System Dynamics for Engineering Students

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Front-Matter_2018_System-Dynamics-for-Engineering-Students System Dynamics for Engineering StudentsConcepts and ApplicationsSecond EditionNicolae LobontiuUniversity of Alaska Anchorage? Copyright_2018_System-Dynamics-for-Engineering-Students Copyright Dedication_2018_System-Dynamics-for-Engineering-Students Dedication Foreword-to-the-First-Edition_2018_System-Dynamics-for-Engineering-Students Foreword to the First Edition Preface_2018_System-Dynamics-for-Engineering-Students Preface Resources-That-Accompany-This-Boo_2018_System-Dynamics-for-Engineering-Stude Resources That Accompany This Book Available to All For Instructors Only Chapter-1---Introduction_2018_System-Dynamics-for-Engineering-Students 1. Introduction 1.1 ENGINEERING SYSTEM DYNAMICS 1.2 MODELING ENGINEERING SYSTEM DYNAMICS 1.2.1 Modeling Variants 1.2.2 Dynamical Systems Lumped-Parameter Modeling and Solution Modeling Methods Solution Methods System Response 1.3 ELEMENTS, SYSTEM, INPUT, AND OUTPUT 1.4 COMPLIANT MECHANISMS AND MICROELECTROMECHANICAL SYSTEMS 1.5 SYSTEM ORDER 1.5.1 Zero-Order Systems 1.5.2 First-Order Systems 1.5.3 Second- and Higher-Order Systems 1.6 COUPLED-FIELD (MULTIPLE-FIELD) SYSTEMS 1.7 LINEAR AND NONLINEAR DYNAMIC SYSTEMS 1.8 TIME- AND FREQUENCY-DOMAIN SYSTEM DYNAMICS 1.9 FEEDBACK CONTROL OF DYNAMIC SYSTEMS Chapter-2---Mechanical-Elements_2018_System-Dynamics-for-Engineering-Student 2. Mechanical Elements INTRODUCTION 2.1 SPRING ELEMENTS 2.1.1 Basic Spring Elements and Stiffness 2.1.2 Series and Parallel Spring Connections 2.2 INERTIA ELEMENTS 2.2.1 Basic Inertia Elements 2.2.2 Lumped-Parameter Inertia of Distributed-Parameter (Elastic) Members 2.3 VISCOUS DAMPING ELEMENTS 2.3.1 Basic Viscous Damping Elements 2.3.2 Series and Parallel Damper Connections 2.4 EQUIVALENT MECHANICAL ELEMENTS THROUGH GEAR AND LEVER TRANSFER 2.4.1 Toothed Gears Toothed Gears and Springs Toothed Gears and Inertia Gears With Dampers 2.4.2 Levers of Small Rotation Levers With Springs Levers and Inertia Levers With Dampers SUMMARY Suggested Reading Chapter-3---Mechanical-Systems_2018_System-Dynamics-for-Engineering-Students 3. Mechanical Systems INTRODUCTION 3.1 CONFIGURATION, DEGREES OF FREEDOM 3.2 SINGLE–DOF SYSTEMS 3.2.1 Free Response Conservative Systems and the Free Undamped (Natural) Response Mathematical Model (Differential Equation) Mathematical Model (Differential Equation) Newton's Second Law of Motion Newton's Second Law of Motion The Energy Method The Energy Method Solution of Mathematical Model (Differential Equation) Solution of Mathematical Model (Differential Equation) Systems With Losses and the Free Damped Response Mathematical Model (Differential Equation) Mathematical Model (Differential Equation) Solution of Mathematical Model (Differential Equation) Solution of Mathematical Model (Differential Equation) 3.2.2 Forced Response 3.3 MULTIPLE–DOF SYSTEMS 3.3.1 Free Response Conservative Systems and the Natural Response Mathematical Model (Differential Equation) Mathematical Model (Differential Equation) Newton's Second Law of Motion Method Newton's Second Law of Motion Method Lagrange's Equations Lagrange's Equations Solution of Mathematical Model (Differential Equation) Solution of Mathematical Model (Differential Equation) Analytical Approach Analytical Approach MATLAB Approach—the Dynamic Matrix and the Eigenvalue Problem MATLAB Approach—the Dynamic Matrix and the Eigenvalue Problem Free Damped Response Mathematical Model Derivation Mathematical Model Derivation Solution of the Mathematical Model Differential Equations Solution of the Mathematical Model Differential Equations 