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
港云网络(￥1/月活动机器)，香港CN2 4核4G 1元/月 美国CN2
港云网络官方网站商家简介港云网络成立于2016年，拥有IDC/ISP/云计算资质，是正规的IDC公司，我们采用优质硬件和网络，为客户提供高速、稳定的云计算服务。公司拥有一流的技术团队，提供7*24小时1对1售后服务，让您无后顾之忧。我们目前提供高防空间、云服务器、物理服务器，高防IP等众多产品，为您提供轻松上云、安全防护。点击进入港云网络官方网站港云网络中秋福利1元领【每人限量1台】，售完下架，活...
Hostodo：$19.99/年KVM-1GB/12GB/4TB/拉斯维加斯
Hostodo发布了几款采用NVMe磁盘的促销套餐，从512MB内存起，最低年付14.99美元，基于KVM架构，开设在拉斯维加斯机房。这是一家成立于2014年的国外VPS主机商，主打低价VPS套餐且年付为主，基于OpenVZ和KVM架构，产品性能一般，数据中心目前在拉斯维加斯和迈阿密，支持使用PayPal或者支付宝等付款方式。下面列出几款NVMe硬盘套餐配置信息。CPU：1core内存：512MB...
Hostigger不限流量VPS年20美元
Hostigger 主机商在前面的文章中也有介绍过几次，这个商家运营时间是有一些年份，只不过在我们圈内好像之前出现的次数不多。最近这段时间商家有提供不限流量的VPS主机，逐渐的慢慢被人认识到。在前面的介绍到他们提供的机房还是比较多的，比如土耳其、美国等。今天看到Hostigger 商家居然改动挺大的，原来蛮好的域名居然这次连带官方域名都更换掉去掉一个G（Hostiger ）。估摸着这个域名也是之前...
hjsm为你推荐
-
可以发外链的论坛可以发外链的论坛有那些?郭彩妮介紹點好聽的音樂給我、大家网易公开课怎么下载网易公开课的视频该如何下载？xv播放器下载迅雷看看下载的XV格式的电影用什么播放器可以播放?(没有互联网的情况下)xp系统停止服务Windowsxp系统为什么停止服务机械键盘轴机械键盘蓝轴有什么作用云挂机快手极速版后台云挂机辅?助各位用了吗？在哪找的？blogcn南京明城墙(太平门一带某些地区)的城砖上为什么会有一些小洞(每块砖两个洞洞……)?服务器连接异常手机WIFI检查显示主服务器连接异常，怎么办怎么在图片上写文字如何在图片上写文字