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Mechatronics by Bond Graphs: An Object-oriented Approach to Modelling and Simulation [Multiple-component retail product]

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  • Formaat: Multiple-component retail product, 464 pages, kõrgus x laius: 235x155 mm, kaal: 820 g, 39 black & white tables, Contains 1 Hardback and 1 CD-ROM
  • Ilmumisaeg: 31-Jan-2003
  • Kirjastus: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • ISBN-10: 3540423753
  • ISBN-13: 9783540423751
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  • Multiple-component retail product
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Mechatronics by Bond Graphs: An Object-oriented Approach to Modelling and SimulationSuurem pilt
  • Formaat: Multiple-component retail product, 464 pages, kõrgus x laius: 235x155 mm, kaal: 820 g, 39 black & white tables, Contains 1 Hardback and 1 CD-ROM
  • Ilmumisaeg: 31-Jan-2003
  • Kirjastus: Springer-Verlag Berlin and Heidelberg GmbH & Co. K
  • ISBN-10: 3540423753
  • ISBN-13: 9783540423751
Teised raamatud teemal:
Püsilink: https://www.kriso.ee/db/9783540423751.html
Märksõnad:
Bondgraphs are a well-established technique for the modelling of complex engineering systems. The subject of this book is an integrated modelling and simulation of mechatronics systems in a visual computer environment. The modelling is based on system top-down and bottom-up approach. The mathematical models are generated in a form of differential-algebraic equations and solved using numerical and symbolic algebra methods. The authors carefully explain a systematic procedure for developing the models using simple visual commands and construct a bondgraph at every level of decomposition. The integrated approach they develop is applied to mechanical, electrical and control systems, multibody dynamics, and continuous systems. The book contains a powerful computer simulation package on the accompanying CD-ROM. The BondSim package supports top-down and bottom-up model development using component libraries.

Bondgraphs are a well-established technique for the modelling of complex engineering systems. The subject of this book is an integrated modelling and simulation of mechatronics systems in a visual computer environment. The modelling is based on system top-down and bottom-up approach. The mathematical models are generated in a form of differential-algebraic equations and solved using numerical and symbolic algebra methods. The integrated approach developed is applied to mechanical, electrical and control systems, multibody dynamics, and continuous systems. The book contains a powerful computer simulation package on the accompanying CD-ROM.
Part 1 FUNDAMENTALS
1(162)
Basic Forms of Model Representation
3(20)
Objectives
3(1)
The General Modelling Approach
4(2)
Physical Modelling, Analogies, and Bond Graphs
6(4)
Block Diagrams
10(1)
Symbolic Model Solving
11(1)
The Object-oriented Approach
12(3)
Computer Aided Modelling
15(3)
The Book Summary
18(5)
References
21(2)
Bond Graph Modelling Overview
23(48)
Introduction
23(1)
Word Models
23(1)
Ports, Bonds, and Power Variables
24(2)
Component Model Development
26(2)
Modelling Basic Physical Processes
28(8)
Elementary Components
28(1)
The Inertial Component
28(2)
The Capacitive Component
30(1)
The Resistive Component
31(1)
Sources
31(1)
The Transformer and The Gyrator
32(1)
The Effort and Flow Junctions
33(1)
Controlled Elementary Components
34(2)
Block Diagram Components
36(2)
The Input Component
37(1)
The Output Component
37(1)
The Function Component
37(1)
The Integrator
37(1)
The Differentiator
37(1)
The Summator
38(1)
The Node
38(1)
Modelling Simple Engineering Systems
38(20)
Simple Body Spring Damper System
38(5)
The Simple Electrical Circuit
43(5)
A See-saw Problem
48(10)
Causality of Bond Graphs
58(5)
The Concept of Causality
58(1)
Causalities of Elementary Components
58(3)
The Procedure for Assigning Causality
61(2)
The Formulation of the System Equations
63(3)
Causality Conflicts and Their Resolution
66(5)
References
69(2)
Object-oriented Approach to Modelling
71(28)
Introduction
71(1)
The Component model
71(6)
The Component Class
72(1)
The Document class
73(4)
The Component Class Hierarchy
77(2)
Port and Bond Classes
