Index

AAccelerometer, 175

piezoelectric accelerometer, 177seismic accelerometer, 175

Accuracy, 622AC motor, 138Activated bond, 39, 165Activation

activated bond, 41effort activation, 39flow activation, 39

Activation energy barrier, 553Active bond graph elements, 31Active magnetic bearing, 402Active suspension, 483Actuators, 4Actuator sizing, 276Adaptive compensation, 844Adaptive control, 232Adaptive suspension, 495Adaptive threshold, 598Aerodynamic drag, 507Affinity, 542

affinity of the reaction, 542forward affinity, 542, 543reverse affinity, 542, 543

After-burner, 558Air-fuel ratio, 454Air gap, 404, 411Alarm, 583

generation, 583interpretation, 583

Algebraic loop, 245Alkaline fuel cell (AFC), 538Amnesia, 746Analogue to digital (A/D) conversion, 194Analytical redundancy relation, 581, 582

Andrew’s mechanism, 297Angular dynamics, 711Angular velocity transformations, 722Anode, 537, 544Antilock braking system (ABS), 506Anti-roll bar, 498Anti-roll system, 499Anti-sway bar, 498Application

robust FDI, 603Arm dynamics, 712ARR, 582

generation, 596Artificial intelligence, 7Artificial muscle, 378Attitude, 705Augmented controller and observer, 251Automated guided vehicle, 772Automated passenger vehicle, 772Automatic transmission, 529Automatic transmission system, 470Autonomous vehicle, 585Auxiliary volume, 496

BBacklash, 121, 124, 458Beam

beam column, 328boundary conditions, 326, 336buckling, 328centrifugal stiffening, 337damping matrix, 335equivalent cross-section, 340Euler–Bernoulli beam, 322Eulerian convention, 331Newtonian convention, 331

R. Merzouki, Intelligent Mechatronic Systems,DOI: 10.1007/978-1-4471-4628-5, � Springer-Verlag London 2013

935

B (cont.)Rayleigh beam, 331stiffness matrix, 332

Bearingattitude angle, 399journal bearing, 397magnetic bearing, 402pressure distribution, 398rolling element bearing, 393

Behavioral equations, 27Behavior model, 267Bicausality, 50, 269Bicycle vehicle model, 509Bimetallic strip, 341Bimorph, 361, 363Biologically-inspired, 378Biologically inspired system, 366Bipartite graph, 596Bipolar plates, 564Bipolar transistor, 205

as an amplifier, 209buck converter, 212common emitter model, 208Darlington transistor, 212Ebers-Moll equations, 219equivalent circuit, 222h-parameter model, 217laterally diffused NPN BJT, 222linearized model, 217linking current, 222thermal model, 226

Blending function, 535Block diagram, 103, 240

conversion from bond graph, 59Body lean, 497Body roll, 497Bond

activated, 39strong, 44vector bond, 84

Bond graphbicausal, 50causal, 43definition, 18energy variables, 20invention, 19power variables, 19reduction, 63scalar bond graph, 93simplification, 63software, 101state variables, 56structure, 60uncertain bond graph, 97

vector bond graph, 84word bond graph, 15

Braking torque, 506Bulk modulus, 162Bumper sensor, 174Butler-Volmer equation, 553

CC-element, 27C-field, 155, 480

for ideal gas, 155four port C-field, 545

Camber, 497Capacity factor, 534Cardan angles, 308Cathode, 537, 544Causal loop, 244Causal path, 50, 244Causal stroke, 42Causality, 42

assignment, 44conflict, 43derivative, 46, 596derivative causality, 44integral causality, 44, 46

Causality assignment, 43Cell flooding, 565Cell temperature, 559, 562Center of gravity, 807Centrifugal force, 497Characteristic polynomial, 240, 259Chemical equilibrium, 540, 541Chemical potential, 156, 543, 547, 568Chemical reaction kinetics, 541Choked-flow condition, 157Circulatory force, 417Clutch, 466

automatic clutch, 470friction clutch, 466pressure control, 469uniform pressure assumption, 467uniform wear assumption, 468

Coefficient of absorption, 534Coefficient of friction, 505Coherence vector, 583Collapsible chamber, 449Combustion, 454, 558

efficiency, 455heat of combustion, 455

Compliance, 28Compound planetary gear, 530Concentration, 542Connecting rod, 447

936 Index

Constitutive equations, 27Constraint space, 276Contact patch, 502Continuously variable transmission (CVT),