3.3.2 Forced Response SUMMARY Suggested Reading Chapter-4---Electrical-Systems_2018_System-Dynamics-for-Engineering-Students 4. Electrical Systems INTRODUCTION 4.1 ELECTRICAL ELEMENTS: VOLTAGE AND CURRENT SOURCES, RESISTOR, CAPACITOR, INDUCTOR, AND OPERATIONAL AMPLIFIER 4.1.1 Voltage and Current Sources 4.1.2 Resistor Elements Mechanical Displacement Sensing 4.1.3 Capacitor Elements Actuation and Sensing in Microelectromechanical Systems 4.1.4 Inductor Elements 4.1.5 Operational Amplifiers 4.2 ELECTRICAL SYSTEMS: CIRCUITS OR NETWORKS 4.2.1 Kirchhoff's Laws 4.2.2 Configuration, Degrees of Freedom 4.2.3 Free Response Natural (Free Lossless) Response Single-DOF Conservative Electrical Systems Single-DOF Conservative Electrical Systems Multiple-DOF Conservative Electrical Systems Multiple-DOF Conservative Electrical Systems Lagrange's Equations Lagrange's Equations Mesh Analysis Mesh Analysis Node Analysis Node Analysis Free Damped Response 4.2.4 Forced Response Single-DOF Systems Operational Amplifier Circuits Operational Amplifier Circuits Inverting Amplifier Circuits Inverting Amplifier Circuits Mathematical Operations With Operational Amplifier Circuits Mathematical Operations With Operational Amplifier Circuits Multiple-DOF Systems Lagrange's Equations Lagrange's Equations Mesh Analysis Mesh Analysis Node Analysis Node Analysis 4.3 MECHANICAL–ELECTRICAL ANALOGY SUMMARY Suggested Reading Chapter-5---Fluid-and-Thermal-Syst_2018_System-Dynamics-for-Engineering-Stud 5. Fluid and Thermal Systems INTRODUCTION 5.1 LIQUID SYSTEMS MODELING 5.1.1 Liquid Elements Inertance Capacitance Resistance Nonlinear Resistance Nonlinear Resistance Linear Resistance, Lost Head, and Hagen–Poiseuille Resistance Linear Resistance, Lost Head, and Hagen–Poiseuille Resistance Sources of Hydraulic Energy 5.1.2 Liquid Systems Natural Response Single-DOF Conservative Liquid Systems Single-DOF Conservative Liquid Systems Multiple-DOF Conservative Liquid Systems Multiple-DOF Conservative Liquid Systems Forced Response of Liquid-Level Systems Single-DOF Liquid-Level Systems Single-DOF Liquid-Level Systems Multiple-DOF Liquid-Level Systems Multiple-DOF Liquid-Level Systems 5.2 PNEUMATIC SYSTEMS MODELING 5.2.1 Gas Laws 5.2.2 Pneumatic Elements Inertance Capacitance Resistance Sources of Pneumatic Energy 5.2.3 Pneumatic Systems Natural Response Forced Response 5.3 THERMAL SYSTEMS MODELING 5.3.1 Thermal Elements Capacitance Resistance Conduction Conduction Convection Convection Radiation Radiation Mixed Heat Flow Through Composite Walls Mixed Heat Flow Through Composite Walls Convection and Radiation Convection and Radiation Conduction, Convection, and Radiation Conduction, Convection, and Radiation Heat Sources 5.3.2 Thermal Systems Single-DOF Systems Multiple-DOF Systems 5.4 ELECTRICAL–FLUID–THERMAL SYSTEM ANALOGY SUMMARY Suggested Reading Chapter-6---The-Laplace-Transfor_2018_System-Dynamics-for-Engineering-Studen 6. The Laplace Transform INTRODUCTION 6.1 DIRECT AND INVERSE LAPLACE TRANSFORMATIONS 6.1.1 Laplace Transform Pairs 6.1.2 Properties of the Laplace Transform Linearity Frequency Shift Theorem Time-Shift Theorem Laplace Transform of Piecewise Continuous Functions Laplace Transform of Piecewise Continuous Functions Laplace Transform of Derivatives Laplace Transform of Indefinite Integrals Initial-Value and Final-Value Theorems Periodic Functions The Convolution Theorem Partial Fraction Expansion Analytical Partial Fraction Expansion Analytical Partial Fraction Expansion MATLAB Partial Fraction Expansion 6.2 LAPLACE TRANSFORM SOLUTION OF LINEAR ORDINARY DIFFERENTIAL EQUATIONS (ODE) 6.2.1 Linear ODE With Constant Coefficients 6.2.2 Systems of Linear ODE With Constant