joinedhjsm
hjsm 时间:2021-02-21 阅读:()
BondGraphsforModelling,ControlandFaultDiagnosisofEngineeringSystemsWolfgangBorutzkyEditorBondGraphsforModelling,ControlandFaultDiagnosisofEngineeringSystemsSecondEdition123EditorWolfgangBorutzkyBonn-Rhein-SiegUniversityofAppliedSciencesDepartmentofComputerScienceSanktAugustin,GermanyISBN978-3-319-47433-5ISBN978-3-319-47434-2(eBook)DOI10.
1007/978-3-319-47434-2LibraryofCongressControlNumber:2016955827SpringerInternationalPublishingSwitzerland2011,2017Thisworkissubjecttocopyright.
AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,specicallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrolmsorinanyotherphysicalway,andtransmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdeveloped.
Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.
inthispublicationdoesnotimply,evenintheabsenceofaspecicstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication.
Neitherthepublishernortheauthorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforanyerrorsoromissionsthatmayhavebeenmade.
Printedonacid-freepaperThisSpringerimprintispublishedbySpringerNatureTheregisteredcompanyisSpringerInternationalPublishingAGTheregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,SwitzerlandForewordProf.
BorutzkyhasaskedmetowriteaforewordtothissecondeditionofthebookBondGraphModellingofEngineeringSystems.
ThisputmeinmindofthetimewhenRonaldC.
RosenbergandI,asAssistantProfessorsatMIT,usedtostopatabarinHarvardSquaretowaitforthetrafctosubsideonourwayhomefromwork.
(Ron'sdoctoralthesisresultedintheENPORTprogram,therstbondgraphprocessor,which,althoughrestrictedtolinearsystems,wouldsolvetheproblemsassociatedwithdifferentialcausalityinsimulation.
)Weoftendiscussedwhattechnicalareasweshouldworkoninthefutureandwecametotheconclusionthatbondgraphs,recentlyinventedbyouradvisor,Prof.
HenryM.
Paynter,wereworthyofbeingbetterknowntothegeneralworldratherthanjusttoMITgraduatestudents.
Theresultwasourrstbookintendedforself-studyofbondgraphmethods,AnalysisandSimulationofMultiportSystems:TheBondGraphApproachtoPhysicalSystemDynamics,TheMITPress,1968.
Whenthebookwasnished,Prof.
PaynteraskedusifhecouldprovideaForewordintheformofaHistoricalNote.
WenaturallyagreedandtheresultisafascinatingtwopagehistoryofPaynter'sthoughtstarting,hesays,inhighschool.
Hispersonalreferencesgobacktothe1950s,buthisreferencestochemicalstructuregraphsgobackanother100years.
HisnalparagraphofhisHistoricalNoteisasfollows:ThusweredevisedonApril29,1959,thetwoideal3-portenergyjunctions(0,1)torenderthesystemofbondgraphsacompleteandformaldiscipline.
Thecompletesystemwasthenrstpublishedin1961.
Asyoucansee,Prof.
Paynterwasthinkingofhisreputationinthefuture.
ThepublicationmentionedwastheMITpressbookAnalysisandDesignofEngineeringSystems,1961,wasinfactapaperbackcompilationofclassnotestakenbyagraduatestudentand,asPaynteradmitted,thegluedtogetherbooktendedtofallapartasitspageswereturned.
(Thiswasagreatdisadvantagetoslowlearners.
)Thus,bondgraphsremainedforawhileonlyknowntothosewhohadstudiedatMIT.
vviForewordProfessorPaynterwouldcertainlybegratiedtoseetheinterestinbondgraphsthathasdevelopedinthepast60years.
Thepresentvolumeisatestimonytolargenumberofresearcherswhoarepresentlycontributingtoextensionsofbondgraphtechniquesandtonewapplicationareas.
Healsomightbesurprisedtolearnthathis"completeandformaldiscipline"hasbeenextendedindirectionsheneverwouldhavethoughtpossible.
Thereis,ofcourse,somedangerinextendingbondgraphtechniquestoincludeidiosyncraticnotationandmanipulationsthatapplytoevermorespecialcases.
Intheearlyyears,thoseofusinterestedinpromotingbondgraphmethodshadtoghtthosewholikedtheforce-currentanalogybetterthantheforce-voltageanalogysincetheyproducedbondgraphswith0'sand1'sandI'sandC'sinterchanged,whichprovidedabarriertothosenewcomersinterestedinlearningthebenetsofbondgraphmethods.
Thisvolumeisanexampleofthecorrectapproachinwhichtheauthorstakepainstomakeclearwhyspecialnotationorspecialmanipulationsonabondgrapharenecessarytoprovideinsightintoproblemswhichdon'tyieldtostandardbondgraphtechniques.
WhenIcontemplatePaynter'scontributiontophysicalsystemdynamics,andofthoseofpresentdayengineerswhocontinuetoadvancebondgraphtechniquesasevidencedbythepresentvolume,Ithinkofthewell-knownquotefromGoethe'sFaust:WasduererbtvondeinenVternhast,erwirbes,umeszubesitzen.
(Thatwhichyouinheritfromyourfathers,youmustearninordertopossess.
)Theauthorsofthepresentvolumehaveclearlytakenthisadvicetoheart.
Davis,CA,USADeanKarnoppJuly2016PrefaceBythebeginningof2011,SpringerpublishedacompilationtextofanumberofresearchersfromallovertheworldonBondGraphModellingofEngineeringSystems.
Thebookcoverstheoreticalandmethodologicaltopicsaswellassomeapplicationsandtheuseofsoftwareforbondgraphmodellingandsimulation.
Theaimwastopresentthestateoftheartinbondgraphmodellingbyaddressinglatestdevelopmentsandintegratingvariousworksinauniedmanner.
Insummer2014,theeditorwasinvitedtoprepareasecondeditionofthe2011compilationtext.
Duetotheactiveongoingresearchofmycolleagues,theircommitment,theirexpertise,andtheircontributionstheoutcomeofthisnewbookproject,inmyview,hasbecomemorethanarevisionoftherstedition.
