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?
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
Deriving System Equations from Bond Graphs
Deriving System Equations
Tackling Differential Causality
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
Implicit Euler and Trapezoidal Method
Transducers: Sensor Models
Hall Effect Sensors
Sensor Design for Desired Performance—Mechanical Transducers
Modeling Transducers: Actuators
Modeling Vehicle Systems
Energy Regeneration in Vehicles
Planar Rigid Body Motion
Simple Engine Model: A Different Approach
Control System Modeling
Nonlinear Control Examples
Case Study 1: Modeling CNC Feed-Drive System
Case Study 2: Developing a System Model for a MEMS Electrothermal Actuator