system dynamics modeling simulation and control of mechatronic systems

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System Dynamics

Author : Dean C. Karnopp
ISBN : 9781118160077
Genre : Science
File Size : 27. 42 MB
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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.

Dynamics Of Mechatronics Systems

Author : Jan Awrejcewicz
ISBN : 9789813146563
Genre : Technology & Engineering
File Size : 28. 56 MB
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This book describes the interplay of mechanics, electronics, electrotechnics, automation and biomechanics. It provides a broad overview of mechatronics systems ranging from modeling and dimensional analysis, and an overview of magnetic, electromagnetic and piezo-electric phenomena. It also includes the investigation of the pneumo-fluid-mechanical, as well as electrohydraulic servo systems, modeling of dynamics of an atom/particle embedded in the magnetic field, integrity aspects of the Maxwell's equations, the selected optimization problems of angular velocity control of a DC motor subjected to chaotic disturbances with and without stick-slip dynamics, and the analysis of a human chest adjacent to the elastic backrest aimed at controlling force to minimize relative compression of the chest employing the LQR. This book provides a theoretical background on the analysis of various kinds of mechatronics systems, along with their computational analysis, control, optimization as well as laboratory investigations.

Real Time Modeling Simulation And Control Of Dynamical Systems

Author : Asif Mahmood Mughal
ISBN : 9783319339061
Genre : Technology & Engineering
File Size : 81. 65 MB
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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.

Entwicklung Eines Virtuellen Getriebepr Fstands

Author : Röper, Jan
ISBN : 9783798329515
Genre : Computers
File Size : 32. 17 MB
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Um die korrekte Montage und Funktion von Automatgetrieben sicherzustellen, werden diese am Ende der Produktion geprüft. Diese Prüfung wird durch eine Prüfautomatisierung ausgeführt, die mit Hilfe von Prüfprogrammen die Qualität der Getriebe bewertet. Bei der Entwicklung von Prüfautomatisierung und Prüfprogrammen stellt die Verfügbarkeit von Prüfstand und Prüfling eine Einschränkung dar. Insbesondere in frühen Phasen der Produktentstehung des Getriebes ist es nicht möglich das Verhalten des Prüfsystems zu testen. Um die Abhängigkeit von Prüfstand und Prüfling zu verringern, wird ein virtueller Getriebeprüfstand entwickelt, der aus Modellen von Prüfstand und Getriebe besteht. Die Logik der Prüfstandssteuerung (Speicher Programmierbare Steuerung) sowie Fragmente der Steuergerätesoftware des Getriebes werden ebenfalls abgebildet. Das entwickelte System kann mit einem Hardware in the Loop Prüfstand verglichen werden. Die Prüfautomatisierung und die Prüfprogramme werden auf der Zielhardware ausgeführt und sind das Testobjekt. Der virtuelle Getriebeprüfstand hat auch Gemeinsamkeiten mit Software in the Loop Systemen, da Teile der Steuergerätesoftware und der Prüfstandssteuerung simuliert werden. Für die Kommunikation zwischen Prüfautomatisierung und virtuellem Prüfstand werden die gleichen Schnittstellen wie in der Fertigung verwendet. Durch die Verwendung identischer Schnittstellen wird eine Vorabinbetriebnahme möglich, was zu verringertem Aufwand bei der Inbetriebnahme im Fertigungsbereich führt. Die erneute Konfiguration der Prüfautomatisierung in der realen Umgebung entfällt, wodurch potentielle Fehlerquellen ausgeschlossen werden. Die Entwicklung von Modellen von Prüfstand und Getriebe wird von der Verfügbarkeit von Informationen beeinflusst. Informationen sind jedoch deutlich früher verfügbar als Getriebe und Prüfstände. In dieser Arbeit werden Modelle mit unterschiedlicher Detaillierung entwickelt, die die Verfügbarkeit von Informationen widerspiegeln. Mit den verschiedenen Modellen werden typische Aufgaben der Entwicklung von Prüfautomatisierung und Prüfprogrammen bearbeitet. Die Aufgaben umfassen zum Beispiel Software- und Schnittstellentests für die eine geringe Detaillierung ausreicht. Als Beispiel für eine Aufgabe, die ein detailliertes Modell erfordert, wird ein Prüfverfahren für hydraulische Leckage entwickelt. Durch die Bearbeitung der Beispielaufgaben wird die Fähigkeit des virtuellen Prüfstands aufgezeigt den realen Prüfstand trotz der bestehenden Informationsabhängigkeit zu ersetzen. Potentiale für die Verbesserung der verwendeten Modelle, sowie zukünftige Anwendungsfälle für einen virtuellen Prüfstand werden aufgezeigt. The demand for quality and safety tests at the production of automatic transmissions increases with their growing complexity. As a result, end-of-line tests are carried out automatically on test benches, which are used to stimulate and asses the characteristics of the test object. The development of test automation and test procedures is constrained by the availability of test object and test bench during the product development phase. A detailed evaluation of the test system performance can only be carried out close to the commissioning of the production line. The same applies to updates of the test system, which can only be tested during live operation of the production. To ease this bottleneck, a virtual test bench, which allows independent, thorough testing, is introduced. The virtual test bench consists of models of the test bench and the automatic transmission. The resulting setup can be compared to a hardware-in-the-loop system. The test automation software is the test object, which is executed on the original hardware, while test bench and automatic transmission are simulated separately. The virtual test bench also shows characteristics of a software-in-the-loop system, since it incorporates a simulation of the relevant transmission control unit software and the logic of the test bench programmable logic controller. The virtual test bench uses the same interfaces for the communication with the test automation as the real test bench. Therefore, a preliminary commissioning can be carried out to reduce the effort at the production site. A reconfiguration of the test automation after transfer to the production site is not necessary, which eliminates potential errors. The development of the virtual test bench is restricted by the availability of information during the product development process of the automatic transmission. However, information is typically available prior to hardware. The benefit of exploiting the available information is shown in this thesis. Models with different modeling depth are presented, which reflect the availability of information. With the resulting models typical tasks are carried out, which are representative for the development of an automatic test system for mechatronic systems. The tasks range from software tests and investigations on communication properties to the development of test methods for leakage in the transmissions hydraulic system. The ability and the limitations to assess the test system are shown for the different models. Potential model refinements and future applications of the virtual test bench are identified.

