System Dynamics: Modeling and Simulation of Mechatronic Systems, 3rd Edition

by Dean C. Karnopp (Univ. of California, Davis); Donald L. Margolis (Univ. of California, Davis); Ronald C. Rosenberg (Michigan State Univ., East Lansing)

• ISBN13: 9780471333012
• ISBN10: 0471333018
• Edition: 3rd
• Format: Hardcover
• Copyright: 2000-01-01
• Publisher: Wiley-Interscience

Summary

* The use of graphical depictions of dynamic systems that can be translated automatically into complex mathematical models for computer simulation

Author Biography

<B>DEAN C. KARNOPP</B> and <B>DONALD L. MARGOLIS</B> are professors of mechanical engineering at the University of California, Davis. <B>RONALD C. ROSENBERG</B> is a professor of mechanical engineering at Michigan State University.

Table of Contents

Preface to the Third Edition	ix
Introduction	1	(11)
Models of Systems	4	(1)
Systems, Subsystems, and Components	5	(3)
State-Determined Systems	8	(1)
Uses of Dynamic Models	9	(3)
Reference	10	(1)
Problems	10	(2)
Multiport Systems and Bond Graphs	12	(17)
Engineering Multiports	12	(7)
Ports, Bonds, and Power	19	(3)
Bond Graphs	22	(2)
Inputs, Outputs, and Signals	24	(5)
Problems	27	(2)
Basic Component Models	29	(37)
Basic 1-Port Elements	29	(11)
Basic 2-Port Elements	40	(6)
The 3-Port Junction Elements	46	(4)
Causality Considerations for the Basic Multiports	50	(4)
Causality and Block Diagrams	54	(3)
Pseudo-Bond Graphs and Thermal Systems	57	(9)
Reference	59	(1)
Problems	60	(6)
System Models and Automated Computer Simulation	66	(47)
Electrical Systems	67	(13)
Mechanics of Translation	80	(9)
Fixed-Axis Rotation	89	(1)
Hydraulic Systems	90	(5)
Simple-Transducer Models	95	(18)
Reference	99	(1)
Problems	99	(14)
State-Space Equations	113	(46)
Standard Form for System Equations	113	(2)
Augmenting the Bond Graph	115	(8)
Basic Formulation and Reduction	123	(8)
Extended Formulation Methods---Part 1	131	(6)
Extended Formulation Methods---Part 2	137	(5)
Output-Variable Formulation	142	(4)
Noncondensed Equations for Nonlinear Simulation	146	(13)
Reference	149	(1)
Problems	149	(10)
Analysis of Linear Systems	159	(55)
Introduction	159	(1)
Solution Techniques for Ordinary Differential Equations	160	(3)
Free Response	163	(21)
Forced Response	184	(14)
Transfer Functions	198	(3)
Total Response	201	(3)
Other Remarks	204	(10)
Reference	206	(1)
Problems	206	(8)
Multiport Field and Junction Structures	214	(44)
Energy-Storing Fields	214	(23)
Resistive Fields	237	(4)
Modulated 2-Port Elements	241	(4)
Junction Structures	245	(1)
Multiport Transformers	246	(12)
References	251	(1)
Problems	252	(6)
Transducers, Amplifiers, and Instruments	258	(39)
Power Transducers	259	(8)
Energy-Storing Transducers	267	(4)
Amplifiers and Instruments	271	(7)
Bond Graphs and Block Diagrams for Controlled Systems	278	(19)
References	283	(1)
Problems	284	(13)
Mechanical Systems with Nonlinear Geometry	297	(55)
Multidimensional Dynamics	298	(8)
Kinematic Nonlinearities in Mechanical Dynamics	306	(24)
Application to Vehicle Dynamics	330	(22)
References	336	(1)
Problems	337	(15)
Distributed-Parameter Systems	352	(48)
Simple Lumping Techniques for Distributed Systems	353	(11)
Lumped Models of Continua through Separation of Variables	364	(16)
General Considerations of Finite-Mode Bond Graphs	380	(9)
Assembling Overall System Models	389	(2)
Summary	391	(9)
References	391	(2)
Problems	393	(7)
Magnetic Circuits and Devices	400	(28)
Magnetic Effort and Flow Variables	400	(5)
Magnetic Energy Storage and Loss	405	(4)
Magnetic Circuit Elements	409	(3)
Magnetomechanical Elements	412	(3)
Device Models	415	(13)
References	423	(1)
Problems	424	(4)
Thermofluid Systems	428	(45)
Basic Thermodynamics in Bond Graph Form	428	(6)
Heat Transfer in True Bond Graphs and Pseudo-Bond Graphs	434	(7)
Fluid Dynamic Systems	441	(13)
Pseudo-Bond Graphs for Compressible Gas Dynamics	454	(19)
References	466	(1)
Problems	466	(7)
Nonlinear System Simulation	473	(30)
Explicit First-Order Differential Equations	473	(4)
Differential Algebraic Equations Caused by Algebraic Loops	477	(4)
Implicit Equations Caused by Derivative Causality	481	(4)
Automated Simulation of Dynamic Systems	485	(3)
Example Nonlinear Simulation	488	(7)
Conclusions	495	(8)
References	496	(1)
Problems	496	(7)
Index	503