Publisher Description

This book provides cutting edge insight into systems dynamics, as applied to engineering systems including control systems. The coverage is intended for both students and practicing engineers. Updated throughout in the second edition, it serves as a firm foundation to develop expertise in design, simulation, prototyping, control, instrumentation, experimentation, and performance analysis.Providing a clear discussion of system dynamics, the book enables students and professionals to both understand and subsequently model mechanical, thermal, fluid, electrical, and multi-physics systems in a systematic, unified and integrated manner, which leads to a "unique" model. Concepts of through-and across-variables are introduced and applied, alongside tools of modeling and model-representation such as linear graphs and block diagrams. The book uses and illustrates popular software tools such as SIMULINK, throughout, and additionally makes use of innovative worked examples and case studies, alongside problems and exercises based on practical situations.The book is a crucial companion to undergraduate and postgraduate mechanical engineering and other engineering students, alongside professionals in the field. Complete solutions to end-of-chapter problems are provided in a Solutions Manual that is available to instructors.

Author Biography

Dr. Clarence W. de Silva, P.E., Fellow ASME and Fellow IEEE, is a Professor of Mechanical Engineering at the University of British Columbia, Vancouver, Canada and occupies the Senior Canada Research Chair professorship in Mechatronics and Industrial Automation. Prior to this position, he occupied the NSERC-BC Packers Research Chair in Industrial Automation since 1988. He has served as a faculty member at Carnegie Mellon University (1978-87) and a Fulbright Visiting Professor at the University of Cambridge (1987/88). Dr. de Silva earned Ph.D. degrees from Massachusetts Institute of Technology (1978) and the University of Cambridge, England (1998), as well as an honorary D.Eng. degree from the University of Waterloo (2008).Dr. de Silva has also occupied the Mobil Endowed Chair Professorship in the Department of Electrical and Computer Engineering at the National University of Singapore; Honorary Professorship of Xiamen University, China; and Honorary Chair Professorship of National Taiwan University of Science and Technology. Other Fellowships include: Fellow, Royal Society of Canada; Fellow, Canadian Academy of Engineering; Lilly Fellow at Carnegie Mellon University; NASA-ASEE Fellow; Senior Fulbright Fellow at Cambridge University; Fellow of the Advanced Systems Institute of BC; Killam Fellow; Erskine Fellow at University of Canterbury; Professorial Fellow at the University of Melbourne; and Peter Wall Scholar at the University of British Columbia.

