Abstract
In this Chapter we present some detailed examples of modelling in several
domains using port and port-Hamiltonian concepts, as have been presented in the
previous chapters. We start with the electromechanical domain in Sect. 3.1, while
in Sect. 3.2 it is shown how port-Hamiltonian systems can be fruitfully used for the
structured modelling of robotics mechanisms. In Sect. 3.3, it is show how to model
simple elastic systems either in the Lagrangian and Hamiltonian framework, while,
in Sect. 3.4, an expressions of the models representing momentum, heat and mass
transfer as well as chemical reactions within homogeneous fluids in the port-based
formalism is proposed. To this end, the entropy balance and the associated source
terms are systematically written in accordance with the principle of irreversible thermodynamics.
Some insights are also given concerning the constitutive equations and
models allowing to calculate transport and thermodynamic properties. As it will be
shown, for each physical domain, these port-based models can be translated into
bond-graph models, in the case of distributed as well as lumped parameters models.
Original language | English |
---|---|
Title of host publication | Modeling and Control of Complex Physical Systems |
Subtitle of host publication | The Port-Hamiltonian Approach |
Editors | Vincent Duindam, Alessandro Macchelli, Stefano Stramigioli, Herman Bruyninckx |
Place of Publication | Berlin, Heidelberg |
Publisher | Springer |
Pages | 131-209 |
Number of pages | 79 |
ISBN (Electronic) | 978-3-642-03196-0 |
ISBN (Print) | 978-3-642-03195-3 |
DOIs | |
Publication status | Published - 2009 |
Keywords
- Rigid body
- Entropy production
- Irreversible thermodynamics
- Adsorption column
- Distribute parameter system