Mechatronic modeling and simulation using bond graphs

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Title:

Personal Author:

Das, Shuvra

Publication Information:

London, UK : CRC Press, 2009

Physical Description:

xix, 483 p. : ill. ; 25 cm.

ISBN:

9781420073140

Subject Term:

Mechatronics

Bond graphs

Engineering models

Available:*

Library	Item Barcode	Call Number	Material Type	Item Category 1	Status
Searching... PSZ JB	30000010198975	TJ163.12 D37 2009	Open Access Book	Book	Searching... Unknown
Searching... PSZ KL	30000010225900	TJ163.12 D37 2009	Open Access Book	Book	Searching... Unknown

Bond graphs are especially well-suited for mechatronic systems, as engineering system modeling is best handled using a multidisciplinary approach. Bond graphing permits one to see the separate components of an engineering system as a unified whole, and allows these components to be categorized under a few generalized elements, even when they come from different disciplines. In addition to those advantages, the bond graph offers a visual representation of a system from which derivation of the governing equations is algorithmic. This makes the design process accessible to beginning readers, providing them with a practical understanding of mechatronic systems.

Mechatronic Modeling and Simulation Using Bond Graphs is written for those who have some hands-on experience with mechatronic systems, enough to appreciate the value of computer modeling and simulation. Avoiding elaborate mathematical derivations and proofs, the book is written for modelers seeking practical results in addition to theoretical confirmations. Key concepts are revealed step-by-step, supported by the application of rudimentary examples that allow readers to develop confidence in their approach right from the start.

For those who take the effort to master its application, the use of bond graph methodology in system modeling can be very satisfying in the way it unifies information garnered from different disciplines.

In the second half of the book after readers have learned how to develop bond graph models, the author provides simulation results for engineering examples that encourage readers to model, simulate, and practice as they progress through the chapters. Although the models can be simulated using any number of software tools, the text employs 20Sim for all the simulation work in this text. A free version of the software can be downloaded from the 20Sim Web site.

Author Notes

In the second half of the book, after readers have learned how to develop bond graph models, the author provides simulation results for engineering examples that encourage readers to model, simulate, and practice as they progress through the chapters. Although the models can be simulated using any number of software tools, the text employs 20Sim for all the simulation work in this text. A free version of the software can be downloaded from the 20Sim Web site.