Thisnewbookagaincoverssometheoreticalissues,applicationsandsoftwaresupportastherstedition.
However,thefocusofthesecondeditionisonlatesttopicsaswellasonsubjectsthathaven'tbeencoveredintherstedition.
Moreover,newyoungexcellentresearchershavejoinedtheteamtogetherwithco-authorswhohavebeenusingbondgraphintheirresearchandinteachingforalongtime.
Therefore,theresultofthisprojectmaybeconsideredanovelbookthatreectstheactiveresearchinthebondgraphmodellingcommunityandlatestachievementsoverarathershortperiodofthepastveyears.
AnumberofthecontributedchaptershavearisenfromrecentlynishedPhDtheses.
BondgraphsweredevisedbyProfessorH.
Payntersome60yearsbackattheMassachusettsInstituteofTechnology(MIT)inCambridge,Massachusetts,USA,andweredevelopedintoamethodologybyhisformerPhDstudentsProfessorD.
KarnoppandProfessorD.
Margolis(UniversityofCaliforniaatDavis)andProfessorR.
Rosenberg(MichiganStateUniversity,EastLansing,Michigan).
Sincethenthebondgraphapproachtophysicalsystemmodellingandsimulationhasbeenadoptedbymanyresearchers.
Thecontributionstothisbookwelldemonstratethattoday,60+yearslater,thebondgraphmethodologyhasspreadfromMITallovertheworldandissuccessfullyusedinvariousengineeringelds.
Thebookisorganisedintoveparts.
Eachofthemstartswithanintroductionthatmotivatesthesubjectsandestablishesrelationsbetweenthechaptersofapart.
Thecontributedchaptersshowthatbondgraphsaremorethanjustamethod-ologyformodellingandsimulationofmultidisciplinarysystemsdescribedbyviiviiiPrefacecontinuoustimemodels.
Beyondthatapplicationarea,bondgraphscanalsobeusedtorepresenthybridmodelswithcontinuoustimeanddiscretestatevariables.
Furthermore,bondgraphmodellinghasprovenusefulincontrolandasonepossiblestartingpointformodel-basedfaultdiagnosisandfaultprognosisinengineeringsystems.
Theseareasbecomemoreandmoreimportantwithanincreaseofthecomplexityoftoday'smechatronicsystemsandatrendtoatleastpartlyautonomoussystems.
Representinghybridmodelsinabondgraphframeworkandbondgraphmodel-basedfaultdiagnosisandfaultprognosisaretopicsinthefocusofthisnewbook.
Accordingly,thetitleofthersteditionhasbeenadapted.
Anothertopicthatisnotnewbutofstillongoinginterestisthequestionofhowopenthermodynamicsubsystemswithcompressibleuidowandmechanicalsubsystemsdescribedbyadistributedparametermodelcanbeintegratedinalumpedparametermodelofacomplexoverallsystem.
PartIIIpresentsanextensionofcommonbondgraphsformodellingthermodynamicsubsystemsintroducedbyProfessorBrownthatcanbecombinedwithconventionalbondgraphsforotherpartsofanengineeringsystemandissupportedbyamaturemodellingandsimulationsoftwareenvironmentnewlydevelopedoverthepastyears.
Astodistributedparametersubsystems,anapproachbasedonnitesegmentsandanactivitymetricispresentedthataimsatalumpedparametermodelofreducedordersufcientlyaccurate.
PartIVillustratestheremarkablewiderangeofapplicationsinwhichbondgraphshavebeenusedformodellingmechatronicsystemsofcurrentinterestbycontributedchaptersrangingfromawheelchair,torobotsforinvivosurgery,orwalkingmachinesthatcanbeusedforoperationsinhazardouselds,towindturbinesintheareaofrenewableenergysources.
ProfessorHenryPaynter,theinventorofbondgraphs,envisagedapplicationsofbondgraphmodellingtochemistry,electrochemistryandbiochemistryalreadybackin1992.
Sincethennottoomanyresearchershaveusedbondgraphsformodellingchemicalreactions.
OnechapterinPartIVextendsbondgraphmodellingeventobiomolecularsystemsoflivingorganisms.
Asthelatteronesareopensystemsthatarenotatthermodynamicequilibrium,bondgraphrepresentationsoftheirbiomolecularsystemsarenotevident.
Thechapterintroducesappropriatebondgraphvariables.
MolecularspeciesarerepresentedbyanonlinearCelementandreactionsbyanonlineartwo-portRelement.
Asaresult,bondgraphmodellingasagraphicalapproachgivesmoreintuitiveinsightthanpurelynumericalapproaches.
Astotheresultsofsimulationruns,ithasbecomecommonthatsomesoftwareprovidesapostprocessingmodulethatenablesavisualisationofmechanicalmotionin3Dunderdifferentanglesofviews.
Thelastchapterofthiscompilationtextpresentsanovelapproachthatlinksabondgraphmodellingandsimulationprogramtoaprogramforthegeometricaldesignofcomplexmultibodysystemssuchasrobotswithseveraldegreesoffreedomsothatthe3Dmotionofarobotisvisualisedsimultaneouslywithsomelittledelaytoitsnumericalcomputation.
Althoughthiscontributedbookaimstoreectthecurrentstateoftheartinbondgraphmodellingbypresentinganddiscussingadvancedrecenttopics,allchaptershavebeenwritteninsuchawaythatnewcomerstothemethodologyPrefaceixwithsomeknowledgeofthebasicsmayeasilygetintothevastfascinatingandopeneldofadvancedbondgraphmodelling.
Readerswhomaywanttohaveacloserlookatbondgraphfundamentalsmayndreferencestolatestmonographsandtextbooks.
Furthermore,eachchapterprovidesmanyreferencestoconferencepapers,journalarticlesandPhDthesesonadvancedtopics.
Thismultipleauthorsbookwellcomplementslatestmonographsandtextbooksonbondgraphmodellingandmayserveasaguideforfurtherself-studyandasareference.
