By P.C. Breedveld (auth.), Wolfgang Borutzky (eds.)
Bond Graph Modelling of Engineering structures: idea, functions and software program Support addresses readers to think about the aptitude and the cutting-edge of bond graph modeling of engineering platforms with appreciate to conception, functions and software program help. Bond graph modelling is a actual modelling technique in accordance with first ideas that's quite fitted to modelling multidisciplinary or mechatronic platforms. This ebook covers theoretical concerns and technique issues which have been topic of ongoing study in the course of earlier years, provides new promising functions comparable to the bond graph modeling of gas cells and illustrates how bond graph modeling and simulation of mechatronic structures could be supported by way of software program. This up to date entire presentation of varied issues has been made attainable through the cooperation of a bunch of authors who're specialists in a number of fields and percentage the “bond graph manner of thinking.”
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Extra info for Bond Graph Modelling of Engineering Systems: Theory, Applications and Software Support
C. ). The other port of the motor is in the rotational domain, in which also the motor inertia and the bearing friction can be identified in the iconic diagram. The symbol for the pendulum mass indicates that it is assumed to be a point mass with I-type storages in both coordinate directions. If one of these directions is in parallel with the gravitational acceleration, the iconic diagram expresses that there is a constant force of effort (force) on the corresponding I-type port, which corresponds to an Se-type port.
Take, for instance, the model represented in Fig. 6 by an iconic diagram which shows an ideal planar pendulum driven by an electric dynamic transducer (motor/generator) connected to a voltage source. , the electromagnetic domain, two orthogonal mechanical translation domains, and the rotational domain. , electric, magnetic, three potential, and three kinetic domains for each of the two independent coordinates of the plane as well as the rotation in that plane, but as the iconic diagram model is already based on the mechanical framework of variables, we choose to work herein and show the transition to the thermodynamic framework later.
Zill [21, p. 209] makes a difference between a ‘physical pendulum’ – any object that swings back and forth – and a ‘simple pendulum’ for which he explicitly states most assumptions. However, his concept ‘mass’ is implicitly assumed to be a point mass and his concept ‘rod’ is implicitly assumed to be infinitely stiff. C. Breedveld by writing the constraint of the rod in terms of accelerations and relates this via Newton’s second law to the tangential force. By referring to his sketch he equates this force to the tangential component of the gravitational force and thus obtains a nonlinear second-order differential equation in the angular displacement of the pendulum from its equilibrium position.