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
哪里购买香港云服务器便宜?易探云2核2G低至18元/月起;BGP线路年付低至6.8折
哪里购买香港云服务器便宜?众所周知，国内购买云服务器大多数用户会选择阿里云或腾讯云，但是阿里云香港云服务器不仅平时没有优惠，就连双十一、618、开年采购节这些活动也很少给出优惠。那么，腾讯云虽然海外云有优惠活动，但仅限新用户，购买过腾讯云服务器的用户就不会有优惠了。那么，我们如果想买香港云服务器，怎么样购买香港云服务器便宜和优惠呢？下面，云服务器网(yuntue.com)小编就介绍一下！我们都知道...
特网云57元，香港云主机 1核 1G 10M宽带1G(防御)
特网云官網特网云服务器在硬件级别上实现云主机之间的完全隔离；采用高端服务器进行部署，同时采用集中的管理与监控，确保业务稳定可靠，搭建纯SSD架构的高性能企业级云服务器，同时采用Intel Haswell CPU、高频DDR4内存、高速Sas3 SSD闪存作为底层硬件配置，分钟级响应速度，特网云采用自带硬防节点，部分节点享免费20G防御，可实现300G防御峰值，有效防御DDoS、CC等恶意攻击，保障...
Nocser：马来西亚独立服务器促销$60.00/月
Nocser刚刚在WHT发布了几款促销服务器，Intel Xeon X3430，8GB内存，1TB HDD，30M不限流量，月付$60.00。Nocser是一家注册于马来西亚的主机商，主要经营虚拟主机、VPS和马来西亚独立服务器业务，数据中心位于马来西亚AIMS机房，线路方面，AIMS到国内电信一般，绕日本NTT；联通和移动比较友好，联通走新加坡，移动走香港，延迟都在100左右。促销马来西亚服务器...
hjsm为你推荐
-
百度k站百度K站是怎么回事？怎么在qq空间里添加背景音乐怎样在qq空间里免费添加背景音乐?arm开发板开发板是什么？如ARM开发板，DSP开发板等。。它和最终目标板有何区别？手机区号有的手机号中间的号码是地区区号,那是什么卡中小企业信息化信息化为中小企业发展带来了哪些机遇天天酷跑刷金币如何使用八门神器给天天酷跑刷钻刷金币硬盘人移动硬盘的优缺点创维云电视功能谁能具体介绍一下创维云电视的主要功能，以及基本的使用方式，如果能分型号介绍就更好了，O(∩_∩)O谢谢宕机宕机是什么意思网站推广外链我是新手SEO，请问网站怎样做外链推广