518, 526Controllability, 253Controllability matrix, 262Control reconfigurability, 845Convection of gas mixture, 547Coordinate transformation, 310, 522, 916Cornering force, 502, 512Coulomb friction, 289Coupling capacitor, 48Coupling element for thermo-fluid (CETF),

380, 559Crank shaft, 462Cumulative sum, 580

DDamper valve, 499Data circuit-terminating equipment, 897Data terminal equipment, 897DC motor

bond graph model, 102brushless motor, 138compound wound, 134H-bridge control, 137maximum power, 136permanent magnet, 131series wound, 133shunt wound, 134speed control, 136torque speed characteristic, 132, 134

Decision procedure, 583Decision rules, 580Decision support system, 580Defined element, 83Derivative causality, 47Detectability Index, 601Detector of effort (De), 39Detector of flow (Df), 39D-H Parameters, 629Diagnosis

uncertain system, 596Differential, 459, 502

bevel gear differential, 461epicyclic differential, 459

Differential causality, 47Differentiator circuit, 192Diffusion process, 544, 554Digital micromirror device, 360Diode, 136, 196

light-emitting diode (LED), 199

photodiode, 198Shockley diode equation, 196

Directional control valve, 300Distributed parameter system, 321Double layer capacitor, 374, 569Drill motion, 764Drive train, 532Driver view, 921, 928Driving simulator, 909Dualized detectors, 596

EEddy current, 407, 413Efficacy mass, 352Electrical transformer, 139, 405Electric power assisted steering (EPAS), 502Electric vehicle model, 78Electro-active polymer, 387Electrolyte, 537, 564Electromagnet, 404Electromagnetic induction, 138Electromechanical coupling factor, 346, 352Electromotive force, 130, 889Electronic control unit (ECU), 437Electrostatic actuator, 150Encoder, 169

absolute encoder, 171binary code conversion, 172gray code, 171incremental encoder, 170, 174most significant bits (MSB), 172resolution, 171

Energy harvesting system, 370Engine, 447, 449

efficiency map, 455engine thermodynamics, 449V8 engine, 462

Enthalpy of reaction, 555Entropy change, 540Entropy generation, 82, 159, 555Equivalent circuit, 407Error dynamics, 253Euler angle, 308, 313, 317, 722, 916Euler equations, 96, 310Euler junction structure (EJS), 96, 310, 443, 720

FFalse alarm, 580, 583Fault accommodation, 578Fault detection, 578Fault detection and diagnosis, 845Fault indicator, 880

Index 937

F (cont.)Fault isolation, 578Fault signature, 592Fault signature matrix, 583, 584, 591Fault tolerance, 11Fault tolerant control (FTC), 592FDI

robust, 596Finite element modeling, 321Finite zeroes, 267, 271First law of thermodynamics, 540Flexible body system, 282, 321Flexible joint, 290Flux density, 139Flux leakage, 404, 413Flux path, 410Flywheel, 447, 463, 532Force control, 305, 493, 706Force-current factor, 411Force-displacement factor, 411Forward kinematic, 620Forward model, 267, 271, 915, 926Free-floating space manipulator, 734Free-floating space robot, 704Free-flying robot dynamics, 714Frequency response, 488Friction, 125

entropy flow rate, 155friction law, 125stick-slip friction, 126

Fringing flux, 404, 413Fuel cell, 537

cell temperature management, 566hydration level, 565reformer, 566water content management, 565

Fuel cell stack, 539, 564Fuel utilisation (FU), 556Fundamental thermodynamic relation, 545

GGas mixture, 545Gas short circuit, 565Gas spring, 499Gearbox, 458Gear efficiency, 535Gear mesh, 505Gear shift, 470, 535Generalized displacement, 20Generalized likelihood ratio, 580Generalized momentum, 20Geometrical analysis, 580Gibbs-Duhem equation, 159

Gibbs free energy, 551, 555, 568Gibbs function, 541Gimbal frame, 315GY-element

gyrator modulus, 36modulated gyrator, 37

Gyratordefinition, 36equivalence, 407modulation, 37ring, 96, 443

HH-bridge, 136Hardware-in-the-loop simulation, 437Heat exchanger, 558Heat transfer, 158Hertzian contact, 288Holonomic constraints, 707Homogeneous transformation matrices, 627Human-in-the-loop simulator, 909Human–machine interface, 909Hybrid bond graph, 214Hybrid electric vehicle (HEV), 525Hybrid position/force control, 706Hybrid synergy drive (HSD), 528Hybrid system, 366Hybrid vehicle, 525Hydraulic actuator, 300, 490, 918Hydraulic cylinder, 302Hydraulic damper, 492Hydraulic servomotor, 151Hydraulic servo-system, 300Hysteresis, 407Hysteretic damping, 356