Trends In Intelligent Robotics Automation And Manufacturing

Author : S.G. Poonambalam
ISBN : 9783642351976
Genre : Computers
File Size : 55. 92 MB
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This book constitutes the proceedings of the First International Conference on Intelligent Robotics and Manufacturing, IRAM 2012, held in Kuala Lumpur, Malaysia, in November 2012. The 64 revised full papers included in this volume were carefully reviewed and selected from 102 initial submissions. The papers are organized in topical sections named: mobile robots, intelligent autonomous systems, robot vision and robust, autonomous agents, micro, meso and nano-scale automation and assembly, flexible manufacturing systems, CIM and micro-machining, and fabrication techniques.

Bond Graphs For Modelling Control And Fault Diagnosis Of Engineering Systems

Author : Wolfgang Borutzky
ISBN : 9783319474342
Genre : Technology & Engineering
File Size : 56. 25 MB
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This book presents theory and latest application work in Bond Graph methodology with a focus on: • Hybrid dynamical system models, • Model-based fault diagnosis, model-based fault tolerant control, fault prognosis • and also addresses • Open thermodynamic systems with compressible fluid flow, • Distributed parameter models of mechanical subsystems. In addition, the book covers various applications of current interest ranging from motorised wheelchairs, in-vivo surgery robots, walking machines to wind-turbines.The up-to-date presentation has been made possible by experts who are active members of the worldwide bond graph modelling community. This book is the completely revised 2nd edition of the 2011 Springer compilation text titled Bond Graph Modelling of Engineering Systems – Theory, Applications and Software Support. It extends the presentation of theory and applications of graph methodology by new developments and latest research results. Like the first edition, this book addresses readers in academia as well as practitioners in industry and invites experts in related fields to consider the potential and the state-of-the-art of bond graph modelling.

Vehicle Dynamics Stability And Control Second Edition

Author : Dean Karnopp
ISBN : 9781466560864
Genre : Technology & Engineering
File Size : 37. 45 MB
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Anyone who has experience with a car, bicycle, motorcycle, or train knows that the dynamic behavior of different types of vehicles and even different vehicles of the same class varies significantly. For example, stability (or instability) is one of the most intriguing and mysterious aspects of vehicle dynamics. Why do some motorcycles sometimes exhibit a wobble of the front wheel when ridden "no hands" or a dangerous weaving motion at high speed? Why does a trailer suddenly begin to oscillate over several traffic lanes just because its load distribution is different from the usual? Other questions also arise: How do humans control an inherently unstable vehicle such as a bicycle and how could a vehicle be designed or modified with an automatic control system to improve its dynamic properties? Using mainly linear vehicle dynamic models as well as discussion of nonlinear limiting effects, Vehicle Dynamics, Stability, and Control, Second Edition answers these questions and more. It illustrates the application of techniques from kinematics, rigid body dynamics, system dynamics, automatic control, stability theory, and aerodynamics to the study of the dynamic behavior of a number of vehicle types. In addition, it presents specialized topics dealing specifically with vehicle dynamics such as the force generation by pneumatic tires, railway wheels, and wings. The idea that vehicles can exhibit dangerous behavior for no obvious reason is in itself fascinating. Particularly obvious in racing situations or in speed record attempts, dynamic problems are also ubiquitous in everyday life and are often the cause of serious accidents. Using relatively simple mathematical models, the book offers a satisfying introduction to the dynamics, stability, and control of vehicles.

System Dynamics

Author : Karl A. Seeler
ISBN : 9781461491521
Genre : Technology & Engineering
File Size : 69. 33 MB
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This unique textbook takes the student from the initial steps in modeling a dynamic system through development of the mathematical models needed for feedback control. The generously-illustrated, student-friendly text focuses on fundamental theoretical development rather than the application of commercial software. Practical details of machine design are included to motivate the non-mathematically inclined student.

Mechatronics 2017

Author : Tomáš Březina
ISBN : 9783319659602
Genre : Technology & Engineering
File Size : 69. 75 MB
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This book presents nearly 90 carefully selected contributions at the 12th International Conference Mechatronics, which took place in Brno, Czech Republic on 6–8 September 2017. Reflecting the most progressive and constantly changing areas of mechatronics, these proceedings includes papers concerning modeling and simulation, automatic control, robotics, sensors and actuators, electrical machines, and energy harvesting. It not only offers inspiration, but also deepens readers’ interdisciplinary and integrated understanding of modern engineering. The book is intended for experts in the integration of electronic, mechanical, control and computer sciences.

Dynamics Of The Rigid Solid With General Constraints By A Multibody Approach

Author : Nicolae Pandrea
ISBN : 9781118954416
Genre : Technology & Engineering
File Size : 51. 63 MB
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Covers both holonomic and non-holonomic constraints in a study of the mechanics of the constrained rigid body. Covers all types of general constraints applicable to the solid rigid Performs calculations in matrix form Provides algorithms for the numerical calculations for each type of constraint Includes solved numerical examples Accompanied by a website hosting programs

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