Preface	p. xiii
Acknowledgments	p. xvii
Author	p. xix
Chapter 1 Introduction to Mechatronics and System Modeling	p. 1
1.1 What Is Mechatronics?	p. 1
1.2 What Is a System and Why Model Systems?	p. 4
1.3 Mathematical Modeling Techniques Used in Practice	p. 7
1.4 Software	p. 10
Problems	p. 11
Chapter 2 Bond Graphs: What Are They?	p. 13
2.1 Engineering Systems	p. 14
2.2 Ports	p. 16
2.3 Generalized Variables	p. 20
2.3.1 Power Variables	p. 20
2.3.2 Energy Variables	p. 20
2.3.3 Tetrahedron of State	p. 21
2.4 Bond Graphs	p. 23
2.4.1 Word Bond Graphs	p. 23
2.5 Basic Components in Systems	p. 26
2.5.1 1-Port Components	p. 26
2.5.1.1 1-Port Resistor: Energy Dissipating Device	p. 27
2.5.1.2 1-Port Capacitor: 1-Port Energy Storage Device	p. 28
2.5.1.3 1-Port Inductor/Inertia: 1-Port Energy Storage Device	p. 30
2.5.1.4 Other 1-Port Elements	p. 33
2.5.2 2-Port Components	p. 35
2.5.2.1 Transformer Element	p. 35
2.5.2.2 Gyrator Element	p. 39
2.5.3 3-Port (or Higher-Port) Components	p. 41
2.5.3.1 Flow Junction, Parallel Junction, O Junction, and Common Effort Junction	p. 42
2.5.3.2 Effort Junction, Series Junction, 1 Junction, and Common Flow Junction	p. 43
2.5.4 Modulated Components: Transformers, Gyrators, Resistances, and More	p. 46
2.6 A Brief Note about Bond Graph Power Directions	p. 46
2.7 Summary of Bond Direction Rules	p. 47
Problems	p. 48
Chapter 3 Drawing Bond Graphs for Simple Systems: Electrical and Mechanical	p. 55
3.1 Simplification Rules for Junction Structure	p. 56
3.2 Drawing Bond Graphs for Electrical Systems	p. 62
3.2.1 Formal Method of Drawing Bond Graphs for Electrical Systems	p. 65
3.3 Drawing Bond Graphs for Mechanical Systems	p. 69
3.3.1 Formal Method of Drawing Bond Graphs for Mechanical Systems in Translation and Rotation	p. 72
3.3.2 A Note about Gravitational Forces on Objects	p. 73
3.3.3 Examples of Systems in Rotational Motion	p. 79
3.4 Causality	p. 83
3.4.1 Transformer	p. 85
3.4.2 Gyrator	p. 86
3.4.3 Junctions	p. 86
3.4.4 Storage Elements: I, C	p. 87
3.4.4.1 I, for Mass Elements or Inductances	p. 88
3.4.4.2 C, for Capacitive or Spring Elements	p. 89
3.4.5 R, for Resistive Elements	p. 91
3.4.6 Algorithm for Assigning Causality in a Bond Graph Model	p. 92
3.4.7 Integral Causality versus Differential Causality for Storage Elements	p. 100
3.4.8 Final Discussion of Integral and Differential Causality	p. 105
3.4.9 Causality Summary	p. 106
Problems	p. 107
Chapter 4 Drawing Bond Graphs for Hydraulic and Electronic Components and Systems	p. 113
4.1 Some Basic Properties and Concepts for Fluids	p. 114
4.1.1 Mass Density	p. 114
4.1.2 Force, Pressure, and Head	p. 115
4.1.3 Bulk Modulus	p. 115
4.1.4 Mass Conservation for Steady, Irrotational, Nonviscous Flows	p. 115
4.1.5 Energy Conservation for Steady, Irrotational, Nonviscous Flows	p. 116
4.2 Bond Graph Model of Hydraulic Systems	p. 117
4.2.1 Fluid Compliance, C Element	p. 117
4.2.2 Fluid Inertia, I Element	p. 118
4.2.3 Fluid Resistances, R Element	p. 119
4.2.4 Sources (Effort and Flow)	p. 121
4.2.5 Transformer Elements	p. 121
4.2.6 Gyrator Elements	p. 122
4.2.7 Bond Graph Models of Hydraulic Systems	p. 122
4.3 Electronic Systems	p. 127
4.3.1 Operational Amplifiers	p. 128
4.3.2 Diodes	p. 133
Problems	p. 136
Chapter 5 Deriving System Equations from Bond Graphs	p. 145
5.1 System Variables	p. 145
5.2 Deriving System Equations	p. 146
5.2.1 Review	p. 147
5.2.2 Junction Power Direction and Its Interpretation	p. 147
5.3 Tackling Differential Causality	p. 159
5.4 Algebraic Loops	p. 162
Problems	p. 166
Chapter 6 Solution of Model Equations and Their Interpretation	p. 173
6.1 Zeroth Order Systems	p. 174
6.2 First Order Systems	p. 176
6.2.1 Solution of the First-Order Differential Equation	p. 178
6.3 Second Order System	p. 180