IIdeal gas, 545Ideal gas law, 155Identification, 578I-element, 29Impedance, 694Impedance control, 695, 706Inchworm motor, 366, 369Induction, 406Induction motor, 141

squirrel cage motor, 144Inertial sliding motion, 348, 364Infinite zeroes, 267Information and communication

technologies, 769Information bond, 37

938 Index

Integral power steering, 501Integrated circuit (IC), 181Integrator circuit, 191Intelligent autonomous vehicle, 770Intelligent transport systems, 769Internal damping, 323, 334Internal energy, 155, 540, 545Internet protocol, 871Inverse kinematic, 621Inverse Laplace transform, 251Inverse model, 267, 269, 271, 915, 921Irreversible process, 540Isolability, 583Isolatability, 592

JJacobian, 621, 640, 752Joint clearance, 285, 288Junction, 32

one, 34zero, 33

KKelvin–Voigt model, 356Kinematics of rotation, 718Kinematics of translation, 721Kinetic energy, 30Knowledgebase, 8

LLagrange formulation, 642Lateral stability, 505Law of mass action, 542, 543Lenzs law, 130LFT

definition, 97Light emitting diode (LED), 170Limit switch, 173Limiting current, 554Linear dynamics, 710Linear fractional transformation, 97, 596Linear matrix inequality, 844, 878Liquid spring, 477Load cell, 178Load leveling system, 490Longitudinal slip ratio, 505Lorentz force, 130, 372, 374Low-bandwidth system, 490Lyapunov function, 516Lyapunov stability, 516

MMaglev system, 402Magnetic bearing, 402

single sided bearing, 410two-sided bearing, 411

Magnetic circuit, 140Magnetic field, 130, 373, 403Magnetic field intensity, 405Magnetic flux, 139, 149Magnetic force, 411Magnetic permeability, 404, 410Magnetohydrodynamic effect, 372Magnetomotive force, 139, 148, 405Markov process, 903Martensite fraction, 376, 380Mass transfer, 157Material damping, 323Mechanical trail, 502Mechanism

belt drive, 128cam drive, 116Four bar, 115gear drive, 120slider crank, 112

Membrane electrode assembly(MEA), 549, 560

Memcapacitor, 391Memristive system, 389Memristor, 388Method of effort map, 69Method of flow map, 69Method of gradual uncover, 57Micro-electro-mechanical systems

(MEMS), 360optical MEMS, 360

Micro-robotics, 378Micromirror, 360Microprocessor, 180Micropump, 372, 374Minimum-phase system, 273Misdetection, 580, 583Modelling

levels of modelling, 15Modeling uncertainties, 580Mole flow rate, 543, 552Moment of Inertia, 641Monitorability, 583, 591Moving average, 580MR element, 547MR-fluid, 486Multi bond graph, 724Multibody system, 281, 306Multiport

C-field, 86

Index 939

M (cont.)gyrator, 93I-field, 88IC-field, 91R element, 84R-field, 92transformer, 92

Multi-scale model, 544

NNatural frequency, 495Nernst equation, 552, 568Nernst voltage, 554, 556Networked control system, 869Network thermodynamics, 544, 556Neural bond graph, 387Newton-Euler equations, 310, 318, 442, 915Newton-Euler Formulation, 645Newton’s equations, 307Nitinol, 376Nodal line, 308Non-equilibrium reaction kinetics, 543Non-holonomic, 707Non-holonomic constraints, 707Non-holonomic system, 510, 707Non-ideal source, 415Non-inertial reference frame, 306Non-minimum-phase system, 273Non-power-conserving gyrator, 528Non-power-conserving transformer, 535Nonlinear elements, 79Nozzle equation, 548Nozzle flow, 85Nozzle flow equation, 452Null modes, 260, 261Nyquist frequency, 274

