nalysis, Modeling and Simulation of Mechatronic Systems using the Bond Graph Method

Abstract

The Bond Graph is the proper choice of physical system used for: (i) Modeling which can be applied to systems combining multidisciplinary energy domains, (ii) Analysis to provide a great value proposition for finding the algebraic loops within the system enabling the process of troubleshooting and eliminating the defects by using the proper component(s) to fix the causality conflict even without being acquainted in the proper system, and (iii) Simulation facilitated through derived state space equations from the Bond Graph model is solved using industrial simulation software, such as 20-Sim, www.20sim.com.The Bond Graph technique is a graphical language of modeling, in which component energy ports are connected by bonds that specify the transfer of energy between system components. Following a brief introduction of the Bond Graph methodology and techniques, two separate case studies are comprehensively addressed. The first case study is a systematic implementation of a fourth order electrical system and conversion to mechanical system while the second case study presents modeling of the Dielectric Electro Active Polymer (DEAP) actuator. Building the systematic Bond Graph of multifaceted system and ease of switching between different domains are aims of the first case study while the second study shows how a complex mechatronic system could be analyzed and built by the Bond Graph. The respective Bond Graphs in each case is evaluated in the light of mathematical equations and simulations. Excellent correlation has been achieved between the simulation results and proper system equations.

Bond graph-based dynamic model of planetary roller screw mechanism with consideration of axial clearance and friction

“…In the bond graph method, power consists of two variables, which are known as the generalized effort and generalized flow and are denoted by e and f , respectively. 18 The power flowing into a bond is defined as the product of an effort variable and a flow variable. In Figure 4, the f i (i=1-4) are the flow variables of each bond and the e i (i=1-4) are the effort variables of each bond; u 1 and u 2 are a pair of Boolean variables, which determine the work state of the corresponding bond.…”

“…Besides, models such as friction, clearance, and load distribution of threads based on bond graph theory are highly efficient and scalable. 15 Karam and Mare 16 developed an accurate model based on the bond graph approach to simulate the mechanical power transmission within inverted PRSM EMAs, thereby directing particular attention to friction, compliance, and inertia effects. Their paper focused on a system-level model of the mechanical power transmission in an inverted PRSM EMA.…”

Response Characteristics Analysis and Optimization Design of Load Sensing Variable Pump

“…The common methods to analysis the hydraulic pump are analytic method [17,18], state space method [19], and bond graph method [20]. In this paper, the analytic method is used to build the dynamic model of the load sensing pump.…”

A concise modeling methodology and its application in thermal system

“…However, in some cases, the derivation process of certain kind mathematical model of the system is slightly burdensome. Because of the capability of circuit network modeling methodology in directly obtaining the mathematical model in format of transfer function of the circuit system by observing the circuit diagram, and the simplicity of bond graph method in depicting the bond graph of thermal system, in addition with the achievement of successful conversion of different system elements with the same characteristics as shown in reference [10], it becomes very convenient for us to firstly depict the bond graph of thermal system, then transform it into its equivalent circuit diagram, and ultimately derive the mathematical model of thermal system by utilizing circuit network modeling methodology and vice versa. Furthermore, it has been demonstrated that the aforementioned modeling method can also be applied to the modeling of mechanical translation system [11], mechanical rotation system [12] and hydraulic system [13].…”

“…For instance, reference [3] is about modeling of analogue circuits, reference [4] is about modeling of hydraulic system, references [5][6] are about the pseudo bond graph models of thermal system, references [7][8] introduce some bond graph modeling examples of thermal systems and references [9][10] are about the application of bond graph modeling method in multiple energy domains. All the above studies have illustrated that the bond graph modeling method is a very effective modeling tool.…”