Coefficients 6.3 LAPLACE TRANSFORM SOLUTION OF INTEGRAL AND INTEGRAL–DIFFERENTIAL EQUATIONS 6.3.1 Laplace Transform Approach 6.3.2 Convolution Theorem Approach 6.4 TIME-DOMAIN SYSTEM IDENTIFICATION FROM LAPLACE-DOMAIN INFORMATION SUMMARY Suggested Reading Chapter-7---Transfer-Function-Appro_2018_System-Dynamics-for-Engineering-Stu 7. Transfer Function Approach INTRODUCTION 7.1 THE TRANSFER FUNCTION CONCEPT AND DEFINITION 7.1.1 SISO Systems 7.1.2 MIMO SYSTEMS 7.2 TRANSFER FUNCTION MODEL FORMULATION 7.2.1 Transfer Function From the Time-Domain Mathematical Model SISO Systems MIMO SYSTEMS 7.2.2 Transfer Function From the Zero-Pole-Gain Mathematical Model 7.2.3 Impedance Transfer Function Electrical Systems Nonloading and Loading Cascading (Series) Electrical Systems Nonloading and Loading Cascading (Series) Electrical Systems Thermal Systems Fluid Systems Mechanical Systems 7.3 TRANSFER FUNCTION AND SYSTEM STABILITY 7.4 TRANSFER FUNCTION AND THE TIME RESPONSE 7.4.1 SISO Systems Analytical Approach MATLAB and Simulink Approach Transforming a System's Transfer Function to Account for Nonzero Initial Conditions Transforming a System's Transfer Function to Account for Nonzero Initial Conditions Response to Unit Impulse, Unit Step, Arbitrary Input—The MATLAB Impulse, Step, lsim Functions Response to Unit Impulse, Unit Step, Arbitrary Input—The MATLAB Impulse, Step, lsim Functions 7.4.2 MIMO SYSTEMS Analytical Approach MATLAB and Simulink Approach SUMMARY Suggested Reading Chapter-8---State-Space-Modeling_2018_System-Dynamics-for-Engineering-Studen 8. State-Space Modeling INTRODUCTION 8.1 THE CONCEPT AND MODEL OF THE STATE-SPACE APPROACH Outline placeholder Outline placeholder Nonuniqueness of a State-Space Model Nonuniqueness of a State-Space Model Solution of the State-Space Equations Solution of the State-Space Equations 8.2 STATE-SPACE MODEL FORMULATION 8.2.1 State-Space Model From the Time-Domain Mathematical Model Dynamic Systems Without Input Time Derivative SISO Systems SISO Systems MIMO Systems MIMO Systems Dynamic Systems With Input Time Derivative Nonlinear Systems 8.2.2 State-Space Model From Other Models Conversions Between Transfer Function and State-Space Models Transformation of a Transfer Function Model Into a State-Space Model Transformation of a Transfer Function Model Into a State-Space Model Transformation of a State-Space Model Into a Transfer Function Model Transformation of a State-Space Model Into a Transfer Function Model Conversion Between Zero-Pole-Gain and State-Space Models 8.3 STATE-SPACE MODEL AND THE TIME-DOMAIN RESPONSE 8.3.1 Analytical Approach: The State-Transition Matrix Method Homogeneous State-Space Model Nonhomogeneous State-Space Model 8.3.2 MATLAB Approach Free Response With Nonzero Initial Conditions Forced Response 8.3.3 Simulink Approach SUMMARY Suggested Reading Chapter-9---Frequency-Domain-Appro_2018_System-Dynamics-for-Engineering-Stud 9. Frequency-Domain Approach INTRODUCTION 9.1 THE CONCEPT OF COMPLEX TRANSFER FUNCTION IN STEADY-STATE RESPONSE AND FREQUENCY-DOMAIN ANALYSIS 9.2 STEADY-STATE RESPONSE OF DYNAMIC SYSTEMS TO HARMONIC INPUT 9.2.1 Analytical Approach SISO Systems Steady-State Solution Under Harmonic (Sinusoidal) Input Steady-State Solution Under Harmonic (Sinusoidal) Input Stability and Steady-State Response Stability and Steady-State Response Frequency Response Parameters of First-Order Systems Frequency Response Parameters of First-Order Systems Frequency Response Parameters of Second-Order Systems Frequency Response Parameters of Second-Order Systems Asymptote Representation of Bode Plots Asymptote Representation of Bode Plots MIMO Systems Complex Transfer Function Matrix Approach Complex