OObject oriented modeling, 718Observability, 253Observability matrix, 265One DOF space robot, 724Onsager reciprocity, 544Operating mode, 592Operational amplifier (op-amp), 181

adder circuit, 187comparator, 195differentiator, 192ideal op-amp model, 181integrator, 191inverting configuration, 184non-inverting configuration, 185

subtraction circuit, 189voltage gain, 185

Optimal control, 276Oversteer, 498Over-voltage, 553, 555, 569

activation, 553concentration, 554Ohmic, 553

Overwhelming control, 910Overwhelming controller, 683Oxygen utilisation (OU), 556

PP-V diagram, 465Pads, 724Pad structure, 49Parallel manipulator, 915Partial pressure, 545, 554Passive elements, 25Passive suspension, 476Pendulum

bob pendulum, 283gyro-pendulum, 308

Pendulus mass, 500Phase transformation, 376Phosphoric acid fuel cells (PAFC), 538Photo emitter, 174Photo resistor, 170, 174PI controller, 560, 562PID, 900Piezo-bar, 177, 352, 356Piezoelectric constants, 346Piezoelectric effect, 345Piezoelectric material constitutive

relations, 347Piezoelectric sensor, 176Pitch plane vehicle model, 73Plane impendance, 283Planetary gear, 459, 530Planetary gear system, 526pn junction, 196Pneumatic actuator, 153Pneumatic suspension, 78Point potential method, 65Polarisation curve, 557Polarization resistance, 374Pole placement, 252Polymer electrolyte, 564Poppet valve, 494Positive displacement pump, 151Potential energy, 28Potentiometer, 168Power-assisted steering, 501

940 Index

Power bondsdefinition, 17, 18

Power density, 557Power direction, 62Power modulator, 276Power split device (PSD), 526Power steering, 501Precision, 622Preferred derivative causality, 49Preferred integral causality, 49Pre-heater, 558Prismatic actuator, 305Prismatic joint, 318Proportional gain, 763Proton exchange membrane fuel cell (PEM-

FC), 538, 564Proximity sensor, 174Pseudo bond graph, 21, 378, 558Pseudo-elasticity, 376Pulse width modulation (PWM), 136PZT, 345

QQuarter car model, 476, 486Quaternion, 315

RRack and pinion, 502, 505

slider crank, 122Randles equivalent circuit, 374Rapson slide, 294Rate valve, 496Reaction advancement coordinate, 542Reaction heat, 568Reaction rate, 541Received data, 897Reconfigurable systems, 6Reconfiguration, 495, 592Regeneration, 500Regenerative braking, 517, 528Regenerative suspension, 485Relative degree, 266, 267, 271, 273R-element, 26Reliable linear quadratic, 844Reluctance, 140, 405, 413Repeatability, 622Residual, 580, 582

evaluation, 580generation, 580sensitivity, 580threshold, 584

Resistance control, 493

Resonant frequency, 490Reversible cell voltage, 556Revolute joint, 285, 287R-field, 158, 512, 547

for heat transfer, 158transistor model, 209

Rigid body acceleration, 641Rigid body dynamics, 95Rigid link, 284RobuCar, 585Robust overwhelming controller, 730Roll pitch and yaw, 309Roll stiffness, 497Root loci, 267Rotation matrix, 310Rotation vector, 308Rotor

internal damping, 416material damping, 416passage through resonance, 424, 425rigid rotor, 396Sommerfeld effect, 415source interaction, 414source loading, 418unbalance response, 420

RS element, 82, 159, 452RS-field, 362, 547, 554, 570

SSample and hold device, 194Scalar bond graph, 93Second law of thermodynamics, 540Self-aligning moment, 441, 502, 512Self-leveling, 499Self-motor, 462Semi-active suspension, 492Semi-automatic transmission, 529Semiconductor diode, 196

current-voltage characteristic, 197forward bias, 196reverse bias, 197saturation current, 198

Sensitivityindex, 600normalized, 600

Sensitivity analysis, 599Sensor, 4, 39Sensor element, 38Sequential probability ratio, 581Seven-body mechanism, 297Shanon’s sampling theorem

Shanon frequency, 274Shape memory alloy (SMA), 376

Index 941

S (cont.)SMA wire, 424

Shift logic map, 536Signal bond, 37Signal conditioning, 5, 180Signal flow graph, 912

branches and gains, 233conversion, 232example, 235forward path, 237loop gain, 237, 249Mason’s gain rule, 236, 249nodes, 233receptors, 234

