volume (m3) velocity (m/s) displacement (m) impedance complex number or zero physical mechanisms and devices that ex- in be characterized through the use of mathe- phenomena from a “ basic elements th mponents of that system can be described by 1 constitutive relations. In order to understand ‘elements interface and nngineering studies, you have learned separately ought to bear together and expanded upor series of questions to consider: ye system must you sor information ize the system to ensure reasonable per- jo you use to measure the system's performance? mate or control a system? started?— CHAPTER 1. INTRODUCTION TO SYSTEM BYNAMIG® th ‘on of differential and algebraic equations Response. Tn the second part we explore method '8 dynamic systems including metrics to quantify thei ch ige variety of physical s focus on simple to moderat 1.1. INTRODUCTION 3, iefly discuss the uses of System ice @ unified graphical approach for synthesi introduce the “objectives” and As you review the material in each chapter, you id outcomes, and once completing a You assess how well you have met these criteria skills or knowledge we seek or aim to obtain potent ize how a system is broken down into subsys- pts used to represent dynamic re- courses you are or have previously ¥ ques- short answer prob-PTE TH HTS TR 1a OVEN EIN Eo VINP VINES” 1.2. System Decomposition and Model Complexity One of the underlying principles of the discipline of System Dynami study of engineering problems at the system level. Systems are a con (Ogata 2004). Moreover, the components or subsystems may operate in var~ ious energy domains (ie., mechanic hydraulic, etc.). As such, the physical phenomena a variety of engineering . Heat Transfer, and ies model, a system must be is — discrete physical is composed of a along a beam surface irect current (PMDC) motor. The problem incorporates aspects of nal 2D motion that can be modeled using Newtonian Mechanics; the ball and beam each experience generalized planar that the com dynamics makes this problem more ‘model of the system we will need to engineering subjects. Other engineering probl of various energy domains that led use. This may be the vehicle suspension Crank TOFGUE, Frit Figure 1.1: Ball-and-beam system. resses generated within the frame and chassis due to vibrations \slerred through the tires and suspension. sy (a) (a) A vehicle suspension, nd (c) a less simplified m The simple model that is depicted in Figure 1.2 ( spring, the damping due to the shock absorber speed bumps the s, An example might be a series of regularly in a parking hicle travels over at slow to moderate speeds as cor residential area. At such speeds, the suspension absorbs the majority the energy and accounts for most of the dynamics. Imagine, however, thatthe repeated displacements from the markers is much higher. At such fi ‘quencies, the vehicle suspension does not have sufficie ter facilitate mathematical representations of the physics led. Throughout this book you will learn how to do just that. As you do, you will grow experience that will help you later as an engineer determine how to break a problem done into manageable parts, characterize those parts, and determine the level of complexity necessary to model the whole. 1.3 Mathematical Modeling of Dynamic Systems System Dynamics makes use of mathem phenomena, concepts, and theori ions of physical o analyze dynamic currents ‘Method is used in Heat ma and )°M = Jat we crank is represented using Kirchhoff's rromechanics, di €in(t) — LE — Ri— Em =O. Em, can be related to the rotor angular velocity, On. Eq = Kn mn to multiply fe many, uses a gt Basic planar kinetics can be used to show that is Ns Oa ah o ‘As evidenced by this seemingly simple mechanism, a number of principles variety of courses often come into play when developing mathemat- dels of systems. A few such courses you may have or are currently include but are not limited to Dynamics, Fluid Mechanics, Elect ts, and Heat ‘Transfer. Ny ( no Figure 1.3: A permanent magnet direct current (PMDC) motor schematic. and states. Inputs are yystem and can includebehavior of the system. Figure 1 is rates the relationships between the inputs, ail in later chapters, model and i iscuss these relations in We wil 2. Inputs Dynamic Syston with Time-Varying States Figure 1.4: ‘dynamic system model 1.4 Analysis and Design of Dynamic Systems ‘Mathematical models are often used to analyze dynamic systems. Analy- sis has been identified as one of the primary reas systems. spond as they do so that we mi Dynamic systems are often characterized Time domain analysis entails eval response as measured in time. Take