 142
Referencesp. 144
Problemsp. 144
State-Space Equations and Automated Simulationp. 162
Standard Form for System Equationsp. 165
Augmenting the Bond Graphp. 168
Basic Formulation and Reductionp. 175
Extended Formulation Methods-Algebraic Loopsp. 183
Extended Formulation Methods-Derivative Causalityp. 188
Output Variable Formulationp. 196
Nonlinear and Automated Simulationp. 198
Nonlinear Simulationp. 198
Automated Simulationp. 202
Referencep. 207
Problemsp. 207
Analysis and Control of Linear Systemsp. 218
Introductionp. 218
Solution Techniques for Ordinary Differential Equationsp. 219
Free Response and Eigenvaluesp. 222
A First-Order Examplep. 223
Second-Order Systemsp. 225
Example: The Undamped Oscillatorp. 230
Example: The Damped Oscillatorp. 232
The General Casep. 236
Transfer Functionsp. 239
The General Case for Transfer Functionsp. 241
Frequency Responsep. 244
Example Transfer Functions and Frequency Responsesp. 249
Block Diagramsp. 255
Introduction to Automatic Controlp. 258
Basic Control Actionsp. 259
Root Locus Conceptp. 273
General Control Considerationsp. 285
Summaryp. 310
Referencesp. 311
Problemsp. 311
Multiport Fields and Junction Structuresp. 326
Energy-Storing Fieldsp. 327
C-Fieldsp. 327
Causal Considerations for C-Fieldsp. 333
I-Fieldsp. 340
Mixed Energy-Storing Fieldsp. 348
Resistive Fieldsp. 350
Modulated 2-Port Elementsp. 354
Junction Structuresp. 357
Multiport Transformersp. 359
Referencesp. 364
Problemsp. 365
Transducers, Amplifiers, and Instrumentsp. 371
Power Transducersp. 372
Energy-Storing Transducersp. 380
Amplifiers and Instrumentsp. 385
Bond Graphs and Block Diagrams for Controlled Systemsp. 392
Referencesp. 397
Problemsp. 397
Mechanical Systems with Nonlinear Geometryp. 411
Multidimensional Dynamicsp. 412
Coordinate Transformationsp. 416
Kinematic Norlinearities in Mechanical Dynamicsp. 420
The Basic Modeling Procedurep. 422
Multibody Systemsp. 433
Lagrangian or Hamiltonian IC-Field Representationsp. 440
Application to Vehicle Dynamicsp. 445
Summaryp. 452
Referencesp. 452
Problemsp. 453
Distributed-Parameter Systemsp. 470
Simple Lumping Techniques for Distributed Systemsp. 471
Longitudinal Motions of a Barp. 471
Transverse Beam Motionp. 476
Lumped Models of Continua through Separation of Variablesp. 482
The Bar Revisitedp. 483
Bernoulli-Euler Beam Revisitedp. 491
General Considerations of Finite-Mode Bond Graphsp. 499
How Many Modes Should Be Retained?p. 499
How to Include Dampingp. 503
Causality Consideration for Modal Bond Graphsp. 503
Assembling Overall System Modelsp. 508
Summaryp. 512
Referencesp. 512
Problemsp. 512
Magnetic Circuits and Devicesp. 519
Magnetic Effort and Flow Variablesp. 519
Magnetic Energy Storage and Lossp. 524
Magnetic Circuit Elementsp. 528
Magnetomechanical Elementsp. 532
Device Modelsp. 534
Referencesp. 543
Problemsp. 544
Thermofluid Systemsp. 548
Pseudo-Bond Graphs for Heat Transferp. 548
Basic Thermodynamics in True Bond Graph Formp. 551
True Bond Graphs for Heat Transferp. 558
A Simple Example of a True Bond Graph Modelp. 561
An Electrothermal Resistorp. 563
Fluid Dynamic Systems Revisitedp. 565
One-Dimensional Incompressible Flowp. 569
Representation of Compressibility Effects in True Bond Graphsp. 573
Inertial and Compressibility Effects in One-Dimensional Flowp. 576
Pseudo-Bond Graphs for Compressible Gas Dynamicsp. 578
The Thermodynamic Accumulator-A Pseudo-Bond Graph Elementp. 579
The Thermodynamic Restrictor-A Pseudo-Bond Graph Elementp. 584
Constructing Models with Accumulators and Restrictorsp. 587
Summaryp. 590
Referencesp. 592
Problemsp. 592
Nonlinear System Simulationp. 600
Explicit First-Order Differential Equationsp. 601
Differential Algebraic Equations Caused by Algebraic Loopsp. 604
Implicit Equations Caused by Derivative Causalityp. 608
Automated Simulation of Dynamic Systemsp. 612
Sorting of Equationsp. 613
Implicit and Differential Algebraic Equation Solversp. 614
Icon-Based Automated Simulationp. 614
Example Nonlinear Simulationp. 616
Some Simulation Resultsp. 620
Summaryp. 623
Referencesp. 624
Problemsp. 624
Appendix: Typical Material Property Values Useful in Modeling Mechanical, Acoustic, and Hydraulic Elementsp. 630
Indexp. 633
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