“Analysis, Modeling and Simulation of Mechatronic Systems using the Bond Graph Method”

Authors: Abozar Alabakhshizadeh, Yousef Iskandarani, Geir Hovland and Ole M. Midtgård,
Affiliation: University of Agder
Reference: 2011, Vol 32, No 1, pp. 35-45.

Keywords: 20-Sim tool, Bond graph, Casual stroke, Dielectric electro active polymers (DEAP), Displacement, Effective force, Effective stroke, Fourth order electrical system, Momentum, Push actuator, State space equations

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.

PDF PDF (1018 Kb)        DOI: 10.4173/mic.2011.1.3

DOI forward links to this article:
[1] Xiao-dong Tan, Jian-lu Luo, Qing Li, Bing Lu and Jing Qiu (2015), doi:10.1631/FITEE.1500011
[2] Hong-Xin Cui, Ke Feng, Huan-Liang Li and Jin-Hua Han (2016), doi:10.1155/2016/6379121
[3] Shangjun Ma, Tao Zhang, Geng Liu and Jipeng He (2017), doi:10.1177/0954406217727631
[4] Zhi Hua Li, Hong Guang Yang, Jun Yu and You Ping Gong (2012), doi:10.4028/www.scientific.net/AMM.201-202.202
[5] Zeliha Kam Kocab çak (2020), doi:10.3139/120.111504
[6] J. Lopez-Martinez, D. Garcia-Vallejo, A. Alcayde, S. Sanchez-Salinas and Francisco G. Montoya (2023), doi:10.1016/j.ymssp.2023.110511
[1] Ashley, S. (2003). Artificial muscles, Scientific American. http://www.scientificamerican.com/article.cfm?id=artificial-muscles.
[2] Benslimane, M., Gravesen, P., Sommer-Larsen, P. (2002). Mechanical properties of dielectric elastomers with smart metallic compliant electrodes, In Proc. of SPIE Int Soc. Opt. Eng. pages 150--157.
[3] Benslimane, M., Kiil, H., Tryson, M. (2010). Dielectric electro-active polymer push actuators: performance and challenges, Polymer International, 5.3:415--421.
[4] Gawthrop, P. Bevan, G. (2007). Bond-graph modeling, IEEE Control Systems Magazine, 27:24--45 doi:10.1109/MCS.2007.338279
[5] Iskandarani, Y. (2008). Mechanical energy harvesting of dielectric electrical activated polymers, Thesis Report, University of Southern Denmark.
[6] Khurshid, A. Malik, M.A. (2007). Bond graph modeling and simulation of impact dynamics of a car crash, In Intl. Bhurban Conf. on Applied Sciences and& Technology, IBCAST. pages 63--67 doi:10.1109/INMIC.2003.1416738
[7] Pedersen, E. Engja, H. (2001). Mathematical modeling and simulation of physical system, Lecture Notes, NTNU, Trondheim.
[8] Pelrine, R., Kornbluh, R., Eckerle, J., Jeuck, P., Oh, S., Pei, Q., Stanford, S. (2001). Dielectric elastomers: generators mode fundamentals and its applications, In Proc. SPIE conference on Electroactive Power Actuators and Devices. San Diego, pages 148--156.
[9] Roman, M., Selisteanu, D., Bobasu, E., Sendrescu, D. (2010). Bond graph modeling of a baker´s yeast bioprocess, In Intl. Conf. on Modelling, Identification and Control.ICMIC. pages 82--87.
[10] Wacker Chemie AG. (2011). Elastosil RT, In Datasheet 625. http://www.wacker.com.
[11] Wissler, M., Mazza, E., Kovacs, G. (2007). Electromechanical coupling in cylindrical dielectric elastomer actuators, Proc. SPIE 6524, 652409 doi:10.1117/12.714946
[12] Wong, Y. Rad, A. (1998). Bond graph simulations of electrical systems, In Energy Management and Power Delivery. Proceedings of EMPD ´98. pages 133--138 doi:10.1109/EMPD.1998.705489

  title={{Analysis, Modeling and Simulation of Mechatronic Systems using the Bond Graph Method}},
  author={Alabakhshizadeh, Abozar and Iskandarani, Yousef and Hovland, Geir and Midtgård, Ole M.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}