Simulink, 294Simultaneous localization and mapping, 771Single fault hypothesis, 591Singularity, 621Sky-hook damper, 486Slalom manoeuvre, 474Slider

planar slider, 291three-dimensional slider, 318

Slider-crank, 447Sliding mode control, 514Sliding surface, 515Sliding velocity, 534Slip

lateral slip ratio, 440longitudinal slip ratio, 440slip ratio, 469Tyre slip, 439

Slip angle, 498Slip control, 506, 514Slip-friction curve, 505Slow-active system, 490Smart actuator, 377Software-in-the-loop simulation, 437Solenoid, 403Solenoid actuator, 147

clapper solenoid, 149Solid oxide fuel cell (SOFC), 538, 539Sommerfeld effect, 415Source

effort, 31flow, 31modulated, 32

Source-sensor, 269Space vehicle dynamics, 710Specific enthalpy, 547Specific entropy, 545Speed ratio, 534, 535Spinning top, 315Spool valve, 300, 494, 500, 501

Sprung mass, 477, 487, 495Stabilizer bar, 498State equation, 56State space, 55State-transition matrix, 275Stationary wavelet transform, 875Steer-by-wire, 501Steering, 446

Ackermann steering, 446slalom manoeuvre, 474steering response, 473steering wheel, 447yaw rate controller, 447

Steering column, 504Steering gear, 501Steering linkage, 501, 505Steering wheel, 503Stepper motor, 145

claw pole motor, 146holding torque, 145permanent magnet motor, 146step angle, 145variable reluctance motor, 145

Stewart platform, 909, 915Stick-slip effect, 348Stick-slip friction, 365, 370Stoichiometric coefficient, 541Strain gauge, 175, 177Stress influence coefficient, 382Structural analysis, 256, 271Structural changes, 578Structural controllability, 262, 487Structural equations, 32Structural independence, 583Structural observability, 264Structural rank, 259Supervisory control, 7Suspension system, 444, 474, 498Sweet-spot, 506switch function, 743Switching control, 493System inversion, 913

TTachogenerator, 175Takagi-Sugeno technique, 875Test drive, 928Tetrahedron of state, 387TF-element, 35

modulated, 35transformer modulus, 35transformer orientation, 36

Thermal cracking, 559, 566

942 Index

Thermal expansion, 341Thermodynamics, 155Thermofluid transport, 86Three DOF space robot, 724Throttle valve, 453Timer, 227Tip trajectory error, 735Tire sensor, 506Top, 315Torque control, 761Torque converter, 470, 532, 533Torque ratio, 534, 535Torsion bar, 501, 504Trajectory control, 705, 729Transducer, 162

active, 163passive, 163

Transduction factor, 411Transfer function, 267, 489

forward path, 54from bond graph model, 245, 246from signal flow graph, 236from state space model, 238loop gains, 54Mason’s gain rule, 54

Transformerdefinition, 34

Transformer equivalence, 407Transformer modulus, 35Transistor, 136, 205Transmission control protocol, 871Transmission efficiency, 536Transmitted data, 897Triple phase boundary (TPB), 540, 554True bond graph, 19Turbine, 532Two-force member, 282Tyre

Burckhardt formulae, 441composite slip based formulation, 445cornering coefficient, 441friction model, 441longitudinal stiffness, 440Pacejka’s magic formula, 441self aligning moment, 441tyre forces, 439

UUncertain ARRs

generation, 597Uncertain bond graph, 97Uncertain systems, 595Understeer, 498

Unicausality, 269Unit circle, 275Universal serial port, 874Unsprung mass, 477, 487, 495

VValve timing, 452Vector bond, 84, 93Vector bond graph, 84Vector junction, 93Vehicle

model of four wheel vehicle, 438Vehicle simulator, 926Velocity gain, 763Velocity propagation, 639Virtual foundation, 698, 754Virtual reality, 912Voigt notation, 347

WWet SMA actuator, 378Wheel

model, 444suspension force, 445

Wheel acceleration control, 506Wheel locking, 505Wien bridge oscillator, 201Wireless tool kit, 872Word bond graph, 104Workspace, 622

XXOR gate, 172

YYaw angle, 308, 909Yaw dynamics, 779, 817Yaw motion, 587, 926Yaw rate, 474Yttria stabilized zirconia (YSZ), 539

ZZero-dimensional model, 544Zero dynamics, 272Zero-order causal path, 52Zero-order-hold, 275z-Transform, 274Z-Y-X Representation, 722

Index 943