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    Reading: KMR Chapter 4: Cleveland State University

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    Henrique Campos de Oliveira
    This document discusses different methods for constructing bond graphs to model mechatronic systems. It covers construction methods for electrical circuits, translational mechanics, fixed-axis rotation, hydraulic circuits, and transducers. The focus is on modeling electrical, mechanical, hydraulic, and mixed systems using bond graphs and following construction guidelines for different energy domains. Transducers are also discussed as multiports that couple different energy domains using gyrators and transformers.

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    Reading: KMR Chapter 4: Cleveland State University

    Uploaded by

    Henrique Campos de Oliveira
    37 views8 pages
    This document discusses different methods for constructing bond graphs to model mechatronic systems. It covers construction methods for electrical circuits, translational mechanics, fixed-axis rotation, hydraulic circuits, and transducers. The focus is on modeling electrical, mechanical, hydraulic, and mixed systems using bond graphs and following construction guidelines for different energy domains. Transducers are also discussed as multiports that couple different energy domains using gyrators and transformers.

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    Mce503 6 Hand

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    This document discusses different methods for constructing bond graphs to model mechatronic systems. It covers construction methods for electrical circuits, translational mechanics, fixed-axis rotation, hydraulic circuits, and transducers. The focus is on modeling electrical, mechanical, hydraulic, and mixed systems using bond graphs and following construction guidelines for different energy domains. Transducers are also discussed as multiports that couple different energy domains using gyrators and transformers.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    37 views8 pages

    Reading: KMR Chapter 4: Cleveland State University

    Uploaded by

    Henrique Campos de Oliveira
    This document discusses different methods for constructing bond graphs to model mechatronic systems. It covers construction methods for electrical circuits, translational mechanics, fixed-axis rotation, hydraulic circuits, and transducers. The focus is on modeling electrical, mechanical, hydraulic, and mixed systems using bond graphs and following construction guidelines for different energy domains. Transducers are also discussed as multiports that couple different energy domains using gyrators and transformers.

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    Attribution Non-Commercial (BY-NC)
    Download as PDF, TXT or read online from Scribd
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    MCE503: Modeling and Simulation of Mechatronic Systems

    Lecture 6: Bond Graph Construction Methods


    Reading: KMR Chapter 4

    Cleveland State University Mechanical Engineering Hanz Richter, PhD

    MCE503 p.1/15

    Introduction Temporarily ignore causality and concentrate on model structure. Simple bond graphs can be obtained by inspection. More complex graphs are better handled by a construction method. The construction method results in a non-minimal bond graph. Reduction needed. Focus will be on electrical, mechanical, hydraulic and mixed models.

    MCE503 p.2/15

    Electrical circuits and networks by inspection


    Electrical circuits use 0, 1, C, I, R, Se and Sf . Electrical networks connect several circuits with GY and T F . Correspondence btw R, C and I and physical components is direct. Use 0 for common voltage and 1 for common current junctions. May not be obvious in some cases. Direct half arrows toward R, C and I and away from sources. Ambiguous power directions are assigned arbitrarily.

    MCE503 p.3/15

    Example: KMR Fig. 4-2

    MCE503 p.4/15

    Circuit construction method


    Include a 0-junction for each distinct voltage node. Insert a 1 between 0 junctions and attach the correspoding element (R, C or I) Assign power directions. Use thru-power for 0-1-0 sections. Delete explicit ground potentials and their bonds. If no explicit ground potentials are present, chose any 0-junction and delete it together with its bonds. Simplify mutilated 0s and 1s that have through powers. If opposite half arrows are present in such a junction, dont delete it (why?)

    MCE503 p.5/15

    Examples: KMR Probs. 4-1 (h), Figs. 4-9, 4-10

    MCE503 p.6/15

    Translational mechanics by inspection Similar guidelines as for electrical case. Use 0 for common force and 1 for common velocity junctions. Velocities must be dened with respect to inertial frame of reference.

    MCE503 p.7/15

    Example: KMR Fig. 4-13

    MCE503 p.8/15

    Mechanical translation construction method


    Include a 1-junction for each distinct velocity node. Insert a 0 between 1 junctions and attach the appropriate force generator (C and R). Attach inertias directly to corresponding 1-junctions. Delete all zero-velocity 1-junctions together with their bonds. Simplify mutilated 0s and 1s that have through powers. If opposite half arrows are present in such a junction, dont delete it.

    MCE503 p.9/15

    Example: KMR Fig. 4-15, 4-17 Note the loop equivalence simplication technique Follow the examples of Figs. 4-16, 4-18 on your own

    MCE503 p.10/15

    Fixed-axis rotation construction method


    Include a 1-junction for each distinct angular velocity. Insert a 0 between 1 junctions and attach the appropriate force generator (C and R). Add sources. Attach inertias directly to corresponding 1-junctions. Add linear-rotational velocity constraints (v = wr) Delete all zero-velocity 1-junctions together with their bonds. Simplify mutilated 0s and 1s that have through powers. If opposite half arrows are present in such a junction, dont delete it.

    MCE503 p.11/15

    Example: KMR Fig. 4-22

    MCE503 p.12/15

    Hydraulic circuit construction method


    Include a 0-junction for each distinct pressure. Insert a 1 between 0 junctions and attach the appropriate elements. Assign power directions. Dene all pressures with respect to a reference. Delete the reference 0-junction together with its bonds. Simplify mutilated 0s and 1s that have through powers. If opposite half arrows are present in such a junction, dont delete it.

    MCE503 p.13/15

    Example: KMR Figs. 4-23, 4-24

    MCE503 p.14/15

    Transducer models
    Transducers are multiports which may have different energy domains at the ports. Typical devices: hydraulic pumps and motors, electric motors and generators. Coupling is typically introduced with gyrators and transformers. Construction of a large system bond graph is done from smaller, pre-packaged blocks. Software can treat smaller blocks as new multiports (object-oriented). Please read KMR Sections 4.4 and 4.5 carefully. Follow the example of Fig. 4-28.

    MCE503 p.15/15

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