BondGraphsforModelling,ControlandFaultDiagnosisofEngineeringSystemscontinuesthepresentationofitspredecessortitledBondGraphModellingofEngineeringSystemsandlikethelatteroneaddressesreadersinacademiaaswellaspractisingengineersinindustryandinvitesexpertsinrelatedeldstoconsiderthepotentialandthestateoftheartofbondgraphmodelling.
Itishopedthatthebondgraphmethodologymaycontributetomoreinsightintophysicalprocessesandtothedevelopmentofusefulmodelsintheirengineeringeld.
AcknowledgementsThisvolumewouldnothavebeenpossiblewithoutthecommitment,theexpertiseandtheeffortsofmycolleagues.
Iwouldliketotakethisopportunitytothankallmyco-authorsfortheircontributedchapters.
Likewise,Iwishtothankallcolleagueswhokindlytookthetimetoreadthechapters.
Theirvaluablecommentsandsuggestionsaregratefullyacknowledged.
MyspecialthanksgotoProfessorDeanKarnopp,UniversityofCaliforniaatDavis,oneoftheleadingpioneersofthebondgraphmethodology,whokindlyhonouredallauthorsofthiscompilationtextbywritingtheforewordwithsomepersonalnotes.
Also,IappreciatethesupportthismultipleauthorbookprojectreceivedfromProfessorsYuriMerkuryev,RigaTechnicalUniversity,Latvia;DavidMurray-Smith,UniversityofGlasgow,Scotland,UK;RonaldRosenberg,MichiganStateUniversity,EastLansing,MI,USAandGregorioRomero,UniversidadPolitécnicadeMadrid,Spain.
Lastbutnotleast,IwishtothankmyEditorwithSpringeratNewYork,NY,USA,MaryJames,forherinvitationtothisbookproject,forherkindconstantsupportduringthisbookprojectandBrindaMegasyamalan,ProjectCoordinator,SasiReka,ProjectManager,forthecooperationthroughoutthebookproduction.
SanktAugustin,GermanyWolfgangBorutzkyJuly2016ContentsPartIBondGraphTheoryandMethodology1DecompositionofMultiports5PeterC.
Breedveld2AMethodforMinimizingtheSetofEquationsinBondGraphSystemswithCausalLoops27JesusFelez3ControlledSwitchedStructuresforBond-GraphModellingandSimulationofHybridSystems.
47MatíasA.
NacusseandSergioJ.
Junco4DynamicCausalityinHybridBondGraphs87RebeccaMargettsandRogerF.
NgwompoPartIIBondGraphModellingforFaultDiagnosis,FaultTolerantControl,andPrognosis5IntegratingBondGraph-BasedFaultDiagnosisandFaultAccommodationThroughInverseSimulation.
139W.
Borutzky6Model-BasedDiagnosisandPrognosisofHybridDynamicalSystemswithDynamicallyUpdatedParameters195OmPrakashandA.
K.
Samantaray7ParticleFilterBasedIntegratedHealthMonitoringinBondGraphFramework233MayankS.
Jha,G.
Dauphin-Tanguy,andB.
Ould-BouamamaxixiiContentsPartIIIThermodynamicSystemsandDistributedParameterSystems8ConvectionBondGraphsforThermodynamicSystems275ForbesT.
Brown9FiniteElementFormulationforComputationalFluidDynamicsFramedWithintheBondGraphTheory311JorgeLuisBalio10ModelComplexityofDistributedParameterSystems:AnEnergy-BasedApproach.
359L.
S.
LoucaPartIVApplications11BondGraphModelingandSimulationofaVibrationAbsorberSysteminHelicopters387BenjaminBoudon,FranoisMalburet,andJean-ClaudeCarmona12ManualDrivenWheelchairBondGraphModelling431AbdennasserFakriandJapiePetrusVilakazi13BondGraphModellingandControlofHyper-RedundantMiniatureRobotforIn-VivoBiopsy.
451MihirKumarSutarandPushprajManiPathak14BondgraphModelingandControlofCompliantLeggedQuadrupedRobot497M.
M.
Gor,P.
M.
Pathak,A.
K.
Samantaray,J.
M.
Yang,andS.
W.
Kwak15ModelingandControlofaWindTurbine547R.
TapiaSánchezandA.
MedinaRios16Bond-GraphModellingandCausalAnalysisofBiomolecularSystems587PeterJ.
GawthropPartVSoftware17MultibodySystemModeling,Simulation,and3DVisualization.
.
.
.
.
.
627VjekoslavDamicandMajdaˇCohodarAppendixASomeTextbooksonBondGraphModelling.
673Index675ContributorsJorgeLuisBalioEscolaPolitécnica,UniversidadedeSoPaulo,SoPaulo-SP,BrazilW.
BorutzkyBonn-Rhein-SiegUniversityofAppliedSciences,SanktAugustin,GermanyBenjaminBoudonUniversitéAix-Marseille,Marseille,FrancePeterC.
BreedveldTwenteUniversity,Enschede,TheNetherlandsForbesT.
BrownLehighUniversity,Bethlehem,PA,USAJean-ClaudeCarmonaEcoleNationaleSupérieured'ArtsetMétiers,Centred'Aix-en-Provence,Aix-en-Provence,FranceMajdaˇCohodarUniversityofSarajevo,Sarajevo,BosniaandHerzegovinaVjekoslavDamicUniversityofDubrovnik,Dubrovnik,CroatiaG.
Dauphin-TanguyEcoleCentraledeLille,Villeneuved'Ascq,FranceAbdennasserFakriUniversitéParis-Est,Marne-la-Vallée,FranceJesusFelezUniversidadPolitécnicadeMadrid(UMP),Madrid,SpainPeterJ.
GawthropUniversityofMelbourne,Parkville,VIC,AustraliaM.
M.
GorG.
H.
PatelCollegeofEngineering&Technology,Gujarat,IndiaMayankS.
JhaInstitutNationaldesSciencesAppliquéesdeToulouse(INSA),Toulouse,FranceSergioJ.
JuncoUniversidadNacionaldeRosario,Rosario,ArgentinaS.
