System Dynamics

Dean C. Karnopp and Donald L. Margolis are Professors of Mechanical Engineering at the University of California, Davis.
 
Ronald C. Rosenberg is Professor of Mechanical Engineering at Michigan State University. The authors have extensive experience in teaching system dynamics at the graduate and undergraduate levels and have published numerous papers on the industrial applications of the subject.

An expanded new edition of the bestselling system dynamics book using the bond graph approach
 
A major revision of the go-to resource for engineers facing the increasingly complex job of dynamic systems design, System Dynamics, Fifth Edition adds a completely new section on the control of mechatronic systems, while revising and clarifying material on modeling and computer simulation for a wide variety of physical systems.
 
This new edition continues to offer comprehensive, up-to-date coverage of bond graphs, using these important design tools to help readers better understand the various components of dynamic systems. Covering all topics from the ground up, the book provides step-by-step guidance on how to leverage the power of bond graphs to model the flow of information and energy in all types of engineering systems. It begins with simple bond graph models of mechanical, electrical, and hydraulic systems, then goes on to explain in detail how to model more complex systems using computer simulations. Readers will find:
* New material and practical advice on the design of control systems using mathematical models
* New chapters on methods that go beyond predicting system behavior, including automatic control, observers, parameter studies for system design, and concept testing
* Coverage of electromechanical transducers and mechanical systems in plane motion
* Formulas for computing hydraulic compliances and modeling acoustic systems
* A discussion of state-of-the-art simulation tools such as MATLAB and bond graph software
 
Complete with numerous figures and examples, System Dynamics, Fifth Edition is a must-have resource for anyone designing systems and components in the automotive, aerospace, and defense industries. It is also an excellent hands-on guide on the latest bond graph methods for readers unfamiliar with physical system modeling.

Preface xi
 
1 Introduction 1
 
1.1 Models of Systems, 4
 
1.2 Systems, Subsystems, and Components, 7
 
1.3 State-Determined Systems, 9
 
1.4 Uses of Dynamic Models, 10
 
1.5 Linear and Nonlinear Systems, 11
 
1.6 Automated Simulation, 12
 
References, 13
 
Problems, 14
 
2 Multiport Systems and Bond Graphs 17
 
2.1 Engineering Multiports, 17
 
2.2 Ports, Bonds, and Power, 24
 
2.3 Bond Graphs, 27
 
2.4 Inputs, Outputs, and Signals, 30
 
Problems, 33
 
3 Basic Bond Graph Elements 37
 
3.1 Basic 1-Port Elements, 37
 
3.2 Basic 2-Port Elements, 50
 
3.3 The 3-Port Junction Elements, 57
 
3.4 Causality Considerations for the Basic Elements, 63
 
3.4.1 Causality for Basic 1-Ports, 64
 
3.4.2 Causality for Basic 2-Ports, 65
 
3.4.3 Causality for Basic 3-Ports, 66
 
3.5 Causality and Block Diagrams, 67
 
Reference, 71
 
Problems, 71
 
4 System Models 77
 
4.1 Electrical Systems, 78
 
4.1.1 Electrical Circuits, 78
 
4.1.2 Electrical Networks, 84
 
4.2 Mechanical Systems, 91
 
4.2.1 Mechanics of Translation, 91
 
4.2.2 Fixed-Axis Rotation, 100
 
4.2.3 Plane Motion, 106
 
4.3 Hydraulic and Acoustic Circuits, 121
 
4.3.1 Fluid Resistance, 122
 
4.3.2 Fluid Capacitance, 125
 
4.3.3 Fluid Inertia, 130
 
4.3.4 Fluid Circuit Construction, 132
 
4.3.5 An Acoustic Circuit Example, 135
 
4.4 Transducers and Multi-Energy-Domain Models, 136
 
4.4.1 Transformer Transducers, 137
 
4.4.2 Gyrator Transducers, 139
 
4.4.3 Multi-Energy-Domain Models, 142
 
References, 144
 
Problems, 144
 
5 State-Space Equations and Automated Simulation 162
 
5.1 Standard Form for System Equations, 165
 
5.2 Augmenting the Bond Graph, 168
 
5.3 Basic Formulation and Reduction, 175
 
5.4 Extended Formulation Methods--Algebraic Loops, 183
 
5.4.1 Extended Formulation Methods--Derivative Causality, 188
 
5.5 Output Variable Formulation, 196
 
5.6 Nonlinear and Automated Simulation, 198
 
5.6.1 Nonlinear Simulation, 198
 
5.6.2 Automated Simulation, 202
 
Reference, 207
 
Problems, 207
 
6 Analysis and Control of Linear Systems 218
 
6.1 Introduction, 218
 
6.2 Solution Techniques for Ordinary Differential Equations, 219
 
6.3 Free Response and Eigenvalues, 222
 
6.3.1 A First-Order Example, 223
 
6.3.2 Second-Order Systems, 225
 
6.3.3 Example: The Undamped Oscillator, 230
 
6.3.4 Example: The Damped Oscillator, 232
 
6.3.5 The General Case, 236
 
6.4 Transfer Functions, 239
 
6.4.1 The General Case for Transfer Functions, 241
 
6.5 Frequency Response, 244
 
6.5.1 Example Transfer Functions and Frequency Responses, 249
 
6.5.2 Block Diagrams, 255
 
6.6 Introduction to Automatic Control, 258
 
6.6.1 Basic Control Actions, 259
 
6.6.2 Root Locus Concept, 273
 
6.6.3 General Control Considerations, 285
 
6.7 Summary, 310
 
References, 311
 
Problems, 311
 
7 Multiport Fields and Junction Structures 326
 
7.1 Energy-Storing Fields, 327
 
7.1.1 C-Fields, 327
 
7.1.2 Causal Considerations for C-Fields, 333
 
7.1.3 I -Fields, 340
 
7.1.4 Mixed Energy-Storing Fields, 348
 
7.2 Resistive Fields, 350
 
7.3 Modulated 2-Port Elements, 354
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