Transfer Function Matrix Approach Linear Superposition for Steady-State Time Response Linear Superposition for Steady-State Time Response 9.2.2 MATLAB Approach Bode Plots Frequency Response Data Handling Frequency Response Model Conversion 9.3 FREQUENCY-DOMAIN APPLICATIONS 9.3.1 Mechanical Vibration Transmission Transmissibility for Motion Input; Mass Detection by the Frequency Shift Method in MEMS Transmissibility for Force Input Vibration Absorption and Vibration Isolation Measuring Vibration Displacement and Acceleration Amplitudes 9.3.2 Steady-State Response of Nonloading Cascading Systems Outline placeholder Single-Input Systems Single-Input Systems Multiple-Input Systems Multiple-Input Systems 9.3.3 Filters Electrical Filter Systems Mechanical Filters SUMMARY Suggested Reading Chapter-10---Coupled-Field-System_2018_System-Dynamics-for-Engineering-Stude 10. Coupled-Field Systems INTRODUCTION 10.1 CONCEPT OF SYSTEM COUPLING Outline placeholder Outline placeholder Sensing and Actuation Sensing and Actuation 10.2 THERMOMECHANICAL AND ELECTROTHERMOMECHANICAL COUPLING 10.2.1 Thermomechanical Coupling: The Bimetallic Strip 10.2.2 Electrothermomechanical Coupling 10.3 ELECTROMECHANICAL COUPLING 10.3.1 Electrostatic-Mechanical Coupling 10.3.2 Mechanical Strain and Electrical Voltage Coupling 10.3.3 Electromagnetomechanical Coupling   Rotary Direct-Current Electric Motor With Mechanical Load Rotary Direct-Current Electric Motor With Mechanical Load Translatory Direct-Current Electric Motor With Mechanical Load Translatory Direct-Current Electric Motor With Mechanical Load 10.3.4 Electromagnetomechanical Coupling With Optical Detection in MEMS 10.3.5 Piezoelectric Coupling Brief Introduction to Piezoelectricity Longitudinal Actuation and Sensing With Piezoelectric Block Actuation Actuation Piezoelectric Block Actuator and Load Spring Piezoelectric Block Actuator and Load Spring Sensing Sensing Piezoelectric and Strain Gauge Sensory-Actuation SUMMARY Suggested Reading Chapter-11---Block-Diagrams-and-Feedback-Con_2018_System-Dynamics-for-Engine 11. Block Diagrams and Feedback Control System Modeling INTRODUCTION 11.1 CONCEPT OF FEEDBACK CONTROL OF DYNAMIC SYSTEMS 11.2 BLOCK DIAGRAMS AND SISO FEEDBACK SYSTEMS 11.2.1 Transfer Functions and Basic Block Diagrams Components of Block Diagrams 11.2.2 Controllers Proportional, Integral, Derivative, and Combined Controllers Hydraulic Controllers Dashpot Dashpot Hydraulic Servomotor Hydraulic Servomotor Pneumatic Controllers Compensators: Lag, Lead, and Lag–Lead Compensators: Lag, Lead, and Lag–Lead Lag Compensators Lag Compensators Lead Compensators Lead Compensators Lag–Lead Compensators Lag–Lead Compensators 11.2.3 Feedback-Control Physical Systems 11.2.4 Sensitivity Analysis 11.2.5 State-Space Modeling of SISO Feedback Systems 11.3 BLOCK DIAGRAMS AND MIMO FEEDBACK SYSTEMS 11.3.1 MISO Feedback Systems With Disturbances 11.3.2 MIMO Feedback Systems Transfer-Function Matrix Modeling SUMMARY Suggested Reading Chapter-12---Stability-of-Feedback-Cont_2018_System-Dynamics-for-Engineering 12. Stability of Feedback Control Systems INTRODUCTION 12.1 CONCEPT OF STABILITY APPLIED TO FEEDBACK CONTROL SYSTEMS 12.1.1 SISO Systems Closed-Loop Poles at the Origin 12.1.2 MIMO Systems State-Space Stability 12.2 THE ROUTH–HURWITZ STABILITY TEST 12.2.1 Construction of the Routh–Hurwitz Array 12.2.2 Excepted Cases Zero Element in First Column Method of the Polynomial With Reciprocal Roots Method of the Polynomial With Reciprocal Roots Method of Epsilon Method of Epsilon All Elements in a Row Are Zero Method of the Auxiliary Polynomial Method of the Auxiliary Polynomial 12.2.3 Design Problems 12.3 STABILITY OF FEEDBACK SYSTEMS