Karnopp Dean C. System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems

5 nd ed. — Hoboken, New Jersey: John Wiley & Sons, Inc., 2012. 645 p. — ISBN: 978-0-470-88908-4 (cloth), 978-1-118-15281-2 (ebk), 978-1-118-15282-9(ebk), 978-1-118-15283-6 (ebk), 978-1-118-15982-8 (ebk), 978-1-118-16007-7(ebk), 978-1-118-16008-4 (ebk).A major revision of the go-to resource for engineers facing the increasingly complex job of dynamic systems design, System Dynamics, Fifth Edition adds a completely new section on the control of mechatronic systems, while revising and clarifying material on modeling and computer simulation for a wide variety of physical systems
This new edition continues to offer comprehensive, up-to-date coverage of bond graphs, using these important design tools to help readers better understand the various components of dynamic systems. Covering all topics from the ground up, the book provides step-by-step guidance on how to leverage the power of bond graphs to model the flow of information and energy in all types of engineering systems. It begins with simple bond graph models of mechanical, electrical, and hydraulic systems, then goes on to explain in detail how to model more complex systems using computer simulations. Readers will find
New material and practical advice on the design of control systems using mathematical models
New chapters on methods that go beyond predicting system behavior, including automatic control, observers, parameter studies for system design, and concept testing
Coverage of electromechanical transducers and mechanical systems in plane motion
Formulas for computing hydraulic compliances and modeling acoustic systems
A discussion of state-of-the-art simulation tools such as MatLAB and bond graph software
Complete with numerous figures and examples, System Dynamics, Fifth Edition is a must-have resource for anyone designing systems and components in the automotive, aerospace, and defense industries. It is also an excellent hands-on guide on the latest bond graph methods for readers unfamiliar with physical system modelingModels of Systems,
Systems, Subsystems, and Components
State-Determined Systems
Uses of Dynamic Models
Linear and Nonlinear Systems
Automated SimulationProblemsMultiport Systems and Bond Graphs
Engineering Multiports
Ports, Bonds, and Power
Bond Graphs
Inputs, Outputs, and Signals
ProblemsBasic Bond Graph Elements
Basic 1-Port Elements
Basic 2-Port Elements
The 3-Port Junction Elements
Causality Considerations for the Basic Elements
Causality for Basic 1-Ports
Causality for Basic 2-Ports
Causality for Basic 3-Ports
Causality and Block DiagramsProblemsSystem Models
Electrical Systems
Electrical Circuits
Electrical Networks
Mechanical Systems
Mechanics of Translation
Fixed-Axis Rotation
Plane Motion
Hydraulic and Acoustic Circuits
Fluid Resistance
Fluid Capacitance
Fluid Inertia,
Fluid Circuit Construction
An Acoustic Circuit Example
Transducers and Multi-Energy-Domain Models
Transformer Transducers
Gyrator Transducers
Multi-Energy-Domain ModelsProblemsState-Space Equations and Automated Simulation
Standard Form for System Equations
Augmenting the Bond Graph
Basic Formulation and Reduction
Extended Formulation Methods—Algebraic Loops
Extended Formulation Methods—Derivative Causality
Output Variable Formulation
Nonlinear and Automated Simulation
Nonlinear Simulation
Automated SimulationProblemsAnalysis and Control of Linear SystemsSolution Techniques for Ordinary Differential Equations
Free Response and Eigenvalues
A First-Order Example
Second-Order Systems
Example: The Undamped Oscillator
Example: The Damped Oscillator
The General Case
Transfer Functions
The General Case for Transfer Functions
Frequency Response
Example Transfer Functions and Frequency Responses
Block Diagrams
Introduction to Automatic Control
Basic Control Actions
Root Locus Concept
General Control ConsiderationsProblemsMultiport Fields and Junction Structures
Energy-Storing Fields
C-Fields
Causal Considerations for C-Fields
Fields
Mixed Energy-Storing Fields
Resistive Fields
Modulated 2-Port Elements
Junction Structures
Multiport TransformersProblemsTransducers, Amplifiers, and Instruments
Power Transducers
Energy-Storing Transducers
Amplifiers and Instruments
Bond Graphs and Block Diagrams for Controlled SystemsProblemsMechanical Systems with Nonlinear Geometry
Multidimensional Dynamics
Coordinate Transformations
Kinematic Nonlinearities in Mechanical Dynamics
The Basic Modeling Procedure
Multibody Systems
Lagrangian or Hamiltonian IC-Field Representations
Application to Vehicle DynamicsProblemsDistributed-Parameter Systems
Simple Lumping Techniques for Distributed Systems
Longitudinal Motions of a Bar
Transverse Beam Motion
Lumped Models of Continua through Separation of Variables
The Bar Revisited
Bernoulli–Euler Beam Revisited
General Considerations of Finite-Mode Bond Graphs
How Many Modes Should Be Retained?
How to Include Damping
Causality Consideration for Modal Bond Graphs
Assembling Overall System ModelsProblemsMagnetic Circuits and Devices
Magnetic Effort and Flow Variables
Magnetic Energy Storage and Loss
Magnetic Circuit Elements
Magnetomechanical Elements
Device ModelsProblemsThermofluid Systems
Pseudo-Bond Graphs for Heat Transfer
Basic Thermodynamics in True Bond Graph Form
True Bond Graphs for Heat Transfer
A Simple Example of a True Bond Graph Model
An Electrothermal Resistor
Fluid Dynamic Systems Revisited
One-Dimensional Incompressible Flow
Representation of Compressibility Effects in True Bond Graphs
Inertial and Compressibility Effects in One-Dimensional Flow
Pseudo-Bond Graphs for Compressible Gas Dynamics
The Thermodynamic Accumulator—A Pseudo-Bond Graph Element
The Thermodynamic Restrictor—A Pseudo-Bond Graph Element
Constructing Models with Accumulators and RestrictorsProblemsNonlinear System Simulation
Explicit First-Order Differential Equations
Differential Algebraic Equations Caused by Algebraic Loops
Implicit Equations Caused by Derivative Causality
Automated Simulation of Dynamic Systems
Sorting of Equations
Implicit and Differential Algebraic Equation Solvers
Icon-Based Automated Simulation
Example Nonlinear Simulation
Some Simulation ResultsProblems
Appendix: Typical Material Property Values Useful in Modeling
Mechanical, Acoustic, and Hydraulic Elements