W.
KwakKeimyungUniversity,Daegu,SouthKoreaL.
S.
LoucaUniversityofCyprus,Nicosia,CyprusxiiixivContributorsFranoisMalburetEcoleNationaleSupérieured'ArtsetMétiers,Centred'Aix-en-Provence,Aix-en-Provence,FranceRebeccaMargettsUniversityofLincoln,Lincoln,UKMatíasA.
NacusseUniversidadNacionaldeRosario,Rosario,ArgentinaRogerF.
NgwompoUniversityofBath,Bath,UKB.
Ould-BouamamaEcolePolytechniquedeLille,Villeneuved'Ascq,FrancePushprajManiPathakIndianInstituteofTechnology,Roorkee,Uttarakhand,IndiaOmPrakashIndianInstituteofTechnology,Kharagpur,IndiaA.
MedinaRiosUniversidadMichoacanadeSanNicolásdeHidalgo,Morelia,MexicoA.
K.
SamantarayIndianInstituteofTechnology,Kharagpur,IndiaR.
TapiaSánchezUniversidadMichoacanadeSanNicolásdeHidalgo,Morelia,MexicoJapiePetrusVilakaziTshwaneUniversityofTechnology,Pretoria,RepublicofSouthAfricaJ.
M.
YangKyungpookNationalUniversity,Daegu,SouthKoreaAbbreviationsANNArticialNeuralNetworkARRAnalyticalRedundancyRelationAVPAngularVelocityPropagationBDBlockDiagramBDFBackwardDifferentiationFormulaBEMBladeElementMomentumBGBondGraphBGDBondgraphinpreferredderivativecausalityBG-LFTBondGraphinLinearFractionalTransformationCBMConditionBasedMaintenanceCFDComputationalFluidDynamicsCGCentreofGravityCJControlledJunctionCKCClosedKinematicChainCTFCoordinateTransformationBlockDAEDifferential-AlgebraicEquationDBGDiagnosticBondGraphDCDirectCurrentDFIGDoublyFedInductionGeneratorDFIMDoublyFedInductionMotorDHBGDiagnosticHybridBondGraphDMDegradationModelDOFDegreeofFreedomDPPDegradationProgressionParameterDSCAPDynamicSequentialCausalityAssignmentProcedureEJSEulerJunctionStructureEOLEndofLifeEPPWElectricPowerPropelledWheelchairFDIFaultDetectionandIsolationFDMFiniteDifferenceMethodFEMFiniteElementMethodxvxviAbbreviationsFROIFrequencyRangeofInterestFSAFiniteStateAutomatonFSMFiniteSignatureMatrixFTCFaultTolerantControlFVMFiniteVolumeMethodGARRGlobalAnalyticalRedundancyRelationGFSMGlobalFaultSignatureMatrixGFSSMGlobalFaultSensitivitySignatureMatrixGSJGeneralizedSwitchedJunctionGYSGyristorHBGHybridBondGraphHJSMHybridJunctionStructureMatrixHyPAHybridProcessAlgebraJSMJunctionStructureMatrixLCPLinearComplementarityProblemLCSLinearComplementaritySystemLFTLinearFractionalTransformationFormLLLegLiftLTILinearTimeInvariantsystemLWRLighthill,WhithamandRichardsMBDPModel-BasedDiagnosisandPrognosisMBGMultibondGraphMBSMultibodySystemMCSMModeChangeSignatureMatrixMCSSMModeChangeSensitivitySignatureMatrixMDMMechatronicDriveModularMDMWModularDrivenManualWheelchairMFCMicrosoftFoundationClassMGBMainGearBoxMIMOMultipleInputMultipleOutputsystemMODAModelOrderReductionAlgorithmMORAModelOrderDeductionAlgorithmMPWManualPropelledWheelchairMSCMachineSideConverterNSCNetworkSideConverterODEOrdinaryDifferentialEquationPDProportionalDerivativePDEPartialDifferentialEquationPDFProbabilityDensityFunctionPFParticleFilterPIProportionalIntegralPIDProportional,IntegralandDerivativePLPrismaticLinkRARelativeAccuracyRANSReynolds-averagedNavier-StokesAbbreviationsxviiRMSERootMeanSquareErrorRPRevolute-prismaticRULRemainingUsefulLifeSARIBSystèmeanti-résonateurintégréàbarresSBGSensitivityBondGraphSCAPSequentialCausalityAssignmentProcedureSCRSiliconControlledRectierSIRSamplingImportanceResamplingSISSequentialimportancesamplingSISOSingleInputSingleOutputsystemSLStepLengthSOHStateofHealthSPJSwitchedPowerJunctionSS-BondSwitchableStructureBondSSFSetofSuspectedFaultSwBGSwitchedBondGraphTCPToolCentrePointTTFTimetoFailureTVPTranslationalVelocityPropagationUIOUnknownInputObserverVTKVisualizationToolkitZCZeroComplianceZCPZero-orderCausalPathZEZeroEffortZFZeroFlow
1007/978-3-319-47434-2LibraryofCongressControlNumber:2016955827SpringerInternationalPublishingSwitzerland2011,2017Thisworkissubjecttocopyright.
AllrightsarereservedbythePublisher,whetherthewholeorpartofthematerialisconcerned,specicallytherightsoftranslation,reprinting,reuseofillustrations,recitation,broadcasting,reproductiononmicrolmsorinanyotherphysicalway,andtransmissionorinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodologynowknownorhereafterdeveloped.
Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.
inthispublicationdoesnotimply,evenintheabsenceofaspecicstatement,thatsuchnamesareexemptfromtherelevantprotectivelawsandregulationsandthereforefreeforgeneraluse.
Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbookarebelievedtobetrueandaccurateatthedateofpublication.
Neitherthepublishernortheauthorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforanyerrorsoromissionsthatmayhavebeenmade.
Printedonacid-freepaperThisSpringerimprintispublishedbySpringerNatureTheregisteredcompanyisSpringerInternationalPublishingAGTheregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,SwitzerlandForewordProf.