Table of Contents

Preface Acknowledgments 1. Introduction to Modeling Chapter Highlights 1.1 Objectives 1.2 Importance and Applications of Modeling 1.2.1 The Use of Models in Control 1.2.2 The Use of Models in Design  1.3 Dynamic Systems and Models 1.3.1 Terminology 1.3.2 Model Complexity 1.4 Model Types 1.4.1 Advantages of Analytical Models 1.4.2 Mechatronic Systems 1.4.3 Steps of Analytical Model Development 1.4.4 Modeling Criteria and Equivalent Models 1.5 Organization of the Book Summary Sheet Steps of Analytical Model Development Problems 2. Basic Model Elements Chapter Highlights 2.1 Introduction 2.1.1 Lumped Elements and Analogies 2.1.2 Across-Variables and Through-Variables 2.2 Mechanical Elements 2.2.1 Inertia Element 2.2.2 Spring (Stiffness or Flexibility) Element 2.2.3 Damping (Dissipation) Element 2.3 Electrical Elements 2.3.1 Capacitor Element 2.3.2 Inductor Element 2.3.3 Resistor (Dissipation) Element 2.4 Fluid Elements 2.4.1 Fluid Capacitor or Accumulator (A-Type Element) 2.4.2 Fluid Inertor (T-Type Element) 2.4.3 Fluid Resistor (D-Type Element) 2.4.4 Derivation of Constitutive Equations 2.5 Thermal Elements 2.5.1 Thermal Capacitor 2.5.2 Thermal Resistor Biot Number Linearized Radiation Resistor 2.6 Domain Analogies 2.6.1 Natural Oscillations Summary Sheet Problems 3. Analytical Models Chapter Highlights 3.1 Types of Analytical Models 3.1.1 Properties of Linear Systems 3.1.2 Discrete-Time Systems 3.1.3 Lumped Model of a Distributed System Heavy Spring Kinetic Energy Equivalence Natural Frequency Equivalence 3.2 Analytical Model Development 3.2.1 Steps of Model Development 3.3 State Models and Input–Output Models 3.3.1 Properties of State-Space Models State Space Properties of State Models 3.3.2 Linear State Equations Time-Invariant Systems 3.3.3 Input–Output Models from State-Space Models 3.4 Modeling Examples 3.4.1 Systematic Development of a State Model 3.4.2 Modeling in Mechanical Domain 3.4.3 Modeling in the Fluid Domain Commutativity of Series Resistor and Inertor Elements 3.4.4 Modeling in the Thermal Domain Summary Sheet Problems 4. Model Linearization Chapter Highlights 4.1 Introduction 4.2 Properties of Nonlinear Systems 4.2.1 Static Nonlinearity 4.2.2 Nonlinear Characteristics of Practical Devices 4.2.3 Nonlinear Electrical Elements Capacitor Inductor Resistor 4.3 Analytical Linearization Using Local Slopes 4.3.1 Analytical Linearization about an Operating Point Equilibrium State 4.3.2 Nonlinear Functions of One Variable 4.3.3 Nonlinear Functions of Two Variables 4.4 Nonlinear State-Space Models 4.4.1 Linearization of State Models 4.4.2 Mitigation of System Nonlinearities 4.5 Linearization Using Experimental Data 4.5.1 Torque-Speed Curves of Motors 4.5.2 Experimental Linear Model of a DC Motor 4.5.3 Experimental Linear Model of a Nonlinear System 4.6 Other Methods of Model Linearization 4.6.1 The Calibration Curve Method 4.6.2 The Equivalent Model Approach of Linearization 4.6.3 The Describing Function Method 4.6.4 Linearization Using Analog Hardware 4.6.5 Feedback Linearization Summary Sheet Problems 5. Linear Graphs Chapter Highlights 5.1 Introduction 5.2 Variables and Sign Conventions 5.2.1 Through-Variables and Across-Variables Sign Conventions Single-Port Elements 5.2.2 Source Elements Interaction Inhibition by Source Elements 5.2.3 Two-Port Elements Transformer Gyrator 5.3 Linear-Graph Equations 5.3.1 Compatibility (Loop) Equations Sign Conventions Number of "Primary" Loops 5.3.2 Continuity (Node) Equations Primary Node Equations 5.3.3 Series and Parallel Connections 5.4 State Models from Linear Graphs 5.4.1 Sketching of a Linear Graph 5.4.2 State Models from Linear Graphs System Order Sign Conventions Steps of Obtaining a State Model 5.4.3 Characteristics of Linear Graphs LG Variables and Relations Topological Result 5.5 Linear-Graph Examples in Mechanical Domain 5.6 Linear-Graph Examples in Electrical Domain 5.6.1 Amplifiers Linear-Graph Representation 5.6.2 Power-Information Transformer 5.6.3 dc Motor 5.7 Linear-Graph Examples in Fluid Domain 5.8 Linear-Graph Examples in Thermal Domain 5.8.1 Model Equations 5.9 Linear-Graph Examples in Mixed Domains Summary Sheet Problems 6. Frequency-Domain Models Chapter Highlights 6.1 Introduction 6.1.1 Transfer-Function Models 6.2 Laplace and Fourier Transforms 6.2.1 Laplace Transform Laplace Transform of a Derivative Laplace Transform of an Integral 6.2.2 Fourier Transform 6.3 Transfer Function 6.3.1 Transfer-Function Matrix 6.4 Frequency-Domain Models 6.4.1 Frequency Transfer Function (Frequency Response Function) Response to a Harmonic Input Magnitude(Gain) and Phase Observations 6.4.2 Bode Diagram (Bode Plot) 6.4.3 Bode Diagram Using Asymptotes 6.5 Mechanical Impedance and Mobility 6.5.1 Transfer Functions in Mechanical Systems Mechanical Transfer Functions Mechanical Impedance and Mobility 6.5.2 Interconnection Laws Interconnection Laws for Mechanical Impedance and Mobility Interconnection Laws for Electrical Impedance and Admittance A-Type Transfer Functions and T-Type Transfer Functions 6.5.3 Transfer Functions of Basic Elements 6.6 Transmissibility Function 6.6.1 Force Transmissibility 6.6.2 Motion Transmissibility 6.6.3 Vibration Isolation Force Isolation and Motion Isolation 6.6.4 Maxwell's Reciprocity Property Maxwell's Reciprocity Property in Other Domains Summary Sheet Problems 7.Transfer-Function Linear Graphs Chapter Highlights 7.1 Introduction 7.2 Circuit Reduction and Equivalent Circuits 7.2.1 Thevenin's Theorem for Electrical Circuits Circuit Partitioning Thevenin and Norton Equivalent Circuits 7.2.2 Justification of Circuit Equivalence 7.2.3 Extension into Other Domains 7.3 Equivalent TF LGs 7.3.1 Transfer-Function LGs 7.3.2 Equivalent Mechanical Circuit Analysis Using LGs 7.3.3 Summary of Thevenin Approach for Mechanical Circuits General Steps 7.4 Multi-domain TF LGs 7.4.1 Conversion into an Equivalent Single Domain Transformer-Coupled Systems 7.4.2 Illustrative Examples Summary Sheet Problems Appendix A: Graph Tree Concepts for Linear Graphs Appendix B: MATLAB Toolbox for Linear Graphs Index

Long Description

This book provides cutting edge insight into systems dynamics, as applied to engineering systems including control systems. The coverage is intended for both students and practicing engineers. Updated throughout in the second edition, it serves as a firm foundation to develop expertise in design, simulation, prototyping, control, instrumentation, experimentation, and performance analysis. Providing a clear discussion of system dynamics, the book enables students and professionals to both understand and subsequently model mechanical, thermal, fluid, electrical, and multi-physics systems in a systematic, unified and integrated manner, which leads to a unique model. Concepts of through-and across-variables are introduced and applied, alongside tools of modeling and model-representation such as linear graphs and block diagrams. The book uses and illustrates popular software tools such as SIMULINK, throughout, and additionally makes use of innovative worked examples and case studies, alongside problems and exercises based on practical situations. The book is a crucial companion to undergraduate and postgraduate mechanical engineering and other engineering students, alongside professionals in the field. Complete solutions to end-of-chapter problems are provided in a Solutions Manual that is available to instructors.

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