By Wolfgang Borutzky
This publication offers concept and most recent program paintings in Bond Graph technique with a spotlight on:
• Hybrid dynamical method models,
• Model-based fault prognosis, model-based fault tolerant keep an eye on, fault prognosis
• and likewise addresses
• Open thermodynamic structures with compressible fluid flow,
• dispensed parameter types of mechanical subsystems.
In addition, the publication covers a number of functions of present curiosity starting from motorised wheelchairs, in-vivo surgical procedure robots, jogging machines to wind-turbines.The updated presentation has been made attainable via specialists who're energetic participants of the global bond graph modelling community.
This publication is the thoroughly revised 2d variation of the 2011 Springer compilation textual content titled Bond Graph Modelling of Engineering structures – conception, functions and software program help. It extends the presentation of thought and functions of graph technique through new advancements and most recent learn results.
Like the 1st version, this ebook addresses readers in academia in addition to practitioners in and invitations specialists in similar fields to contemplate the capability and the state of the art of bond graph modelling.
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Additional info for Bond Graphs for Modelling, Control and Fault Diagnosis of Engineering Systems
2 A Method for Minimizing the Set of Equations in Bond Graph Systems. . 35 Fig. 6 System with a ZCP class 3 and a break variable Sf 0 v1= break variable R1:R v1 1 GY 1 C:K1 q1 Fig. 7 System with a ZCP class 3 and a compliance with derivative causality Sf 0 R1:R 1 GY 1 C:K1 q1 In Fig. 6, a break variable is established. If integral causality is considered in the compliance element, a causal path appears. In order to break this, flow v1 in resistance R1 is introduced as break variable. 10) If differential causality is imposed on the compliance (Fig.
4), it then being necessary to establish as break variable effort F1 for the resistance R1 . 6) On the other hand, if differential causality is established in the inertance (Fig. 5), the causality of this inertia eliminates the causal path between resistances. Fig. 4 System with a ZCP class 2. Use of a break variable Se 1 I:M R:R1 0 F1= break variable R:R2 Sf 34 J. Felez Fig. 9) where the R coefficient may be non-constant, but never a function of the state variables. 5 ZCP Class 3 ZCP class 3 is a causal cycle whose topological loops are open (only one of the two variables, effort or flow, associated with each bond is used).
8 < Kq D . Á: . : b v a2 b2 q m a R 1 . ÁR2 . Á : . 2 Combination Between ZCPs Class 2 and 4 Let’s show other examples where combination of different ZCPs also appears. In this case, combination between class 2 and class 4 is presented, as shown in Fig. 16. The program presents one I element and two resistances. If preferred causality is applied to the I element, two break variables are needed. The first one e2 is associated with the class 2 causal path, and the second one, e1 , is associated with the closed loop presented in the right hand of the bong graph in Fig.
Bond Graphs for Modelling, Control and Fault Diagnosis of Engineering Systems by Wolfgang Borutzky