79(3)
Description of the Element Constitutive Relations
82(1)
Modelling Vector and Higher-dimensional Quantities
83(2)
Port Connection Rules
85(4)
The Component Set Classes
89(2)
Systematic Top/down Model Development
91(3)
Component Libraries and Model Reuse
94(5)
References
96(3)
Object Oriented Modelling in a Visual Environment
99(36)
Introduction
99(1)
The Visual Environment
100(3)
The Component Hierarchy
103(2)
The Port and Bond Classes Hierarchy
105(1)
The Document Architecture
106(4)
Editing Bond Graphs
110(9)
The Bond Graph Palette
110(2)
Creating Components and Ports
112(1)
Creating Bond Lines
113(1)
Editing Bond Graph Models
114(2)
Editing Electrical and Mechanical Schemas
116(3)
Important Operations at Document Level
119(6)
The Open, Close, and Save Commands
119(1)
The Copy, Cut, Insert, and Delete Operations
120(2)
Library Operations
122(2)
The Page Layout and Print Commands
124(1)
Editing The Component Constitutive Relations
125(4)
Component Port Dialogues
125(2)
Defining the Parameters
127(2)
Collaboration Support
129(6)
References
133(2)
Generation of the Model Equations and Their Solution
135(28)
Introduction
135(1)
General Forms of the Model Equations
135(13)
System Variables
136(3)
Generation of the Equations
139(3)
The Characteristics of the Model
142(6)
Numerical Solution Using BDF Methods
148(7)
The Implementation of the BDF Method
149(3)
The Generation of the Partial Derivative Matrix
152(1)
The Error Control Strategy
153(2)
Decompiling of the Model Equations
155(1)
The Problem of Starting Values
156(3)
The Treatment of Discontinuities
159(1)
Pros and Cons of the Combined Compiled/Interpretative Approach
160(3)
References
161(2)
Part 2 APPLICATIONS
163(280)
Mechanical Systems
165(58)
Introduction
165(1)
The Body Spring Damper Problem
165(25)
The Problem
165(1)
The Bond Graph Model
166(12)
Analysis of the System Behaviour by Simulation
178(12)
Effect of Dry Friction
190(16)
The Model of Dry Friction
191(6)
Free Vibration of a Body with Dry Friction
197(3)
Stick-Slip Motion
200(2)
The Stick-Slip Oscillator
202(4)
Bouncing Ball Problems
206(9)
Simple Model of Impact
206(4)
A Ball Bouncing on a Table
210(3)
Ball Bouncing on a Vibrating Table
213(2)
The Pendulum Problem
215(8)
References
221(2)
Electrical Systems
223(82)
Introduction
223(1)
Electrical Circuits
224(12)
Models of Circuit Elements
236(17)
Resistors
236(2)
Capacitors
238(2)
Inductors
240(3)
Independent Sources
243(6)
Dependent Sources
249(1)
Switches
250(3)
Modelling Semiconductor Components
253(43)
Diodes
254(16)
Transistors
270(19)
Operational Amplifiers
289(7)
Electromagnetic Systems
296(9)
Electromagnetic Actuator Problem
296(1)
System Bond Graph Model
297(1)
Electromagnetic Flux and Force Expressions
297(3)
Magnetic Actuator Component Model
300(1)
Simulation of Magnetic Actuator Behaviour
301(2)
References
303(2)
Control Systems
305(24)
Introduction
305(1)
A Simple Control System
305(8)
Control Systems Modelling
313(5)
Permanent Magnet DC Servo System
318(11)
References
327(2)
Multibody Dynamics
329(72)
Introduction
329(1)
The Modelling of a Rigid Multibody System in a Plane
330(14)
The Component Model of a Rigid Body in Planar Motion
330(5)
Joints
335(5)
Modelling and Simulation of a Planar Mechanism
340(4)
Andrews' Squeezer Mechanism
344(11)
Engine Torsional Vibrations
355(8)
Motion of Constrained Rigid Bodies in Space
363(21)
Basic Kinematics
363(5)
Bond Graph Representation of a Body Moving in Space
368(4)
Rigid Body Dynamics
372(4)
Modelling of Body Interconnections in Space
376(8)
Motion of an Anthropomorphic Robot Arm Under Hybrid Control
384(17)
Problem Formulation
384(2)
Model of the Robot System
386(6)
Hybrid Position/Force Control
392(3)
The Simulation of the Robot Motion
395(4)
References
399(2)
Continuous Systems
401(42)
Introduction
401(1)
Spatial Discretisation of Continuous Systems
402(2)
Model of Electric Transmission Line
404(6)
Bond Graph Model of a Beam
410(6)
A Packaging System Analysis
416(12)
Description of the Problem
416(1)
Bond Graph Model Development
417(8)
Evaluation of Vibration Test Characteristics
425(3)
Coriolis Mass Flowmeter
428(15)
Principle of Operation
428(2)
Bond Graph Model of the Meter
430(5)
Evaluation of the Meter Sensitivity Factor
435(6)
References
441(2)
Appendix 443(2)
Index 445