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Bond Graph Modeling of Mechatronic Systems

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Intelligent Mechatronic Systems

Abstract

This chapter gives a formal introduction to the bond graph modeling tool for integrated modeling of a mechatronic system whose components belong to several energy domains. The chapter starts with the basic concept of using power exchanged between parts of the system as a unified coordinate system and then it introduces various one-port bond graph elements which represent lumped parameter approximations of system components. Thereafter, various multiport elements to represent the model constraint structure are discussed. The concept of causality is explained from physical and mathematical viewpoints and it is shown how the system equations and block diagram models can be systematically derived from a causalled bond graph model. A step-by-step approach to build models of electrical and mechanical systems is presented with several examples. Later, this chapter also discusses the method to model uncertain parameter systems with the aid of linear fractional transformation. Finally, the chapter concludes with an application example and discussion on automated modeling through commercial software.

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Author information

Authors and Affiliations

  1. Ecole Polytechnique de Lille, Université des Sciences et Technologies de Lille (USTL), bd. Langevin, 59655, Villeneuve D’Ascq CX, France

    Rochdi Merzouki & Belkacem Ould Bouamama

  2. Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, 721302, India

    Arun Kumar Samantaray

  3. Department of Mechanical and Industrial Engineering, Indian Institute of Technology, Roorkee, 247667, India

    Pushparaj Mani Pathak

Authors
  1. Rochdi Merzouki
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  2. Arun Kumar Samantaray
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  3. Pushparaj Mani Pathak
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  4. Belkacem Ould Bouamama
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Correspondence to Rochdi Merzouki .

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Merzouki, R., Samantaray, A.K., Pathak, P.M., Ould Bouamama, B. (2013). Bond Graph Modeling of Mechatronic Systems. In: Intelligent Mechatronic Systems. Springer, London. https://doi.org/10.1007/978-1-4471-4628-5_2

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  • DOI: https://doi.org/10.1007/978-1-4471-4628-5_2

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  • Online ISBN: 978-1-4471-4628-5

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