Proposition of a modeling method for constrained mechanical systems based on the vector bond graph
01 Apr 1998-Journal of The Franklin Institute-engineering and Applied Mathematics (Pergamon)-Vol. 335, Iss: 3, pp 451-469
TL;DR: In this article, a simple and new representation of mechanical joints by using vector bond graph elements is provided, where the power is conserved and the law of energy conservation is reserved through all elements.
Abstract: Even though the bond graph method was a useful tool in the modeling of physical systems, it has not been adopted for dealing with large mechanical systems in three-dimensional space. Due to the lack of vector concept, there were difficulties when the topology of the system was becoming more sophisticated. In order to deal with constrained mechanical systems by some types of joint using the bond graph terminology, a more effective method has to be devised. Considering the background, this paper provides a simple and new representation of mechanical joints by using vector bond graph elements. Also, force elements are modeled by the bond graph terminology. In the bond graph of this paper, the power is conserved and the law of energy conservation is reserved through all elements. As a result, the paper provides an effective and graphical tool for carrying out three-dimensional constrained mechanical dynamic problems with the vector bond graph.
Citations
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TL;DR: A new procedure for the causality assignment that eliminates the need for converting the bond graphs into scalar forms and provides a systematic way similar to scalar bond graphs to derive the equations of motion directly from the vector bond graphs model.
33 citations
TL;DR: In this article, the first and second laws of thermodynamics are reformulated for mechatronic systems, and as a result three holistic design criteria, namely energy, entropy and agility, are defined.
28 citations
Cites methods from "Proposition of a modeling method fo..."
...This technique was extended to complex mechanical systems in three-dimensional space by introducing multibond (vector bond) graphs [10,11], and it has recently been applied for modeling and design of mechatronic systems [12–15]....
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01 Nov 2008
TL;DR: In this article, a 4-wheels vehicle model capable of reproducing the complete dynamical behavior of a real vehicle is presented, which is applicable to electric or hybrid vehicles where the complete dynamics can be simulated.
Abstract: This work addresses the development of a 4-wheels vehicle model capable to reproduce the complete dynamical behavior. The modeling task is firstly performed by the separated 3-D representation on the Dymola environment of the chassis, suspensions, tires and joints using the library for multi-bond graphs in 3-D mechanics. Secondly, these parts are connected to form the complete vehicle model. The compactness and resemblance with a real vehicle assembling is shown.The main contribution of this paper is to provide a model applicable to electric or hybrid vehicles where the complete dynamics can be simulated. The simulation results obtained illustrate ordinary situations where the inclusion of traction control and ABS are essential for the vehicle safety and stability.
26 citations
Cites background from "Proposition of a modeling method fo..."
...They consist in the utilization of the multi-bond [3][ 4 ][5][6] to represent the power flow between different internal components....
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TL;DR: In addition to greatly simplifying the control system of the robotic leg, using simpler mechanisms with similar behaviour provides a greater insight into the dynamics of the system.
17 citations
TL;DR: In this article, an elaborate extension to a redundant under-actuated three-joint string-tube based finger prosthesis for a partially impaired hand is presented. And the authors systematically explain the dynamics of behavior of the mechanism, interactions at translational and revolute couplings between rigid phalanges, and, string tube based joint actuation principles involved in this class of prosthesis through simulations of the bond graph models.
14 citations
References
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TL;DR: A type of force generator which can respond to general feedback signals from a vibrating system in order to control the vibration but which does not require the power supply of a servomechanism is described.
Abstract: A type of force generator which can respond to general feedback signals from a vibrating system in order to control the vibration but which does not require the power supply of a servomechanism is described. Computer simulation studies show that performance comparable to that of fully active vibration control systems can be achieved with the semi-active type of device. Physical embodiments of the concept are discussed and compared to hardware used in active and passive vibration control systems.
1,315 citations
TL;DR: A unified method for handling the mixed differential and algebraic equations of the type that commonly occur in the transient analysis of large networks or in continuous system simulation is discussed.
Abstract: A unified method for handling the mixed differential and algebraic equations of the type that commonly occur in the transient analysis of large networks or in continuous system simulation is discussed. The first part of the paper is a brief review of existing techniques of handling initial value problems for stiff ordinary differential equations written in the standard form y' f(y, t) . In the second part one of these techniques is applied to the problem F(y, y', t)=0 . This may be either a differential or an algebraic equation as \partial F/ \partial y' is nonzero or zero. It will represent a mixed system when vectors F and y represent components of a system. The method lends itself to the use of sparse matrix techniques when the problem is sparse.
636 citations
Book•
01 Jan 1983
TL;DR: The SYSKIT is a linear system software toolkit that contains a highly integrated set of programs with applications to system dynamics, controls and vibrations.
Abstract: From the Publisher:
The SYSKIT is a linear system software toolkit that contains a highly integrated set of programs with applications to system dynamics,controls and vibrations. It includes file management,a time processor for eigenvalue and time response,a conversion module for vibrations,a frequency domain module for frequency response and root locus,and output display modules for time,frequency,and root locus data.
435 citations
TL;DR: In this paper, a semi-active dampers in the form of rapidly modulated hydraulic shock absorbers have been used for example in automobile suspensions to achieve some of the benefits of fully active servo-mechanism systems but with much reduced cost and complexity.
Abstract: Electronically controlled vibration isolation and control systems have recently reached at least the prototype phase in a number of fields of application. Of particular practical interest are semi-active systems which require very little actuator power. Semi-active dampers in the form of rapidly modulated hydraulic shock absorbers have been used for example in automobile suspensions to achieve some of the benefits of fully active servo-mechanism systems but with much reduced cost and complexity
142 citations