Physical model-based inversion in control systems design using bond                     graph representation Part 1: Theory

Ngwompo, Roger F.; Scavarda, Serge; Thomasset, Daniel

doi:10.1243/0959651011540888

Cited by 31 publications

(36 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Definition2 (Ngwompo et al 2001) A causal path between two variables is a set of variables successively connected according to the causality assignment.…”

Section: Model Inversion: Preliminary Resultsmentioning

confidence: 99%

“…If a non-solvable causal cycle remains in the model then we can not conclude on the system invertibility. (Ngwompo et al 2001). In this case, a modification of the system structure can be an adequate solution to synthesize a system with a bond graph model verifying the invertibility condition (For example, adding an action chain).…”

Section: Model Inversion: Preliminary Resultsmentioning

confidence: 99%

See 1 more Smart Citation

On The Role Of Essential Orders On Feedback Decoupling And Model Inversion: Bond Graph Approach

Feki¹,

Loreto²,

Bideaux³

et al. 2008

ECMS 2008 Proceedings Edited By: L. S. Louca, Y. Chrysanthou, Z. Oplatkova, K. Al-Begain

View full text Add to dashboard Cite

The essential orders have an important role in the study of the systems decouplability as well as in the inverse model characterization. The aim of this paper is first to define essential orders on the bond graph model. Secondly, static and dynamic decoupling by bond graph approach is discussed and the dynamic extension order is defined. Finally, the dynamic compensation is physically located on the bond graph model and an approach to synthesize a model statically decouplable is suggested in order to define an adequate structure to the control requirements.

show abstract

“…Definition2 (Ngwompo et al 2001) A causal path between two variables is a set of variables successively connected according to the causality assignment.…”

Section: Model Inversion: Preliminary Resultsmentioning

confidence: 99%

Section: Model Inversion: Preliminary Resultsmentioning

confidence: 99%

On The Role Of Essential Orders On Feedback Decoupling And Model Inversion: Bond Graph Approach

Feki¹,

Loreto²,

Bideaux³

et al. 2008

ECMS 2008 Proceedings Edited By: L. S. Louca, Y. Chrysanthou, Z. Oplatkova, K. Al-Begain

View full text Add to dashboard Cite

show abstract

“…In particular the use of non-linear modelling and control system design will be investigated. Once again, the bond graph approach can be used not only for modelling and control design but also for actuator sizing [31][32][33]. Virtual sensors.…”

Section: Discussionmentioning

confidence: 99%

Bond-graph based substructuring of dynamical systems

Gawthrop

Wallace

Wagg

2005

Earthquake Engng Struct. Dyn.

View full text Add to dashboard Cite

SUMMARYA bond graph approach to hybrid simulation of dynamical systems using numerical-experimental realtime substructuring is presented. The bond graph concepts of a virtual junction and a virtual actuator, hitherto used in the context of physical-model based control, are used to perform the substructuring in an intuitively appealing way. The approach is illustrated by the reworking of a previously-published example.The approach is veriÿed experimentally using a bench-top multiple mass-spring system for the physical substructure and automatically generated real-time code is used to implement the numerical substructure.

show abstract

“…Thus F q should be the coordination control input. The corresponding inverse dynamics (with inputĖ and the output F q ) obtained using bicausal bonds [17], [18] suggests the coordination control law: PSfrag replacements…”

Section: A Coordination Control Designmentioning

confidence: 99%

Bond Graph Based Approach to Passive Teleoperation of a Hydraulic Backhoe

Krishnaswamy

2005

Journal of Dynamic Systems, Measurement, and Control

View full text Add to dashboard Cite

Human operated, hydraulic actuated machines are widely used in many high-power applications. Improving productivity, safety and task quality (eg. haptic feedback in a teleoperated scenario) has been the focus of past research. For robotic systems that interact with the physical environments, passivity is a useful property for ensuring safety and interaction stability. While passivity is a well utilized concept in electromechanical robotic systems, investigation of electrohydraulic control systems that enforce this passivity property are rare. This paper proposes and experimentally demonstrates a teleoperation control algorithm that renders a hydraulic backhoe / force feedback joystick system as a two-port, coordinated, passive machine. By fully accounting for the fluid compressibility, inertia dynamics and nonlinearity, coordination performance is much improved over a previous scheme in which the coordination control approximates the hydraulic system by its kinematic behavior. This is accomplished by a novel bond graph based three step design methodology: 1) energetically invariant transformation of the system into a pair of "shape" and "locked" subsystems; 2) inversion of the "shape" system bond graph to derive the coordination control law; 3) use of the "locked" system bond graph to derive an appropriate control law to achieve a target "locked" system dynamics while ensuring the passivity property of the coordinated system. The proposed passive control law has been experimentally verified for its bilateral energy transfer ability and performance enhancements.

show abstract

Physical model-based inversion in control systems design using bond graph representation Part 1: Theory

Cited by 31 publications

References 10 publications

On The Role Of Essential Orders On Feedback Decoupling And Model Inversion: Bond Graph Approach

On The Role Of Essential Orders On Feedback Decoupling And Model Inversion: Bond Graph Approach

Bond-graph based substructuring of dynamical systems

Bond Graph Based Approach to Passive Teleoperation of a Hydraulic Backhoe

Contact Info

Product

Resources

About