BorutzkyhasaskedmetowriteaforewordtothissecondeditionofthebookBondGraphModellingofEngineeringSystems.
ThisputmeinmindofthetimewhenRonaldC.
RosenbergandI,asAssistantProfessorsatMIT,usedtostopatabarinHarvardSquaretowaitforthetrafctosubsideonourwayhomefromwork.
(Ron'sdoctoralthesisresultedintheENPORTprogram,therstbondgraphprocessor,which,althoughrestrictedtolinearsystems,wouldsolvetheproblemsassociatedwithdifferentialcausalityinsimulation.
)Weoftendiscussedwhattechnicalareasweshouldworkoninthefutureandwecametotheconclusionthatbondgraphs,recentlyinventedbyouradvisor,Prof.
HenryM.
Paynter,wereworthyofbeingbetterknowntothegeneralworldratherthanjusttoMITgraduatestudents.
Theresultwasourrstbookintendedforself-studyofbondgraphmethods,AnalysisandSimulationofMultiportSystems:TheBondGraphApproachtoPhysicalSystemDynamics,TheMITPress,1968.
Whenthebookwasnished,Prof.
PaynteraskedusifhecouldprovideaForewordintheformofaHistoricalNote.
WenaturallyagreedandtheresultisafascinatingtwopagehistoryofPaynter'sthoughtstarting,hesays,inhighschool.
Hispersonalreferencesgobacktothe1950s,buthisreferencestochemicalstructuregraphsgobackanother100years.
HisnalparagraphofhisHistoricalNoteisasfollows:ThusweredevisedonApril29,1959,thetwoideal3-portenergyjunctions(0,1)torenderthesystemofbondgraphsacompleteandformaldiscipline.
Thecompletesystemwasthenrstpublishedin1961.
Asyoucansee,Prof.
Paynterwasthinkingofhisreputationinthefuture.
ThepublicationmentionedwastheMITpressbookAnalysisandDesignofEngineeringSystems,1961,wasinfactapaperbackcompilationofclassnotestakenbyagraduatestudentand,asPaynteradmitted,thegluedtogetherbooktendedtofallapartasitspageswereturned.
(Thiswasagreatdisadvantagetoslowlearners.
)Thus,bondgraphsremainedforawhileonlyknowntothosewhohadstudiedatMIT.
vviForewordProfessorPaynterwouldcertainlybegratiedtoseetheinterestinbondgraphsthathasdevelopedinthepast60years.
Thepresentvolumeisatestimonytolargenumberofresearcherswhoarepresentlycontributingtoextensionsofbondgraphtechniquesandtonewapplicationareas.
Healsomightbesurprisedtolearnthathis"completeandformaldiscipline"hasbeenextendedindirectionsheneverwouldhavethoughtpossible.
Thereis,ofcourse,somedangerinextendingbondgraphtechniquestoincludeidiosyncraticnotationandmanipulationsthatapplytoevermorespecialcases.
Intheearlyyears,thoseofusinterestedinpromotingbondgraphmethodshadtoghtthosewholikedtheforce-currentanalogybetterthantheforce-voltageanalogysincetheyproducedbondgraphswith0'sand1'sandI'sandC'sinterchanged,whichprovidedabarriertothosenewcomersinterestedinlearningthebenetsofbondgraphmethods.
Thisvolumeisanexampleofthecorrectapproachinwhichtheauthorstakepainstomakeclearwhyspecialnotationorspecialmanipulationsonabondgrapharenecessarytoprovideinsightintoproblemswhichdon'tyieldtostandardbondgraphtechniques.
WhenIcontemplatePaynter'scontributiontophysicalsystemdynamics,andofthoseofpresentdayengineerswhocontinuetoadvancebondgraphtechniquesasevidencedbythepresentvolume,Ithinkofthewell-knownquotefromGoethe'sFaust:WasduererbtvondeinenVternhast,erwirbes,umeszubesitzen.
(Thatwhichyouinheritfromyourfathers,youmustearninordertopossess.
)Theauthorsofthepresentvolumehaveclearlytakenthisadvicetoheart.
Davis,CA,USADeanKarnoppJuly2016PrefaceBythebeginningof2011,SpringerpublishedacompilationtextofanumberofresearchersfromallovertheworldonBondGraphModellingofEngineeringSystems.
Thebookcoverstheoreticalandmethodologicaltopicsaswellassomeapplicationsandtheuseofsoftwareforbondgraphmodellingandsimulation.
Theaimwastopresentthestateoftheartinbondgraphmodellingbyaddressinglatestdevelopmentsandintegratingvariousworksinauniedmanner.
Insummer2014,theeditorwasinvitedtoprepareasecondeditionofthe2011compilationtext.
Duetotheactiveongoingresearchofmycolleagues,theircommitment,theirexpertise,andtheircontributionstheoutcomeofthisnewbookproject,inmyview,hasbecomemorethanarevisionoftherstedition.
Thisnewbookagaincoverssometheoreticalissues,applicationsandsoftwaresupportastherstedition.
However,thefocusofthesecondeditionisonlatesttopicsaswellasonsubjectsthathaven'tbeencoveredintherstedition.
Moreover,newyoungexcellentresearchershavejoinedtheteamtogetherwithco-authorswhohavebeenusingbondgraphintheirresearchandinteachingforalongtime.
Therefore,theresultofthisprojectmaybeconsideredanovelbookthatreectstheactiveresearchinthebondgraphmodellingcommunityandlatestachievementsoverarathershortperiodofthepastveyears.
AnumberofthecontributedchaptershavearisenfromrecentlynishedPhDtheses.
BondgraphsweredevisedbyProfessorH.
Payntersome60yearsbackattheMassachusettsInstituteofTechnology(MIT)inCambridge,Massachusetts,USA,andweredevelopedintoamethodologybyhisformerPhDstudentsProfessorD.
KarnoppandProfessorD.
Margolis(UniversityofCaliforniaatDavis)andProfessorR.
Rosenberg(MichiganStateUniversity,EastLansing,Michigan).
