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Book Description
Les travaux présentés dans cette thèse traitent de l'application de l'outil bond graph pour la représentation des systèmes mécaniques multicorps et de la mise en évidence de concepts de la mécanique analytique à travers cette représentation. Le bond graph est un langage graphique de modélisation, pour les systèmes pluridisciplinaires, basé sur la représentation des échanges d'énergie entre les phénomènes présents dans ces systèmes. Notre contribution se situe tout d'abord dans la mise en place d'une procédure de construction du bond graph des systèmes mécaniques multicorps. Cette procédure, nommée procédure de la représentation privilégiée, est systématique au niveau graphique et fournit une représentation dont le résultat graphique est moins complexe que le résultat issu de la procédure de Tiernego et Bos. De plus, nous apportons à la bibliothèque bond graph existante, une représentation générique de la liaison de contact ponctuel entre deux solides. Le modèle de contact ne considère que l'aspect des contraintes cinématiques de la liaison et certaines lois de comportement pour les phénomènes de dissipation (lois de type visqueux et lois de Coulomb). Nous proposons enfin plusieurs procédures d'exploitation causale du bond graph pour l'obtention de différentes formes d'équations dynamiques (équations de Newton-Euler, de Lagrange, d'Eler-Lagrange, de Hamilton). Nous présentons également plusieurs techniques augmentant le bond graph et permettant de préparer le modèle mathématique en vue de la simultation (résolution en coordonnées indépendantes, stabilisation de Baumgarte, techniques basées sur la méthode des perturbations singulières, et sur la méthode des pénalisateurs).
Book Description
Les travaux présentés dans cette thèse traitent de l'application de l'outil bond graph pour la représentation des systèmes mécaniques multicorps et de la mise en évidence de concepts de la mécanique analytique à travers cette représentation. Le bond graph est un langage graphique de modélisation, pour les systèmes pluridisciplinaires, basé sur la représentation des échanges d'énergie entre les phénomènes présents dans ces systèmes. Notre contribution se situe tout d'abord dans la mise en place d'une procédure de construction du bond graph des systèmes mécaniques multicorps. Cette procédure, nommée procédure de la représentation privilégiée, est systématique au niveau graphique et fournit une représentation dont le résultat graphique est moins complexe que le résultat issu de la procédure de Tiernego et Bos. De plus, nous apportons à la bibliothèque bond graph existante, une représentation générique de la liaison de contact ponctuel entre deux solides. Le modèle de contact ne considère que l'aspect des contraintes cinématiques de la liaison et certaines lois de comportement pour les phénomènes de dissipation (lois de type visqueux et lois de Coulomb). Nous proposons enfin plusieurs procédures d'exploitation causale du bond graph pour l'obtention de différentes formes d'équations dynamiques (équations de Newton-Euler, de Lagrange, d'Eler-Lagrange, de Hamilton). Nous présentons également plusieurs techniques augmentant le bond graph et permettant de préparer le modèle mathématique en vue de la simultation (résolution en coordonnées indépendantes, stabilisation de Baumgarte, techniques basées sur la méthode des perturbations singulières, et sur la méthode des pénalisateurs).
Author: Wolfgang Borutzky Publisher: Springer ISBN: 3319474340 Category : Technology & Engineering Languages : en Pages : 680
Book Description
This book presents theory and latest application work in Bond Graph methodology with a focus on: • Hybrid dynamical system models, • Model-based fault diagnosis, model-based fault tolerant control, fault prognosis • and also addresses • Open thermodynamic systems with compressible fluid flow, • Distributed parameter models of mechanical subsystems. In addition, the book covers various applications of current interest ranging from motorised wheelchairs, in-vivo surgery robots, walking machines to wind-turbines.The up-to-date presentation has been made possible by experts who are active members of the worldwide bond graph modelling community. This book is the completely revised 2nd edition of the 2011 Springer compilation text titled Bond Graph Modelling of Engineering Systems – Theory, Applications and Software Support. It extends the presentation of theory and applications of graph methodology by new developments and latest research results. Like the first edition, this book addresses readers in academia as well as practitioners in industry and invites experts in related fields to consider the potential and the state-of-the-art of bond graph modelling.
