Ebook
System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems, 5th EditionISBN: 9781118160077
648 pages
March 2012

A major revision of the goto 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, uptodate 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 stepbystep 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 stateoftheart simulation tools such as MATLAB and bond graph software
Complete with numerous figures and examples, System Dynamics, Fifth Edition is a musthave resource for anyone designing systems and components in the automotive, aerospace, and defense industries. It is also an excellent handson guide on the latest bond graph methods for readers unfamiliar with physical system modeling.
1 Introduction 1
1.1 Models of Systems, 4
1.2 Systems, Subsystems, and Components, 7
1.3 StateDetermined Systems, 9
1.4 Uses of Dynamic Models, 10
1.5 Linear and Nonlinear Systems, 11
1.6 Automated Simulation, 12
References, 13
Problems, 14
2 Multiport Systems and Bond Graphs 17
2.1 Engineering Multiports, 17
2.2 Ports, Bonds, and Power, 24
2.3 Bond Graphs, 27
2.4 Inputs, Outputs, and Signals, 30
Problems, 33
3 Basic Bond Graph Elements 37
3.1 Basic 1Port Elements, 37
3.2 Basic 2Port Elements, 50
3.3 The 3Port Junction Elements, 57
3.4 Causality Considerations for the Basic Elements, 63
3.4.1 Causality for Basic 1Ports, 64
3.4.2 Causality for Basic 2Ports, 65
3.4.3 Causality for Basic 3Ports, 66
3.5 Causality and Block Diagrams, 67
Reference, 71
Problems, 71
4 System Models 77
4.1 Electrical Systems, 78
4.1.1 Electrical Circuits, 78
4.1.2 Electrical Networks, 84
4.2 Mechanical Systems, 91
4.2.1 Mechanics of Translation, 91
4.2.2 FixedAxis Rotation, 100
4.2.3 Plane Motion, 106
4.3 Hydraulic and Acoustic Circuits, 121
4.3.1 Fluid Resistance, 122
4.3.2 Fluid Capacitance, 125
4.3.3 Fluid Inertia, 130
4.3.4 Fluid Circuit Construction, 132
4.3.5 An Acoustic Circuit Example, 135
4.4 Transducers and MultiEnergyDomain Models, 136
4.4.1 Transformer Transducers, 137
4.4.2 Gyrator Transducers, 139
4.4.3 MultiEnergyDomain Models, 142
References, 144
Problems, 144
5 StateSpace Equations and Automated Simulation 162
5.1 Standard Form for System Equations, 165
5.2 Augmenting the Bond Graph, 168
5.3 Basic Formulation and Reduction, 175
5.4 Extended Formulation Methods—Algebraic Loops, 183
5.4.1 Extended Formulation Methods—Derivative Causality, 188
5.5 Output Variable Formulation, 196
5.6 Nonlinear and Automated Simulation, 198
5.6.1 Nonlinear Simulation, 198
5.6.2 Automated Simulation, 202
Reference, 207
Problems, 207
6 Analysis and Control of Linear Systems 218
6.1 Introduction, 218
6.2 Solution Techniques for Ordinary Differential Equations, 219
6.3 Free Response and Eigenvalues, 222
6.3.1 A FirstOrder Example, 223
6.3.2 SecondOrder Systems, 225
6.3.3 Example: The Undamped Oscillator, 230
6.3.4 Example: The Damped Oscillator, 232
6.3.5 The General Case, 236
6.4 Transfer Functions, 239
6.4.1 The General Case for Transfer Functions, 241
6.5 Frequency Response, 244
6.5.1 Example Transfer Functions and Frequency Responses, 249
6.5.2 Block Diagrams, 255
6.6 Introduction to Automatic Control, 258
6.6.1 Basic Control Actions, 259
6.6.2 Root Locus Concept, 273
6.6.3 General Control Considerations, 285
6.7 Summary, 310
References, 311
Problems, 311
7 Multiport Fields and Junction Structures 326
