A bond graph approach to the modeling of general multibody dynamic systems

Cho, Whang

doi:10.1007/bf02945556

Cited by 2 publications

(2 citation statements)

References 15 publications

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“…[13][14][15] Moreover, bond graph models of complex multibody systems such as an IAV can be represented in a very concise and revealing form by using the multi bond graph representation. 16,17 Bond graph modelling is also suitable for fault detection and isolation of complex systems. 18 The causal and structural properties of the bond graph 19 can be analysed to determine not only the control theoretic properties such as controllability and observability, etc.…”

Section: Introductionmentioning

confidence: 99%

Design and validation of a reconfiguration strategy for a redundantly actuated intelligent autonomous vehicle

Bera

Bouamama

Samantaray

2012

Proceedings of the Institution of Mechanical Engineers, Part I:

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This paper deals with the reconfiguration of an intelligent autonomous vehicle that utilizes an automatic navigation method and online supervision system and thus can be used to improve the safety, traffic management and space optimization inside the confined space of a port. The bond graph model of the vehicle's dynamic system is developed in a modular and hierarchical modelling environment. An over-actuated intelligent autonomous vehicle with redundant actuators has four independent driven wheels, four independent braking wheels and a four-wheel steering system. This vehicle can be safely operated with appropriate control law restructuring even when some of its actuators are unusable due to a fault. For actuator fault detection, analytical redundancy relations, which are constraint relations that describe nominal system behaviour and are written in terms of the measured system variables, are derived from the bond graph model. Analytical redundancy relations are continuously evaluated to generate residual signals and the symptoms in these signals are monitored for actuator fault detection and isolation. Once one or more actuator faults are isolated, the system is reconfigured via the selection of an appropriate operating mode to prevent critical or accidental situations. This procedure is validated by considering a fault scenario with two reconfiguration options.

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Section: Introductionmentioning

confidence: 99%

Design and validation of a reconfiguration strategy for a redundantly actuated intelligent autonomous vehicle

Bera

Bouamama

Samantaray

2012

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Moreover, they have been recently used for various hardware-in-the-loop simulations and virtual reality applications [18,19]. Modelling of the multibody system dynamics is simplified in the Bond graph environment [20]. Bond graph representation of multibody systems with kinematic loops has been developed in reference [21].…”

Section: Introductionmentioning

confidence: 99%

Robust overwhelming control of a hydraulically driven three-degrees-of-freedom parallel manipulator through a simplified fast inverse model

Bera

Samantaray

Karmakar

2010

Proceedings of the Institution of Mechanical Engineers, Part I:

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An overwhelming controller-based implicit system inversion scheme is proposed in this work to control a hydraulically driven planar (three-degrees-of-freedom) parallel manipulator. The physical model-based design of the controller is developed by using bond graphs. The electro-hydraulic actuator in the leg is modelled by including the dynamics of the servo-valve and the cylinder. A leg-space force-feedback controller is proposed for controlling the hydraulic pressures acting on the pistons of the actuators. The objective is to develop a fast inverse model which is suitable for real-time implementation in the controller. It is shown that an approximate inverse model which correctly represents the kinematics of motion but has incorrect representation of inertias is sufficient for the controller design because of the high feedback gains used in the overwhelming control strategy. This controller, based on the approximate simple inverse model, generates the right driving forces for the actual system whose model is much more complicated and uncertain. Finally, the controller design for a planar vehicle simulator is considered as an example and the corresponding simulation results are used to validate the robustness of the model-based overwhelming controller to the modelling uncertainties.

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A bond graph approach to the modeling of general multibody dynamic systems

Cited by 2 publications

References 15 publications

Design and validation of a reconfiguration strategy for a redundantly actuated intelligent autonomous vehicle

Design and validation of a reconfiguration strategy for a redundantly actuated intelligent autonomous vehicle

Robust overwhelming control of a hydraulically driven three-degrees-of-freedom parallel manipulator through a simplified fast inverse model

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