Mechatronic Modeling and Simulation Using Bond Graphs  book cover
1st Edition

Mechatronic Modeling and Simulation Using Bond Graphs

ISBN 9781420073140
Published March 17, 2009 by CRC Press
504 Pages 517 B/W Illustrations

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Book Description

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.

Table of Contents

Introduction to Mechatronics and System Modeling

What Is Mechatronics?

What Is a System and Why Model Systems?

Mathematical Modeling Techniques Used in Practice


Bond Graphs: What Are They?

Engineering Systems


Generalized Variables

Bond Graphs

Basic Components in Systems

A Brief Note about Bond Graph Power Directions

Summary of Bond Direction Rules

Drawing Bond Graphs for Simple Systems: Electrical and Mechanical

Simplification Rules for Junction Structure

Drawing Bond Graphs for Electrical Systems

Drawing Bond Graphs for Mechanical Systems


Drawing Bond Graphs for Hydraulic and Electronic Components and Systems

Some Basic Properties and Concepts for Fluids

Bond Graph Model of Hydraulic Systems

Electronic Systems

Deriving System Equations from Bond Graphs

System Variables

Deriving System Equations

Tackling Differential Causality

Algebraic Loops

Solution of Model Equations and Their Interpretation

Zeroth Order Systems

First Order Systems

Second Order System

Transfer Functions and Frequency Responses

Numerical Solution Fundamentals

Techniques for Solving Ordinary Differential Equations

Euler’s Method

Implicit Euler and Trapezoidal Method

Runge–Kutta Method

Adaptive Methods

Transducers: Sensor Models

Resistive Sensors

Capacitive Sensors

Magnetic Sensors

Hall Effect Sensors

Piezo-Electric Sensors

MEMS Devices

Sensor Design for Desired Performance—Mechanical Transducers

Signal Conditioning

Modeling Transducers: Actuators

Electromagnetic Actuators

Hydraulic Actuators

Modeling Vehicle Systems

Vehicle Systems

Vehicle Dynamics

Vehicle Systems

Energy Regeneration in Vehicles

Planar Rigid Body Motion

Simple Engine Model: A Different Approach

Control System Modeling

PID Control

Control Examples

Nonlinear Control Examples

Other Applications

Case Study 1: Modeling CNC Feed-Drive System

Case Study 2: Developing a System Model for a MEMS Electrothermal Actuator




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