7.1 EnergyStoring Fields, 327
7.1.1 CFields, 327
7.1.2 Causal Considerations for CFields, 333
7.1.3 I Fields, 340
7.1.4 Mixed EnergyStoring Fields, 348
7.2 Resistive Fields, 350
7.3 Modulated 2Port Elements, 354
7.4 Junction Structures, 357
7.5 Multiport Transformers, 359
References, 364
Problems, 365
8 Transducers, Amplifiers, and Instruments 371
8.1 Power Transducers, 372
8.2 EnergyStoring Transducers, 380
8.3 Amplifiers and Instruments, 385
8.4 Bond Graphs and Block Diagrams for Controlled Systems, 392
References, 397
Problems, 397
9 Mechanical Systems with Nonlinear Geometry 411
9.1 Multidimensional Dynamics, 412
9.1.1 Coordinate Transformations, 416
9.2 Kinematic Nonlinearities in Mechanical Dynamics, 420
9.2.1 The Basic Modeling Procedure, 422
9.2.2 Multibody Systems, 433
9.2.3 Lagrangian or Hamiltonian IC Field Representations, 440
9.3 Application to Vehicle Dynamics, 445
9.4 Summary, 452
References, 452
Problems, 453
10 DistributedParameter Systems 470
10.1 Simple Lumping Techniques for Distributed Systems, 471
10.1.1 Longitudinal Motions of a Bar, 471
10.1.2 Transverse Beam Motion, 476
10.2 Lumped Models of Continua through Separation of Variables, 482
10.2.1 The Bar Revisited, 483
10.2.2 Bernoulli–Euler Beam Revisited, 491
10.3 General Considerations of FiniteMode Bond Graphs, 499
10.3.1 How Many Modes Should Be Retained?, 499
10.3.2 How to Include Damping, 503
10.3.3 Causality Consideration for Modal Bond Graphs, 503
10.4 Assembling Overall System Models, 508
10.5 Summary, 512
References, 512
Problems, 512
11 Magnetic Circuits and Devices 519
11.1 Magnetic Effort and Flow Variables, 519
11.2 Magnetic Energy Storage and Loss, 524
11.3 Magnetic Circuit Elements, 528
11.4 Magnetomechanical Elements, 532
11.5 Device Models, 534
References, 543
Problems, 544
CONTENTS ix
12 Thermofluid Systems 548
12.1 PseudoBond Graphs for Heat Transfer, 548
12.2 Basic Thermodynamics in True Bond Graph Form, 551
12.3 True Bond Graphs for Heat Transfer, 558
12.3.1 A Simple Example of a True Bond Graph Model, 561
12.3.2 An Electrothermal Resistor, 563
12.4 Fluid Dynamic Systems Revisited, 565
12.4.1 OneDimensional Incompressible Flow, 569
12.4.2 Representation of Compressibility Effects in True Bond Graphs, 573
12.4.3 Inertial and Compressibility Effects in OneDimensional Flow, 576
12.5 PseudoBond Graphs for Compressible Gas Dynamics, 578
12.5.1 The Thermodynamic Accumulator—A PseudoBond Graph Element, 579
12.5.2 The Thermodynamic Restrictor—A PseudoBond Graph Element, 584
12.5.3 Constructing Models with Accumulators and Restrictors, 587
12.5.4 Summary, 590
References, 592
Problems, 592
13 Nonlinear System Simulation 600
13.1 Explicit FirstOrder Differential Equations, 601
13.2 Differential Algebraic Equations Caused by Algebraic Loops, 604
13.3 Implicit Equations Caused by Derivative Causality, 608
13.4 Automated Simulation of Dynamic Systems, 612
13.4.1 Sorting of Equations, 613
13.4.2 Implicit and Differential Algebraic Equation Solvers, 614
13.4.3 IconBased Automated Simulation, 614
13.5 Example Nonlinear Simulation, 616
13.5.1 Some Simulation Results, 620
13.6 Summary, 623
References, 624
Problems, 624
Appendix: Typical Material Property Values Useful in Modeling
Mechanical, Acoustic, and Hydraulic Elements 630
Index 633
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.