6.3.1 System Response for Step Input	p. 189
6.3.2 System Response to Sinusoidal Inputs	p. 191
6.3.3 System Response Study Using State-Space Representation	p. 194
6.4 Transfer Functions and Frequency Responses	p. 197
6.4.1 System Response in the Frequency Domain	p. 199
6.5 Summary	p. 206
Problems	p. 206
Chapter 7	p. 211
7.1 Techniques for Solving Ordinary Differential Equations	p. 211
7.2 Euler's Method	p. 212
7.3 Implicit Euler and Trapezoidal Method	p. 215
7.4 Runge-Kutta Method	p. 217
7.5 Adaptive Methods	p. 219
7.6 Summary	p. 223
Problems	p. 224
Chapter 8	p. 227
8.1 Resistive Sensors	p. 228
8.2 Capacitive Sensors	p. 233
8.2.1 Multiport Storage Fields: C-Field	p. 235
8.3 Magnetic Sensors	p. 242
8.3.1 Magnetic Circuits and Fields	p. 242
8.3.1.1 Faraday's Law of Electromagnetic Induction	p. 243
8.3.1.2 Ampere's Law	p. 243
8.3.1.3 Gauss's Law for Magnetism	p. 243
8.3.2 Simple Magnetic Circuit	p. 245
8.3.2.1 Magnetic Circuit with Air Gap	p. 247
8.3.2.2 Magnetic Bond Graph Elements	p. 249
8.3.2.3 Inside C-Field	p. 257
8.4 Hall Effect Sensors	p. 266
8.5 Piezo-Electric Sensors	p. 271
8.6 MEMS Devices	p. 277
8.6.1 MEMS Examples	p. 279
8.6.1.1 Microcantilever-Based Capacitive Sensors	p. 279
8.6.1.2 Comb Drives	p. 281
8.6.1.3 MEMS Gyroscopic Sensors	p. 281
8.7 Sensor Design for Desired Performance-Mechanical Transducers	p. 287
8.8 Signal Conditioning	p. 295
8.9 Summary	p. 297
Problems	p. 297
Chapter 9 Modeling Transducers: Actuators	p. 303
9.1 Electromagnetic Actuators	p. 303
9.1.1 Linear	p. 303
9.1.2 Rotational Actuators: Motors	p. 314
9.1.2.1 Permanent Magnet DC Motor	p. 316
9.1.2.2 Motor Load	p. 322
9.1.2.3 Parallel Wound Motor (Shunt)	p. 323
9.1.2.4 Series Wound Motor	p. 327
9.1.2.5 Separately Excited DC Motors	p. 332
9.1.3 Example of a Motor That Is Driving a Load	p. 332
9.2 Hydraulic Actuators	p. 336
9.2.1 Hydraulic Cylinders	p. 336
9.2.2 Pumps	p. 337
9.2.3 Hydraulic Valves	p. 338
9.3 Summary	p. 345
Problems	p. 345
Chapter 10 Modeling Vehicle Systems	p. 351
10.1 Vehicle Systems	p. 352
10.2 Vehicle Dynamics	p. 358
10.2.1 Ride: Heave and Pitch Motion	p. 358
10.2.1.1 Transformer Parameter Calculation	p. 362
10.2.1.2 Active Dampers	p. 369
10.2.2 Handling: Bicycle Model	p. 371
10.3 Vehicle Systems	p. 374
10.3.1 Electric Braking	p. 374
10.3.2 Power Steering Model	p. 377
10.3.3 Steer-by-Wire System (SBW)	p. 380
10.4 Energy Regeneration in Vehicles	p. 386
10.4.1 First Square Wave Generator	p. 388
10.4.2 Second Square Wave Generator	p. 390
10.5 Planar Rigid Body Motion	p. 390
10.6 Simple Engine Model: A Different Approach	p. 399
10.7 Summary	p. 402
Problems	p. 403
Chapter 11 Control System Modeling	p. 405
11.1 PID Control	p. 407
11.1.1 Proportional Control	p. 407
11.1.2 Proportional Integral Control	p. 411
11.1.3 Proportional Derivative Control	p. 413
11.1.4 Proportional Integral Derivative Control	p. 416
11.1.5 Ziegler-Nichols Closed Loop Method	p. 422
11.2 Control Examples	p. 422
11.3 Nonlinear Control Examples	p. 427
11.3.1 Inverted Pendulum	p. 428
11.3.2 Motor	p. 432
11.3.3 Controller	p. 433
11.4 Summary	p. 441
Problems	p. 441
Chapter 12 Other Applications	p. 443
12.1 Case Study 1: Modeling CNC Feed-Drive System	p. 444
12.1.1 Bond Graph Modeling of an Open and Closed Loop System	p. 446
12.1.2 Backlash, Stick-Slip, and Cutting Force	p. 451
12.1.2.1 Backlash	p. 451
12.1.2.2 Stick-Slip Friction	p. 453
12.1.2.3 Cutting Force Model	p. 454
12.2 Case Study 2: Developing a System Model for a MEMS Electrothermal Actuator	p. 458
12.2.1 FEA Analysis	p. 460
12.2.1.1 Steps Involved in the FEA Analysis	p. 460
12.2.2 Simulation of ETM Actuator Using 20Sim	p. 462
References	p. 469
Bibliography	p. 475
Index	p. 477

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