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Mechatronic Modeling and Simulation Using Bond Graphs
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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

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

About the Author

University of Detroit Mercy, Michigan, USA

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