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
HostKvm（$4.25/月）俄罗斯/香港高防VPS
HostKvm又上新了，这次上架了2个线路产品：俄罗斯和香港高防VPS，其中俄罗斯经测试电信CN2线路，而香港高防VPS提供30Gbps攻击防御。HostKvm是一家成立于2013年的国外主机服务商，主要提供基于KVM架构的VPS主机，可选数据中心包括日本、新加坡、韩国、美国、中国香港等多个地区机房，均为国内直连或优化线路，延迟较低，适合建站或者远程办公等。俄罗斯VPSCPU：1core内存：2G...
零途云月付31.9元起，香港cn2 gia线路
零途云是一家香港公司，主要产品香港cn2 gia线路、美国Cera线路云主机，美国CERA高防服务器，日本CN2直连服务器;同时提供香港多ip站群云服务器。即日起，购买香港/美国/日本云服务器享受9折优惠，新用户有优惠码：LINGTUYUN，使用即可打折。目前，零途云还推出性价比非常高香港多ip站群云服务器，有需要的，可以关注一下。零途云优惠码：优惠码：LINGTUYUN (新用户优惠，享受9折优...
HostKvm（4.25美）香港和俄罗斯高防机房云服务器
HostKvm 商家我们算是比较熟悉的国内商家，商家主要还是提供以亚洲数据中心，以及直连海外线路的服务商。这次商家有新增香港和俄罗斯两个机房的高防服务器方案。默认提供30GB防御，且目前半价优惠至4.25美元起步，其他方案的VPS主机还是正常的八折优惠。我们看看优惠活动。香港和俄罗斯半价优惠：2021fall，限购100台。通用优惠码：2021 ，八折优惠全部VPS。我们看看具体的套餐。1、香港高...
hjsm为你推荐
-
中小企业信息化信息化为中小企业发展带来了哪些机遇神雕侠侣礼包大全神雕侠侣陈晓礼包兑换码怎么获得mate8价格手机华为mat8售价多少如何清理ie缓存怎么清理IE缓存网站推广外链如何做网站推广 ，外链推广的方向在哪里？聚美优品红包聚美优品红包怎么获得空间装扮免费QQ空间的哪些装扮是免费的黑龙江计算机等级考试网如果已经是毕业生了，要去考计算机等级证书，要怎么去考？recovery教程如何强制刷入recoverynokia最新手机2017年诺基亚有哪些新手机 2017年NOKIA新机发布汇总