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• Half Title
• Title Page
• Copyright Page
• Table of Contents
• PREFACE
• 1 INTRODUCTION
• 1-1 What Is System Dynamics?
• 1-2 The Input/System/Output Concept
• 1-3 A Classification of System Inputs
• 1-4 A Classification of System Models
• 1-5 System Design
• Bibliography
• Problems
• 2 SYSTEM ELEMENTS, MECHANICAL
• 2-1 Introduction
• 2-2 The Spring Element
• 2-3 Linearization
• 2-4 Real Springs
• 2-5 The Damper (Friction) Element
• 2-6 Real Dampers
• 2-7 The Inertia Element
• 2-8 Referral of Elements Across Motion Transformers
• 2-9 Mechanical Impedance
• 2-10 Force and Motion Sources
• 2-11 Design Examples
• Engine Flywheel Example
• Accelerometer Transducer Example
• Optimum Decelerator Example
• Bibliography
• Problems
• 3 SYSTEM ELEMENTS, ELECTRICAL
• 3-1 Introduction
• 3-2 The Resistance Element
• 3-3 The Capacitance Element
• 3-4 The Inductance Element
• 3-5 Electrical Impedance and Electromechanical Analogies
• Impedance Example
• 3-6 Real Resistors, Capacitors, and Inductors
• 3-7 Current and Voltage Sources
• 3-8 The Operational Amplifier, An Active Circuit “Element”
• 3-9 Modeling and Simulation of Computer-Aided Systems: Mechatronics
• Design Example: A Feedback-Type Motion Control System
• Bibliography
• Problems
• 4 SYSTEM ELEMENTS, FLUID AND THERMAL
• 4-1 Introduction
• 4-2 Fluid Flow Resistance and the Fluid Resistance Element
• Example: Oscillating Flow
• 4-3 Fluid Compliance and the Fluid Compliance Element
• Example: Effective Bulk Modulus
• 4-4 Fluid Inertance
• Example: Liquid Inertance
• 4-5 Comparison of Lumped and Distributed Fluid System Models
• 4-6 Fluid Impedance
• Example: Use of Differential Equation
• 4-7 Fluid Sources, Pressure and Flow Rate
• Example: Real Pressure Source
• 4-8 Thermal Resistance
• 4-9 Thermal Capacitance and Inductance
• 4-10 Thermal Sources, Temperature and Heat Flow
• Bibliography
• Problems
• 5 BASIC ENERGY CONVERTERS
• 5-1 Introduction
• 5-2 Converting Mechanical Energy to Other Forms
• 5-3 Converting Electrical Energy to Other Forms
• Example: Induction Motor
• Example: Stepping Motor
• 5-4 Converting Fluid Energy to Other Forms
• 5-5 Converting Thermal Energy to Other Forms
• 5-6 Other Significant Energy Conversions
• 5-7 Power Modulators
• Example: Motor/Clutch System
• Bibliography
• Problems
• 6 SOLUTION METHODS FOR DIFFERENTIAL EQUATIONS
• 6-1 Introduction
• 6-2 Analytical Solution of Linear, Constant-Coefficient Equations: The Classical Operator Method
• Example: Root Finding
• Example: Complete Solution
• 6-3 Simultaneous Equations
• 6-4 Analytical Solution of Linear, Constant-Coefficient Equations: The Laplace Transform Method
• Linearity Theorem
• Differentiation Theorem
• Integration Theorem
• Example: Simultaneous Equations
• Laplace Transfer Functions
• Partial-Fraction Expansion
• Example: Real Poles
• Example: Complex Pole Pairs
• Repeated Roots
• Example: “Nearly-Repeated” Poles
• Delay Theorem
• Example: Discontinuous Input
• Initial-Value Theorem and Final-Value Theorem
• Example: Initial Conditions
• 6-5 Simulation Methods
• Analog Simulation
• Digital Simulation of Dynamic Systems
• 6-6 Specific Digital Simulation Techniques
• Generation of Input Signals
• Side-by-Side Comparisons
• Event-Controlled Switching
• 6-7 Simulation Software with Automatic Modeling
• 6-8 State-Variable Notation
• Example: Three-Mass Problem
• Example: Root Finder Versus Eigenvalues
• Bibliography
• Problems
• 7 FIRST-ORDER SYSTEMS
• 7-1 Introduction
• 7-2 Mechanical First-Order Systems
• Preliminaries to Equation Setup
• Writing the System Equation
• The Generic First-Order System and Its Step Response
• Experimental Step-Input Testing
• Computer Simulation
• Design Example: Electric Motor Drive for a Machine Slide
• Motion Control by Feedback: An Alternative Design
• Optimum Step Response Using a Nonlinear Approach
• 7-3 Ramp, Sinusoidal, and Impulse Response of First-Order Systems
• Ramp Response
• Sinusoidal Response (Frequency Response)
• Logarithmic Frequency-Response Plotting
• Experimental Modeling Using Frequency-Response Testing
• Impulse Response of First-Order Systems
• 7-4 Validation of Linearized Approximations Using Simulation
• 7-5 Electrical First-Order Systems
• General Circuit Laws and Sign Conventions
• Practical Examples of Electrical First-Order Systems
