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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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