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
DiyVM（50元起）老牌商家,香港沙田CN2直连vps/不限流量/五折终身优惠
diyvm怎么样?diyvm是一家国内成立时间比较久的主机商家了，大约在6年前站长曾经用过他家的美国机房的套餐，非常稳定，适合做站，目前商家正在针对香港沙田机房的VPS进行促销，给的是五折优惠，续费同价，香港沙田机房走的是CN2直连的线路，到大陆地区的速度非常好，DiyVM商家采用小带宽不限流量的形式，带宽2Mbps起步，做站完全够用，有需要的朋友可以入手。diyvm优惠码：五折优惠码：OFF50...
UCloud年度大促活动可选香港云服务器低至年134元
由于行业需求和自媒体的倾向问题，对于我们个人站长建站的方向还是有一些需要改变的。传统的个人网站建站内容方向可能会因为自媒体的分流导致个人网站很多行业不再成为流量的主导。于是我们很多个人网站都在想办法进行重新更换行业，包括前几天也有和网友在考虑是不是换个其他行业做做。这不有重新注册域名重新更换。鉴于快速上手的考虑还是采用香港服务器，这不腾讯云和阿里云早已不是新账户，考虑到新注册UCLOUD账户还算比...
数脉科技：香港服务器低至350元/月;阿里云CN2+BGP线路,带宽10M30M50M100M
数脉科技(shuhost)8月促销：香港独立服务器，自营BGP、CN2+BGP、阿里云线路，新客立减400港币/月，老用户按照优惠码减免!香港服务器带宽可选10Mbps、30Mbps、50Mbps、100Mbps带宽，支持中文本Windows、Linux等系统。数脉香港特价阿里云10MbpsCN2，e3-1230v2，16G内存，1T HDD 或 240G SSD，10Mbps带宽，IPv41个，...
hjsm为你推荐
-
qq讨论组qq讨论组是什么？为什么我的好友都能看见我说话？阿里云系统安卓系统和阿里云系统比较？那个很好？优点缺点？比较一下，最近想买，不知道选哪个系统的。雅虎社区雅虎是什么免费开通黄钻能免费开通黄钻吗??http与https的区别http和https到底有什么区别啊？？？照片转手绘有没有一种软件是可以把一张照片变成手绘的图片，给推荐下9flash怎么使用ePSXe啊?xp系统停止服务Windowsxp系统为什么停止服务lockdowndios8.1怎么激活内置卡贴cr2格式如何打开CR2格式的照片呢