Mechatronic Modeling and Simulation Using Bond Graphs

As an area of interdisciplinary focus, mechatronics continues to emerge as an essential area of study across all of engineering. After introducing the concepts of mechatronic systems, this text delves into the modeling and building of such systems. The author, a leading developer of process models in manufacturing, and automotive engineering and a highly regarded instructor, employs the Bond Graph technique to impart an understanding that demonstrates how a variety of disciplines interconnect. He also provides a common terminology and language. The information is supported with practical examples and several case studies with an emphasis on system thinking. A solutions manual is available for qualified instructors.

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.

Introduction to Mechatronics and System Modeling What Is Mechatronics? What Is a System and Why Model Systems? Mathematical Modeling Techniques Used in Practice Software Bond Graphs: What Are They? Engineering Systems Ports 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 Causality 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 References Bibliography Index