Sincethenthebondgraphapproachtophysicalsystemmodellingandsimulationhasbeenadoptedbymanyresearchers.
Thecontributionstothisbookwelldemonstratethattoday,60+yearslater,thebondgraphmethodologyhasspreadfromMITallovertheworldandissuccessfullyusedinvariousengineeringelds.
Thebookisorganisedintoveparts.
Eachofthemstartswithanintroductionthatmotivatesthesubjectsandestablishesrelationsbetweenthechaptersofapart.
Thecontributedchaptersshowthatbondgraphsaremorethanjustamethod-ologyformodellingandsimulationofmultidisciplinarysystemsdescribedbyviiviiiPrefacecontinuoustimemodels.
Beyondthatapplicationarea,bondgraphscanalsobeusedtorepresenthybridmodelswithcontinuoustimeanddiscretestatevariables.
Furthermore,bondgraphmodellinghasprovenusefulincontrolandasonepossiblestartingpointformodel-basedfaultdiagnosisandfaultprognosisinengineeringsystems.
Theseareasbecomemoreandmoreimportantwithanincreaseofthecomplexityoftoday'smechatronicsystemsandatrendtoatleastpartlyautonomoussystems.
Representinghybridmodelsinabondgraphframeworkandbondgraphmodel-basedfaultdiagnosisandfaultprognosisaretopicsinthefocusofthisnewbook.
Accordingly,thetitleofthersteditionhasbeenadapted.
Anothertopicthatisnotnewbutofstillongoinginterestisthequestionofhowopenthermodynamicsubsystemswithcompressibleuidowandmechanicalsubsystemsdescribedbyadistributedparametermodelcanbeintegratedinalumpedparametermodelofacomplexoverallsystem.
PartIIIpresentsanextensionofcommonbondgraphsformodellingthermodynamicsubsystemsintroducedbyProfessorBrownthatcanbecombinedwithconventionalbondgraphsforotherpartsofanengineeringsystemandissupportedbyamaturemodellingandsimulationsoftwareenvironmentnewlydevelopedoverthepastyears.
Astodistributedparametersubsystems,anapproachbasedonnitesegmentsandanactivitymetricispresentedthataimsatalumpedparametermodelofreducedordersufcientlyaccurate.
PartIVillustratestheremarkablewiderangeofapplicationsinwhichbondgraphshavebeenusedformodellingmechatronicsystemsofcurrentinterestbycontributedchaptersrangingfromawheelchair,torobotsforinvivosurgery,orwalkingmachinesthatcanbeusedforoperationsinhazardouselds,towindturbinesintheareaofrenewableenergysources.
ProfessorHenryPaynter,theinventorofbondgraphs,envisagedapplicationsofbondgraphmodellingtochemistry,electrochemistryandbiochemistryalreadybackin1992.
Sincethennottoomanyresearchershaveusedbondgraphsformodellingchemicalreactions.
OnechapterinPartIVextendsbondgraphmodellingeventobiomolecularsystemsoflivingorganisms.
Asthelatteronesareopensystemsthatarenotatthermodynamicequilibrium,bondgraphrepresentationsoftheirbiomolecularsystemsarenotevident.
Thechapterintroducesappropriatebondgraphvariables.
MolecularspeciesarerepresentedbyanonlinearCelementandreactionsbyanonlineartwo-portRelement.
Asaresult,bondgraphmodellingasagraphicalapproachgivesmoreintuitiveinsightthanpurelynumericalapproaches.
Astotheresultsofsimulationruns,ithasbecomecommonthatsomesoftwareprovidesapostprocessingmodulethatenablesavisualisationofmechanicalmotionin3Dunderdifferentanglesofviews.
Thelastchapterofthiscompilationtextpresentsanovelapproachthatlinksabondgraphmodellingandsimulationprogramtoaprogramforthegeometricaldesignofcomplexmultibodysystemssuchasrobotswithseveraldegreesoffreedomsothatthe3Dmotionofarobotisvisualisedsimultaneouslywithsomelittledelaytoitsnumericalcomputation.
Althoughthiscontributedbookaimstoreectthecurrentstateoftheartinbondgraphmodellingbypresentinganddiscussingadvancedrecenttopics,allchaptershavebeenwritteninsuchawaythatnewcomerstothemethodologyPrefaceixwithsomeknowledgeofthebasicsmayeasilygetintothevastfascinatingandopeneldofadvancedbondgraphmodelling.
Readerswhomaywanttohaveacloserlookatbondgraphfundamentalsmayndreferencestolatestmonographsandtextbooks.
Furthermore,eachchapterprovidesmanyreferencestoconferencepapers,journalarticlesandPhDthesesonadvancedtopics.
Thismultipleauthorsbookwellcomplementslatestmonographsandtextbooksonbondgraphmodellingandmayserveasaguideforfurtherself-studyandasareference.
BondGraphsforModelling,ControlandFaultDiagnosisofEngineeringSystemscontinuesthepresentationofitspredecessortitledBondGraphModellingofEngineeringSystemsandlikethelatteroneaddressesreadersinacademiaaswellaspractisingengineersinindustryandinvitesexpertsinrelatedeldstoconsiderthepotentialandthestateoftheartofbondgraphmodelling.
Itishopedthatthebondgraphmethodologymaycontributetomoreinsightintophysicalprocessesandtothedevelopmentofusefulmodelsintheirengineeringeld.
AcknowledgementsThisvolumewouldnothavebeenpossiblewithoutthecommitment,theexpertiseandtheeffortsofmycolleagues.
Iwouldliketotakethisopportunitytothankallmyco-authorsfortheircontributedchapters.
Likewise,Iwishtothankallcolleagueswhokindlytookthetimetoreadthechapters.
Theirvaluablecommentsandsuggestionsaregratefullyacknowledged.
MyspecialthanksgotoProfessorDeanKarnopp,UniversityofCaliforniaatDavis,oneoftheleadingpioneersofthebondgraphmethodology,whokindlyhonouredallauthorsofthiscompilationtextbywritingtheforewordwithsomepersonalnotes.
