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E-raamat: Real Time Modeling, Simulation and Control of Dynamical Systems

  • Formaat: PDF+DRM
  • Ilmumisaeg: 27-Jun-2016
  • Kirjastus: Springer International Publishing AG
  • Keel: eng
  • ISBN-13: 9783319339061
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Real Time Modeling, Simulation and Control of Dynamical SystemsSuurem pilt
  • Formaat: PDF+DRM
  • Ilmumisaeg: 27-Jun-2016
  • Kirjastus: Springer International Publishing AG
  • Keel: eng
  • ISBN-13: 9783319339061
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This book introduces modeling and simulation of linear time invariant systems and demonstrates how these translate to systems engineering, mechatronics engineering, and biomedical engineering. It is organized into nine chapters that follow the lectures used for a one-semester course on this topic, making it appropriate for students as well as researchers. The author discusses state space modeling derived from two modeling techniques and the analysis of the system and usage of modeling in control systems design. It also contains a unique chapter on multidisciplinary energy systems with a special focus on bioengineering systems and expands upon how the bond graph augments research in biomedical and bio-mechatronics systems.

1 Dynamical Systems and Modeling.- 2 Lagrangian Modeling.- 3 Introduction to Bond Graph Modeling.- 4 Introduction to Bond Graph Modeling.- 5 Analytical Formulation by Bond Graph Modeling.- 6 Advance Bond Graph Modeling.- 7 Simulation and Analysis of State Space Systems.- 8 Introduction to Control Systems.- 9 Recent Applications of Bond Graph Modeling.
1 Dynamical Systems and Modeling
1(18)
1.1 State Variables and State Vector
2(1)
1.2 Input and Output
3(1)
1.3 Modeling
3(1)
1.4 Analytical Modeling
4(3)
1.5 Physical and Computational Systems
7(1)
1.6 Mathematical Model
7(1)
1.7 State Space Method
8(2)
1.8 Linearization
10(2)
1.9 Transfer Function
12(5)
Problems
17(1)
References
17(2)
2 Lagrangian Modeling
19(16)
2.1 Modeling in Three Axes
21(1)
2.2 Modeling in Cartesian and Spherical/Polar Coordinates
22(3)
2.3 Work and Energy Formulation
25(3)
2.4 State Space Representation
28(4)
Problems
32(1)
References
33(2)
3 Introduction to Bond Graph Modeling
35(12)
3.1 Power Variables
35(2)
3.2 Pseudo Bond Graph
37(1)
3.3 Energy Variables
37(2)
3.4 Excitation and Response
39(1)
3.5 Word Bond Graph
39(1)
3.6 Causality Assignment
40(1)
3.7 Active Bond
40(3)
3.8 Connection of Bonds
43(2)
Problems
45(1)
References
45(2)
4 Elements of Bond Graph
47(16)
4.1 1-Port Elements
47(4)
4.1.1 Sources
47(1)
4.1.2 1-Port Resistor
48(1)
4.1.3 1-Port Capacitor
49(1)
4.1.4 1-Port Inertia
50(1)
4.2 Derivative (Differential) Causality and Integral Causality
51(1)
4.3 2-Port Elements
52(2)
4.3.1 Transformer
52(2)
4.3.2 Gyrator
54(1)
4.4 Junctions
54(4)
4.4.1 0-Junction
56(1)
4.4.2 1-Junction
56(2)
4.5 Modulated Transformer and Gyrator
58(1)
4.6 Modulated Sources
59(1)
Problems
59(3)
References
62(1)
5 Analytical Formulation by Bond Graph Modeling
63(22)
5.1 Modeling Procedure
63(7)
5.2 Sensors
70(1)
5.3 Mechanical Systems
70(4)
5.4 State Space Equations
74(8)
5.5 20-Sim Software Tips
82(2)
Problems
84(1)
References
84(1)
6 Advance Bond Graph Modeling
85(18)
6.1 Algebraic Loops
85(3)
6.2 Derivative Causality
88(2)
6.3 Fields
90(3)
6.4 Series Motor
93(2)
6.5 Resistive Fields
95(1)
6.6 Bridge Circuit
96(1)
6.7 Combination of Elements
96(1)
6.8 Vector Bond Graphs
97(3)
Problems
100(2)
References
102(1)
7 Simulation and Analysis of State Space Systems
103(40)
7.1 Free Response of First-Order System
105(2)
7.2 Eigenvalues of Higher Order System
107(1)
7.3 Free Response of a Second-Order System
108(8)
7.3.1 Undamped Systems
109(2)
7.3.2 Damped Systems
111(5)
7.4 Relationship Between Eigenvalue and Time
116(1)
7.5 Damped Natural Frequency
116(2)
7.6 Amplification Not Damping
118(3)
7.7 Internal Stability of the System
121(2)
7.8 Forced Response
123(6)
7.8.1 Impulse Response
124(3)
7.8.2 Step Response
127(1)
7.8.3 Sinusoidal Response
128(1)
7.9 Resonance
129(2)
7.10 Decaying Sinusoidal Response
131(3)
7.11 External Stability
134(3)
7.12 Total Response of the System
137(2)
Problems
139(2)
References
141(2)
8 Introduction to Control Systems
143(18)
8.1 Representation of Controller
145(1)
8.2 Error Model
146(1)
8.3 Estimator or Observer
147(3)
8.4 Control Design
150(2)
8.4.1 Performance Specifications
150(2)
8.5 Controlling the Response
152(3)
8.5.1 PID Control
153(1)
8.5.2 Compensation
154(1)
8.5.3 Pole Placement Control Design
155(1)
8.6 Shaping the Dynamic response
155(2)
8.7 Gain Scheduling in Multivariable Control
157(1)
Problems
158
References
159(102)
9 Recent Applications of Bond Graph Modeling
161(24)
9.1 Bond Graph Models of the Physiological Elements
161(7)
9.1.1 Muscular Structures
162(2)
9.1.2 Muscle Spindle Model
164(3)
9.1.3 Golgi Tendon Organ Model
167(1)
9.1.4 The Inertial Subsystem
167(1)
9.2 The Complete Musculoskeletal System Model
168(4)
9.2.1 The Extended Musculoskeletal Structure
171(1)
9.3 Anthropomorphic Hand through Bond Graph
172(1)
9.4 Movement Coordination Problem for Human Fingers
173(3)
9.5 Electrical-Impedance Plethysmography
176(1)
9.6 Evaporation in Infant Incubator
177(1)
9.7 Customized Robotic Arm
178(1)
9.8 Bilateral Master--Slave Telemanipulation
179(4)
Problems
183(1)
References
184(1)
Index 185
Asif Mahmood Mughal is Adjunct Faculty Member (PTP) at the Center for Advanced Studies in Engineering in Pakistan.
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