for ex: in Figure 1.5 (a). The spring rate a follows the input, the frequency nals vary wi ‘much of the signal bandwidth of frequen- ify amplitude contribu- neviously discussed. Imagine liscover several forms of time and frequency earn how each of these are used to optimize design sinusoidal response, Figure 1.5: Simple suspension (a) step response and 5 Control of Dynamic Systems Analysis enables us to develop controls that alter the response of systems in ler to achieve more desirable dynamics. Though varying system param- 8 can often garner the desired response, sometimes control systems areor pul), compares: (the reference), and enacts an effort (the input) to mi the two — the reference and measured output. Reteonce >), io, Gy century, invente stomate processes for hundreds of years. examples are the Greek and Roman water clock, tik that incorporated a feedback system with complex gearing (Bennet 1 ia 2009¢), Heron of Alexandria is attributed with the development, ‘The governor depicted in Figure 1.8 was used to control a throttle valve that regulated the flow of steam.’ Most of the commonly us ‘oped during the last century, including Bode Plot it ‘Lyapunov Stability Theory, Robust Control, etc. Many of t - (a) monly uscd fay, were Goel oo aes noe Figure 1.8: (0) llustration and (b) schematic of a ‘War II, the Cold War, and the Space Race (Wi Pocrmians 2009) In System Dynamics, mathematical niodels are utilized to conduct anal- ysis. The resulting analysis enables controller design. Controls generate ef- Forts that alter the dynamic response in order to meet dynamic system design governor teria, In the latter part of this book, we wi approaches used for designing cont ‘The photograph in Figure 18 is atsibuted to Dt. Misko Junge and can be found at Wikimedia Commons (Commons 2008), Method and the Bode Plot Frequency Response Metalso have a number graphical approaches for representing dynamic systems 1e of these are depicted in Figure 1.9. By now, you have used free body. and circuit schematics to analyze cur ts are also depicted using diagrams in Figure 1.9: (a) Mass-spring-dampe draulic eireui Schematics and diagrams provide us a means of cai and parameters in a concise manner. Moreover, they pr by which we can dissect systems into more basic component Dynamics, schematics and diagrams ful a thousand words.” In System Dynamics, however, a diagram is worth “a sand” mathematical equations and parameters. They often illustrate more ‘equations alone can do, They can be used to gare the In System 1e old adage “a picture is worth 1.7. A Graph-Centered Approach to Modeling ‘and-beam system previously depicted in Figure 1.1 and electrical subsystems have in common? How do (oa necessity to oftentimes analyze engineering ‘or generalized perspective. The unifying factor the subsystems of the ball-and-beam isthe fact that each energy and power. id Graphs are a graphical approach for diagramming the of power and energy within a dynamic system. They were original Joped in 1959 by the late Dr. Henry M. Paynter at MIT (Paynter 196: bond graphing is a unified graphical approach for model- tion, and transformation of energy within a dynamic for the input/output relations between elements and ll. The approach is generalized because it operates on the prem le energy domain. factor to derive various energy In the chapter that energy and power relations common to component ins. 1.8 Power and Energy Variables Pit) =e) F(). (ua)"Power P=Fv P=t0 Paei pi)= f eat, effort is the time rate of change of the momer which means then that the 3) ‘This is eadily evident when examin Second Law, Newton's Second Law 0 ‘As you may recall, enengy is the time integral of power, E)= [zou = [-oroa a6) 1.6, the potential energy ‘This simplifies to the more recognized form rami =ma if the mass is the case for rigid bodies. The generalized displacement is defined as the integral ofthe flow, a= f slo, aa) which implies that the flow is the time rate of change of displacement, Bwy= fenfar= f eaan a7 etic energy equation, dp 2 [soar as) Sp, and 9g) ye derived in terms of the energy and power variable ihe relationships are summarized by the Tetrahedron of St 1. Margolis, and Rosenberg 2000) shown in Figure s text, we categorize elements based on what they im, energy can be stored (as potential or kinetic), dissipated, supplied and external source), converted, and summed. The f chap- scribes the basie bond graph elements and how they are categorized ‘energy and power. Gene! between two physical quant foree and the spring defi across a resistor and the current flowi strates, effort and flow variables can be s= Baa as) +, for