Also,IappreciatethesupportthismultipleauthorbookprojectreceivedfromProfessorsYuriMerkuryev,RigaTechnicalUniversity,Latvia;DavidMurray-Smith,UniversityofGlasgow,Scotland,UK;RonaldRosenberg,MichiganStateUniversity,EastLansing,MI,USAandGregorioRomero,UniversidadPolitécnicadeMadrid,Spain.
Lastbutnotleast,IwishtothankmyEditorwithSpringeratNewYork,NY,USA,MaryJames,forherinvitationtothisbookproject,forherkindconstantsupportduringthisbookprojectandBrindaMegasyamalan,ProjectCoordinator,SasiReka,ProjectManager,forthecooperationthroughoutthebookproduction.
SanktAugustin,GermanyWolfgangBorutzkyJuly2016ContentsPartIBondGraphTheoryandMethodology1DecompositionofMultiports5PeterC.
Breedveld2AMethodforMinimizingtheSetofEquationsinBondGraphSystemswithCausalLoops27JesusFelez3ControlledSwitchedStructuresforBond-GraphModellingandSimulationofHybridSystems.
47MatíasA.
NacusseandSergioJ.
Junco4DynamicCausalityinHybridBondGraphs87RebeccaMargettsandRogerF.
NgwompoPartIIBondGraphModellingforFaultDiagnosis,FaultTolerantControl,andPrognosis5IntegratingBondGraph-BasedFaultDiagnosisandFaultAccommodationThroughInverseSimulation.
139W.
Borutzky6Model-BasedDiagnosisandPrognosisofHybridDynamicalSystemswithDynamicallyUpdatedParameters195OmPrakashandA.
K.
Samantaray7ParticleFilterBasedIntegratedHealthMonitoringinBondGraphFramework233MayankS.
Jha,G.
Dauphin-Tanguy,andB.
Ould-BouamamaxixiiContentsPartIIIThermodynamicSystemsandDistributedParameterSystems8ConvectionBondGraphsforThermodynamicSystems275ForbesT.
Brown9FiniteElementFormulationforComputationalFluidDynamicsFramedWithintheBondGraphTheory311JorgeLuisBalio10ModelComplexityofDistributedParameterSystems:AnEnergy-BasedApproach.
359L.
S.
LoucaPartIVApplications11BondGraphModelingandSimulationofaVibrationAbsorberSysteminHelicopters387BenjaminBoudon,FranoisMalburet,andJean-ClaudeCarmona12ManualDrivenWheelchairBondGraphModelling431AbdennasserFakriandJapiePetrusVilakazi13BondGraphModellingandControlofHyper-RedundantMiniatureRobotforIn-VivoBiopsy.
451MihirKumarSutarandPushprajManiPathak14BondgraphModelingandControlofCompliantLeggedQuadrupedRobot497M.
M.
Gor,P.
M.
Pathak,A.
K.
Samantaray,J.
M.
Yang,andS.
W.
Kwak15ModelingandControlofaWindTurbine547R.
TapiaSánchezandA.
MedinaRios16Bond-GraphModellingandCausalAnalysisofBiomolecularSystems587PeterJ.
GawthropPartVSoftware17MultibodySystemModeling,Simulation,and3DVisualization.
.
.
.
.
.
627VjekoslavDamicandMajdaˇCohodarAppendixASomeTextbooksonBondGraphModelling.
673Index675ContributorsJorgeLuisBalioEscolaPolitécnica,UniversidadedeSoPaulo,SoPaulo-SP,BrazilW.
BorutzkyBonn-Rhein-SiegUniversityofAppliedSciences,SanktAugustin,GermanyBenjaminBoudonUniversitéAix-Marseille,Marseille,FrancePeterC.
BreedveldTwenteUniversity,Enschede,TheNetherlandsForbesT.
BrownLehighUniversity,Bethlehem,PA,USAJean-ClaudeCarmonaEcoleNationaleSupérieured'ArtsetMétiers,Centred'Aix-en-Provence,Aix-en-Provence,FranceMajdaˇCohodarUniversityofSarajevo,Sarajevo,BosniaandHerzegovinaVjekoslavDamicUniversityofDubrovnik,Dubrovnik,CroatiaG.
Dauphin-TanguyEcoleCentraledeLille,Villeneuved'Ascq,FranceAbdennasserFakriUniversitéParis-Est,Marne-la-Vallée,FranceJesusFelezUniversidadPolitécnicadeMadrid(UMP),Madrid,SpainPeterJ.
GawthropUniversityofMelbourne,Parkville,VIC,AustraliaM.
M.
GorG.
H.
PatelCollegeofEngineering&Technology,Gujarat,IndiaMayankS.
JhaInstitutNationaldesSciencesAppliquéesdeToulouse(INSA),Toulouse,FranceSergioJ.
JuncoUniversidadNacionaldeRosario,Rosario,ArgentinaS.
W.
KwakKeimyungUniversity,Daegu,SouthKoreaL.
S.
LoucaUniversityofCyprus,Nicosia,CyprusxiiixivContributorsFranoisMalburetEcoleNationaleSupérieured'ArtsetMétiers,Centred'Aix-en-Provence,Aix-en-Provence,FranceRebeccaMargettsUniversityofLincoln,Lincoln,UKMatíasA.
NacusseUniversidadNacionaldeRosario,Rosario,ArgentinaRogerF.
NgwompoUniversityofBath,Bath,UKB.
Ould-BouamamaEcolePolytechniquedeLille,Villeneuved'Ascq,FrancePushprajManiPathakIndianInstituteofTechnology,Roorkee,Uttarakhand,IndiaOmPrakashIndianInstituteofTechnology,Kharagpur,IndiaA.
MedinaRiosUniversidadMichoacanadeSanNicolásdeHidalgo,Morelia,MexicoA.
K.
SamantarayIndianInstituteofTechnology,Kharagpur,IndiaR.
TapiaSánchezUniversidadMichoacanadeSanNicolásdeHidalgo,Morelia,MexicoJapiePetrusVilakaziTshwaneUniversityofTechnology,Pretoria,RepublicofSouthAfricaJ.
