Principles of Analytical System Dynamics

Using energy as a unifying concept and systems theory as a unifying theme, the book addresses the foundations of such disciplines as mechatronics, concurrent engineering, and systems integration. The treatment is accessible to advanced undergraduates, and the interdisciplinary approach should be of interest not only to academic engineers and physicists, but also to practicing engineers and applied mathematicians.

Offers a fresh perspective to systems dynamics without following the traditional ODE approach. Provides a direct connection to numerical methods. Avoids the cumbersome graphical methods that are often needed in analyzing systems; * Eminently suited for constrained nonlinear models. Includes the treatment of mechanical, thermal, electrical, and fluid elements. The reader is expected to be familiar with the fundamentals of engineering mechanics, but no detailed knowledge of analytical mechanics, system dynamics, or variational calculus is required

Zusammenfassung
A novel approach to analytical mechanics, using differential-algebraic equations, which, unlike the usual approach via ordinary differential equations, provides a direct connection to numerical methods and avoids the cumbersome graphical methods that are often needed in analysing systems.

Inhalt

1. Introduction.- 1.1. A Perspective on Physical Systems.- 1.2. What This Book Is About.- 1.3. Background.- 1.4. Overview of Topics.- 1.5. Comments on Notation.- 2. Fundamentals of System Dynamics.- 2.1. A Unified Set of Variables.- 2.2. Classification of Discrete Elements.- 2.3. Representation of Motion.- 2.4. Constraints.- 2.5. Variational Concepts.- 2.6. Geometry of Constraint.- 3. Lagrangian DAEs of Motion.- 3.1. A Variational Form of the First Law.- 3.2. Lagrange's Equation.- 3.3. Lagrangian DAEs.- 3.4. Underlying ODEs.- 3.5. Interpretation of Lagrange's Equation.- 4. Hamiltonian DAEs of Motion.- 4.1. Legendre Transform.- 4.2. Hamiltonian DAEs.- 4.3. Underlying ODEs.- 4.4. Comparison of Two Formulations.- 5. Complementary DAEs of Motion.- 5.1. Fundamentals.- 5.2. Complementary Lagrangian DAEs.- 5.3. Complementary Hamiltonian DAEs.- 5.4. Comparison of Two Formulations.- 6. Modeling and Simulation.- 6.1. Analysis.- 6.2. Formulating a Model.- 6.3. Numerical Solution of DAEs.- 6.4. Automated Modeling and Simulation.- 6.5. Examples.- Afterword.- References.