BY THE ROOT LOCUS METHOD 12.3.1 Basic Rules for Sketching the Root Locus 12.3.2 Using MATLAB to Plot the Root Locus 12.4 NYQUIST PLOT AND BODE PLOTS FOR STABILITY OF FEEDBACK SYSTEMS Outline placeholder Gain Margin and Phase Margin SUMMARY Suggested Reading Chapter-13---Time--and-Frequency-Domain-Contr_2018_System-Dynamics-for-Engin 13. Time- and Frequency-Domain Controls of Feedback Systems INTRODUCTION 13.1 TIME-DOMAIN RESPONSE OF SISO FEEDBACK CONTROL SYSTEMS 13.1.1 Transient Time-Domain Response and Specifications First-Order Systems Second-Order Systems Underdamped Second-Order Feedback Systems Underdamped Second-Order Feedback Systems 13.1.2 Steady-State Time-Domain Response and Errors Unity-Feedback Control Systems Nonunity-Feedback Systems 13.1.3 Transitory and Steady-State Time Response of Feedback Control Systems First-Order Plants Proportional (P) Control Proportional (P) Control Derivative (D) Control Derivative (D) Control Integral (I) Control Integral (I) Control Second-Order Plants Proportional–Derivative (P+D) Control—Additional Zero Proportional–Derivative (P+D) Control—Additional Zero Additional Zero Additional Zero Proportional–Integral (P+I) Control—Additional Zero and Additional Pole Proportional–Integral (P+I) Control—Additional Zero and Additional Pole Dominant Poles Dominant Poles Zero-Pole Cancellation or Near–Zero-Pole Cancellation Zero-Pole Cancellation or Near–Zero-Pole Cancellation Proportional–Integral–Derivative (P+I+D) Control Ziegler–Nichols P+I+D Controller Tuning Algorithm Nonlinear Control Systems 13.2 TIME-DOMAIN RESPONSE OF MIMO FEEDBACK CONTROL SYSTEMS 13.2.1 MISO Feedback Systems With Disturbances 13.2.2 MIMO Feedback Systems by the Transfer Function Matrix and State-Space Methods 13.3 FEEDBACK CONTROL SYSTEMS IN THE FREQUENCY DOMAIN 13.3.1 Frequency-Domain and Time-Domain Connections Frequency Response and Transient Time-Response Characteristics Frequency Response and Steady-State Error Constants Position Constant Kp Position Constant Kp Velocity Constant Kv Velocity Constant Kv Acceleration Constant Ka Acceleration Constant Ka Minimum-Phase and Nonminimum-Phase Angle Systems Minimum-Phase and Nonminimum-Phase Angle Systems 13.3.2 Lead- and Lag-Phase Compensation Design Phase-Lead Compensation Phase-Lag Compensation SUMMARY Suggested Reading Appendix-A---Complex-Numbers_2018_System-Dynamics-for-Engineering-Students Complex Numbers Appendix-B---Matrix-Algebra_2018_System-Dynamics-for-Engineering-Students Matrix Algebra SPECIAL-FORM MATRICES BASIC MATRIX OPERATIONS Appendix-C---Solutions-to-Linear-Homogeneous-Ordina_2018_System-Dynamics-for Solutions to Linear Homogeneous Ordinary Differential Equations With Constant Coefficients Appendix-D---Basics-of-Simulink_2018_System-Dynamics-for-Engineering-Student Basics of Simulink AN EXAMPLE SOLVING LINEAR ORDINARY DIFFERENTIAL EQUATIONS AND SYSTEMS First-Order Differential Equations FIRST-ORDER DIFFERENTIAL EQUATIONS Second- and Higher-Order Differential Equations SECOND- AND HIGHER-ORDER DIFFERENTIAL EQUATIONS Systems of Ordinary Differential Equations SYSTEMS OF ORDINARY DIFFERENTIAL EQUATIONS Suggested Reading Appendix-E---Essentials-of-MATLAB-and-System-_2018_System-Dynamics-for-Engin Essentials of MATLAB and System Dynamics–Related Toolboxes MATHEMATICAL CALCULATIONS VISUALIZATION AND GRAPHICS LINEAR SYSTEM MODELING TIME-DOMAIN ANALYSIS FREQUENCY-DOMAIN ANALYSIS CONTROLS LINEAR TIME INVARIANT (LTI) OBJECTS Appendix-F---Deformations--Strains--and-Stresse_2018_System-Dynamics-for-Eng Deformations, Strains, and Stresses of Basic Line Mechanical Members BARS UNDER AXIAL FORCE OR TORQUE BEAMS IN BENDING Index_2018_System-Dynamics-for-Engineering-Students Index