• Analysis of Passive and Active Low-Pass Filters
• Design Example: Low-Pass Filter
• Design Example: Approximate Integrator
• Design Example: Optical Sensor
• 7-6 Elementary ac Circuit Analysis and Impedance Methods
• ac Circuit Analysis Example
• 7-7 Fluid First-Order Systems
• Basic Laws Useful for Equation Setup
• Linearized and Nonlinear Analysis of a Tank/Orifice System
• Numerical Example: Nonlinear and Linearized Response of Tank/Orifice System to Step and Sine Inputs
• Design Example: An Accumulator Surge-Damping System
• 7-8 Thermal First-Order Systems
• Systems with Several Inputs
• 7-9 Mixed First-Order Systems
• Electromechanical Open-Loop Speed Control
• Electromechanical Closed-Loop (Feedback) Speed Control
• Hydromechanical Systems: A Hydraulic Dynamometer
• Hydromechanical Systems: Open-Loop Hydraulic Speed Control
• Thermomechanical Systems: Thermal Expansion Actuators
• Thermomechanical Systems: A Simple Friction Brake
• 7-10 First-Order Systems with “Numerator Dynamics”
• Design Example Showing Where System Dynamics Fits in the Overall Design Sequence
• Bibliography
• Problems
• 8 SECOND-ORDER SYSTEMS AND MECHANICAL VIBRATION FUNDAMENTALS
• 8-1 Introduction
• 8-2 Second-Order Systems Formed from Cascaded First-Order Systems
• Cascaded Subsystems: The Loading Effect
• Example: Loading Effect in Two Mechanical First-Order Systems
• 8-3 Mechanical Second-Order Systems
• Step Response and Free Vibration of Second-Order Systems
• Example: Initial Energy Storage
• Example: Design of Package Cushioning for Dropped Packages
• Significance of K, {, and w,
• Design Example: High-Speed Scale for Packaging Conveyor
• 8-4 Lab Testing Second-Order Systems Using Step Inputs
• Detecting Nonviscous Damping in Transient Testing
• 8-5 Ramp Input Response of Second-Order Systems
• 8-6 Frequency Response of Second-Order Systems
• 8-7 Vibration Isolation and Transmissibility
• Design Example: Vibration Isolation of Electric Motor
• Force Transmissibility
• Motion Transmissibility
• Rotating Unbalance
• Acceleration to Operating Speed: “Transient Resonance”
• 8-8 Impulse Response of Second-Order Systems
• 8-9 Electrical Second-Order Systems
• A Passive Low-Pass Filter
• Series Resonant Circuit
• ac Power Numerical Example
• Band-Pass filters
• Notch Filters
• Op-Amp Circuits
• Design Example: Op-Amp Circuit
• 8-10 Fluid Second-Order Systems
• Example: Using Various Checking Methods to Find Errors
• Example: Pressure-Measuring System Dynamics
• 8-11 Thermal Second-Order Systems
• Improved Tank Heating Model
• Accelerated Coffee Cooling
• 8-12 Mixed Second-Order Systems
• Hydraulic Material-Testing Machine: Resonance Put to Good Use
• de Motor Control by Field and Armature
• 8-13 Systems with Numerator Dynamics
• Automobile Handling Dynamics
• Leadlag Dynamic Compensator (Approximate Proportional Plus Derivative Plus Integral Control)
• Bibliography
• Problems
• 9 GENERAL LINEAR SYSTEM DYNAMICS
• 9-1 Introduction
• 9-2 System Modeling and Equation Setup
• 9-3 Stability
• 9-4 Generalized Frequency Response
• 9-5 Matrix Frequency Response
• 9-6 Time-Response Simulation
• 9-7 Frequency Spectrum Analysis of Periodic Signals: Fourier Series
• Example: Square Wave
• Example: Experimental Data
• Fourier Series Calculations Using Fast Fourier Transform (FFT) Software
• Using Simulation to Compute Complete (Transient and Periodic Steady-State) Response of Linear or Non
• 9-8 Frequency Content of Transient Signals: Fourier Transform
• Example: Rectangular Pulse
• Example: Fourier Transform
• 9-9 Experimental Testing Using Spectrum Analyzers
• 9-10 Dead-Time Elements
• 9-11 Another Solution to Some Vibration Problems: The Tuned Vibration Absorber
• 9-12 Improved Vibration Isolation: Self-Leveling Air-Spring Systems
• 9-13 Electromechanical Active Vibration Isolation
• 9-14 An Electropneumatic Transducer Using a Piezoelectric Flapper Actuator
• 9-15 Web-Tension Control Systems
• Bibliography
• Problems
• 10 DISTRIBUTED-PARAMETER MODELS
• 10-1 Longitudinal Vibrations of a Rod
• 10-2 Lumped-Parameter Approximations for Rod Vibration
• 10-3 Conduction Heat Transfer in an Insulated Bar
• 10-4 Lumped-Parameter Approximation for Heat Transfer in Insulated Bar
• Bibliography
• Problems
• APPENDIXES
• A Viscosity of Silicone Damping Fluids
• B Units and Conversion Factors
• C Thermal System Properties
• INDEX