M.
YangKyungpookNationalUniversity,Daegu,SouthKoreaAbbreviationsANNArticialNeuralNetworkARRAnalyticalRedundancyRelationAVPAngularVelocityPropagationBDBlockDiagramBDFBackwardDifferentiationFormulaBEMBladeElementMomentumBGBondGraphBGDBondgraphinpreferredderivativecausalityBG-LFTBondGraphinLinearFractionalTransformationCBMConditionBasedMaintenanceCFDComputationalFluidDynamicsCGCentreofGravityCJControlledJunctionCKCClosedKinematicChainCTFCoordinateTransformationBlockDAEDifferential-AlgebraicEquationDBGDiagnosticBondGraphDCDirectCurrentDFIGDoublyFedInductionGeneratorDFIMDoublyFedInductionMotorDHBGDiagnosticHybridBondGraphDMDegradationModelDOFDegreeofFreedomDPPDegradationProgressionParameterDSCAPDynamicSequentialCausalityAssignmentProcedureEJSEulerJunctionStructureEOLEndofLifeEPPWElectricPowerPropelledWheelchairFDIFaultDetectionandIsolationFDMFiniteDifferenceMethodFEMFiniteElementMethodxvxviAbbreviationsFROIFrequencyRangeofInterestFSAFiniteStateAutomatonFSMFiniteSignatureMatrixFTCFaultTolerantControlFVMFiniteVolumeMethodGARRGlobalAnalyticalRedundancyRelationGFSMGlobalFaultSignatureMatrixGFSSMGlobalFaultSensitivitySignatureMatrixGSJGeneralizedSwitchedJunctionGYSGyristorHBGHybridBondGraphHJSMHybridJunctionStructureMatrixHyPAHybridProcessAlgebraJSMJunctionStructureMatrixLCPLinearComplementarityProblemLCSLinearComplementaritySystemLFTLinearFractionalTransformationFormLLLegLiftLTILinearTimeInvariantsystemLWRLighthill,WhithamandRichardsMBDPModel-BasedDiagnosisandPrognosisMBGMultibondGraphMBSMultibodySystemMCSMModeChangeSignatureMatrixMCSSMModeChangeSensitivitySignatureMatrixMDMMechatronicDriveModularMDMWModularDrivenManualWheelchairMFCMicrosoftFoundationClassMGBMainGearBoxMIMOMultipleInputMultipleOutputsystemMODAModelOrderReductionAlgorithmMORAModelOrderDeductionAlgorithmMPWManualPropelledWheelchairMSCMachineSideConverterNSCNetworkSideConverterODEOrdinaryDifferentialEquationPDProportionalDerivativePDEPartialDifferentialEquationPDFProbabilityDensityFunctionPFParticleFilterPIProportionalIntegralPIDProportional,IntegralandDerivativePLPrismaticLinkRARelativeAccuracyRANSReynolds-averagedNavier-StokesAbbreviationsxviiRMSERootMeanSquareErrorRPRevolute-prismaticRULRemainingUsefulLifeSARIBSystèmeanti-résonateurintégréàbarresSBGSensitivityBondGraphSCAPSequentialCausalityAssignmentProcedureSCRSiliconControlledRectierSIRSamplingImportanceResamplingSISSequentialimportancesamplingSISOSingleInputSingleOutputsystemSLStepLengthSOHStateofHealthSPJSwitchedPowerJunctionSS-BondSwitchableStructureBondSSFSetofSuspectedFaultSwBGSwitchedBondGraphTCPToolCentrePointTTFTimetoFailureTVPTranslationalVelocityPropagationUIOUnknownInputObserverVTKVisualizationToolkitZCZeroComplianceZCPZero-orderCausalPathZEZeroEffortZFZeroFlow
DMIT：美国cn2 gia线路vps,高性能 AMD EPYC/不限流量(Premium Unmetered),$179.99/月起
DMIT怎么样?DMIT最近动作频繁，前几天刚刚上架了日本lite版VPS，正在酝酿上线日本高级网络VPS，又差不多在同一时间推出了美国cn2 gia线路不限流量的美国云服务器，不过价格太过昂贵。丐版只有30M带宽，月付179.99美元 !!目前，美国云服务器已经有个4个套餐，分别是，Premium(cn2 gia线路)、Lite(普通直连)、Premium Secure(带高防的cn2 gia线...
Friendhosting（月1.35欧元），不限流量，9机房可选
今天9月10日是教师节，我们今天有没有让孩子带礼物和花送给老师？我们这边不允许带礼物进学校，直接有校长在门口遇到有带礼物的直接拦截下来。今天有看到Friendhosting最近推出了教师节优惠，VPS全场45折，全球多机房可选，有需要的可以看看。Friendhosting是一家成立于2009年的保加利亚主机商，主要提供销售VPS和独立服务器出租业务，数据中心分布在：荷兰、保加利亚、立陶宛、捷克、乌...
ThomasHost(月付5美元)美国/法国/英国/加拿大KVM,支持Windows
ThomasHost域名注册自2012年，部落最早分享始于2016年，还算成立了有几年了，商家提供基于KVM架构的VPS，数据中心包括美国、法国、英国、加拿大和爱尔兰等6个地区机房，VPS主机套餐最低2GB内存起步，支持Windows或者Linux操作系统，1Gbps端口不限制流量。最近商家提供了一个5折优惠码，优惠后最低套餐月付5美元起。下面列出部分套餐配置信息。CPU：1core内存：2GB硬...
hjsm为你推荐
-
qq讨论组如何在手机qq上创建讨论组?cornerradiuscorner的用法bbsxpdvbbs bbsxp LeadBBS 对比人人时光机寻时光机歌词雅虎社区雅虎是什么公章制作制作公章尺寸标准大小，字体，字号？依赖注入Spring 的依赖注入是什么意思?网站运营刚创业的网站运营怎么做？硬盘人移动硬盘的优缺点奇虎论坛奇虎论坛最新推荐歌曲列表·