Analytical System Dynamics Modeling and Simulation
Analytical System Dynamics: Modeling and Simulation combines results from analytical mechanics and system dynamics to develop an approach to modeling constrained multidiscipline dynamic systems. This combination yields a modeling technique based on the en
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Brian C. Fabien
Analytical System Dynamics Modeling and Simulation
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Brian C. Fabien University of Washington Mechanical Engineering Department Seattle, WA 98195
ISBN: 978-0-387-85604-9 DOI: 10.1007/978-0-387-85605-6
e-ISBN: 978-0-387-85605-6
Library of Congress Control Number: 2008935329 c Springer Science+Business Media, LLC 2009 All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. Printed on acid-free paper springer.com
To Mary, Maurice and Zo¨e
Preface
This book combines results from Analytical Mechanics and System Dynamics to develop an approach to modeling constrained multidiscipline dynamic systems. This combination yields a modeling technique based on the energy method of Lagrange, which in turn, results in a set of differential-algebraic equations that are suitable for numerical integration. Using the modeling approach presented in this book are able to model, and simulate, systems as diverse as a six link closed-loop mechanism or a transistor power amplifier. The material in this text is used to teach dynamic systems modeling and simulation to seniors and first-year graduate students in engineering. In a ten week course (4 hours per week) we cover most of the material in this book. The basic prerequisites for the class are undergraduate level classes in; (i) physics (specifically, Newtonian mechanics and basic circuit analysis); (ii) ordinary differential equations; and (iii) linear algebra. A brief summary of the chapters that make up the book are as follows. Chapter 1 This chapter introduces Paynter’s unified system variables; effort, flow, displacement and momentum. Here, we show how these fundamental system variables are used to relate power and energy, within, and between, the various engineering disciplines, i.e., mechanical, electrical, fluid and thermal systems. Chapter 2 The modeling technique developed in this book requires that we determine analytical expressions for the kinetic coenergy, potential energy and the dissipation function. In the case of mechanical systems this requires that we determine expressions the position and velocity of various points on the system. In the case of electrical, fluid and thermal networks this requires that we determine the relationship between the flow variables of the system. This chapter develops an approach to the kinematic analysis of both planar and spatial mechanical systems
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