Author: Wolfgang Borutzky Publisher: Springer Science & Business Media ISBN: 1848828829 Category : Technology & Engineering Languages : en Pages : 673
Book Description
Nowadays, engineering systems are of ever-increasing complexity and must be c- sidered asmultidisciplinary systems composed of interacting subsystems or system components from different engineering disciplines. Thus, an integration of various engineering disciplines, e.g, mechanical, electrical and control engineering in ac- current design approach is required. With regard to the systematic development and analysis of system models,interdisciplinary computer aided methodologies are - coming more and more important. A graphical description formalism particularly suited for multidisciplinary s- tems arebondgraphs devised by Professor Henry Paynter in as early as 1959 at the Massachusetts Institute of Technology (MIT) in Cambridge, Massachusetts, USA and in use since then all over the world. This monograph is devoted exclusively to the bond graph methodology. It gives a comprehensive, in-depth, state-of-the-art presentation including recent results sc- tered over research articles and dissertations and research contributions by the - thor to a number of topics. The book systematically covers the fundamentals of developing bond graphs and deriving mathematical models from them, the recent developments in meth- ology, symbolic and numerical processing of mathematical models derived from bond graphs. Additionally it discusses modern modelling languages, the paradigm of object-oriented modelling, modern software that can be used for building and for processing of bond graph models, and provides a chapter with small case studies illustrating various applications of the methodology.
Author: Javier Garcia de Jalon Publisher: Springer Science & Business Media ISBN: 1461226007 Category : Science Languages : en Pages : 456
Book Description
Mechanical engineering, an engineering discipline born of the needs of the industrial revolution, is once again asked to do its substantial share in the call for industrial renewal. The general call is urgent as we face profound issues of productivity and competitiveness that require engineering solu tions, among others. The Mechanical Engineering Series features graduate texts and research monographs intended to address the need for informa tion in contemporary areas of mechanical engineering. The series is conceived as a comprehensive one that will cover a broad range of concentrations important to mechanical engineering graduate edu cation and research. We are fortunate to have a distinguished roster of consulting editors, each an expert in one of the areas of concentration. The names of the consulting editors are listed on the front page of the volume. The areas of concentration are applied mechanics, biomechanics, computa tional mechanics, dynamic systems and control, energetics, mechanics of material, processing, thermal science, and tribology. Professor Leckie, the consulting editor for applied mechanics, and I are pleased to present this volume of the series: Kinematic and Dynamic Simulation of Multibody Systems: The Real-Time Challenge by Professors Garcia de Jal6n and Bayo. The selection of this volume underscores again the interest of the Mechanical Engineering Series to provide our readers with topical monographs as well as graduate texts. Austin Texas Frederick F. Ling v The first author dedicates this book to the memory of Prof F. Tegerizo (t 1988), who introduced him to kinematics.
Author: Wolfgang Borutzky Publisher: Springer Science & Business Media ISBN: 1441993681 Category : Technology & Engineering Languages : en Pages : 446
Book Description
The author presents current work in bond graph methodology by providing a compilation of contributions from experts across the world that covers theoretical topics, applications in various areas as well as software for bond graph modeling. It addresses readers in academia and in industry concerned with the analysis of multidisciplinary engineering systems or control system design who are interested to see how latest developments in bond graph methodology with regard to theory and applications can serve their needs in their engineering fields. This presentation of advanced work in bond graph modeling presents the leading edge of research in this field. It is hoped that it stimulates new ideas with regard to further progress in theory and in applications.
Author: Christian Lalanne Publisher: John Wiley & Sons ISBN: 0470610328 Category : Technology & Engineering Languages : en Pages : 426
Book Description
Mechanical Vibration and Shock Analysis, Second Edition Volume 1: Sinusoidal Vibration The relative and absolute response of a mechanical system with a single degree of freedom is considered for arbitrary excitation, and its transfer function defined in various forms. The characteristics of sinusoidal vibration are examined in the context both of the real world and of laboratory tests, and for both transient and steady state response of the single-degree-of-freedom system. Viscous damping and then nonlinear damping are considered. The various types of swept sine perturbations and their properties are described and, for the one-degree-of-freedom system, the consequence of an inappropriate choice of sweep rate are considered. From the latter, rules governing the choice of suitable sweep rates are developed. The Mechanical Vibration and Shock Analysis five-volume series has been written with both the professional engineer and the academic in mind. Christian Lalanne explores every aspect of vibration and shock, two fundamental and extremely significant areas of mechanical engineering, from both a theoretical and practical point of view. The five volumes cover all the necessary issues in this area of mechanical engineering. The theoretical analyses are placed in the context of both the real world and the laboratory, which is essential for the development of specifications.
Author: Wilfrid Favre (Ingénieur).)
Author: Wilfrid Favre (Ingénieur).)
Author: Wolfgang Borutzky
Author: Wolfgang Borutzky
Author: Sabine Mondie
Author: José Joaquin Granda
Author: François E. Cellier
Author: Javier Garcia de Jalon
Author: Wolfgang Borutzky
Author: Jean Jacques Moreau
Author: Christian Lalanne