example, is the time rate of change of transla- tional displacem dx dt Momentum and displacement variables for vari in Table 1.2. between the voltage yuh it. As the tetrahedron ated through integral, gy domains are given eeeAL_—|B 7 (b) 1961) and Karnopp, is e B Al yd B f f (©) @) for example, relates hange of the 1.9 Bonds, Ports, Signals, Inputs, and Outputs (a) A bond gr B: (6) a block diagram with effort and power mA 10 B; Tn bond geaphs, elements are connected by bonds through power ports. Each bond represents an effort-flow pair that when multiplied give the power en= tering or leaving the attached ports, In basic one-port element ly assumed to be flowing from the system into the elem ‘elements or subsystems “A” and “B" as shown in Figure ‘a bond graph, the half-arrow indicates the assumed dir positive power flow and the bar at the beginning or end of the half-arrow in- ticates at which port effort is the input. Effort is an input to the port attached to the end of the bond that has the bar, and flow is an input at the oppos! end of the bond. Thus, the input/output c ated by the block diagram in Figure 1 Hustrates the input/output cau 1,10 Word Bond Graphs red to visualize how a system is broken down bond graphs are uti wwe and consumption. Such graphs mponents pertiner yponents which exchange with an effort-flow pair. By sketching a word ‘a dynamic system into pertinent parts and begins to teraction of these components results in models used to ————rather straight 1. Identify the basic components of the n words Vidual components that compose the overal 2. Connect interacting components. Connect components that exchange the effort-flow pairs. For each bond connecting two compo- determine the effort and flow that are exchanged between the ied components Vehicle Mass Dif emission 2 Engine Ne a . a “Gee Hatta |e Opposing Weight due to ed Incline an Figure 1.12: Word hond graph fora rear-drive vehicle. .11 Summary dynamic systems is used to study dynamic systems and to characterize their re- sponses. It can be used to determine how changes in system parameters vary the dynamic response. When the desired dynamic response cannot be achieved through para- tion, automatic control systems can be employed to atic controls are used modify and/or automate dynamic responses. chematics and diagrams are commonly used to model dynamic sys- tems. Free body and circuit diagrams are just iwo examples. » Bond graphing is a generalized graphical approach for diagramming, the power distribution within a dynamic system. Bonds connect individual components and represent the transfer of power between those components. Signals are effort or flow variables that transfer between elements. dynamics. > Inputs are variables, external to the system, that drive t » States are dynamic variables that require differential eq their dynamic variation, Outputs are variables or states that are measured Word bond graphs are word-based sketches that1.12 Review RI-L Describe system decompo the spring. A Provide the constitutive RI-2 Explain the differences between inputs, outputs, and states. nerally related? REBT ly related? \s and distinctions between bonds, ports, and sig- ular, explain how a power bond differs from a signal how ports ate realized in block diagrams as opposed andl capacitor. Figure 1.14: A simple series cireuit with to bond graphs. V1.4 Mass-Spring-Damper Systems. Dec systems depicted in Figure 1.15 RI-10 Describe, in your own words, the process for sketching a word bond graph. 1.13. Problems supplied for (a) and (b), while (c) has two input torques. Electric Circus, For the circuits shown in Figure 1.17, identify and list the basic components. Provide word bond graphs for each. In (a) and (b), the voltage drop across the capacitor and the current through cr are labeled ¢. and iz, respectively. ify the inputs for each system. Also, determine potential outputs of interest. That is, what dynamic variables might one be interested in knowing or predicting? V P12 Newton ton’s N Second Law for Rotation. Recall the formulation of New- -ond Law discussed in Section 1.8; derive the general form 's Second Law for rotation and provide the formulation for in rotation. -7. Hydraulic Circuits, Figure 1.18 depicts several hydraulic circuits. Iden- tify the basic components that compose each and sketch their word bbond graphs.Figure 1.16: Mechanical rotation systems. V PL8 Permanent Magnet Direct Current (PMDC) Motor with Gear Redue- tion. A schematic for an electromech system was illustrated in Figure 1.3. Use that schematic t labels for local variables and do not indicate external sources, Draw a ‘word bond graph.