Bond Graph Representations of Hybrid System Models

Borutzky, Wolfgang

doi:10.1007/978-3-319-11860-4_2

Cited by 5 publications

(10 citation statements)

References 26 publications

(26 reference statements)

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“…The professor decided on the bond graph method as a practical graphical tool [31,32] for the modeling subject in the mechatronics engineering faculty University of Debrecen around 2015. First, the bond graph was introduced to MSc students in Control Theory subject, and later we introduced it in undergraduate Basics of Mechatronics (first semester) and Modelling and Simulation subject (fifth semester).…”

Section: Motivation and Problem Statementmentioning

confidence: 99%

Bond-Graph-Based Approach to Teach PID and Sliding Mode Control in Mechatronics

Guo,

Korondi,

Szemes

2023

Machines

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The main contribution of this article is creating synergy between subjects; this means that students use the same graphical tool in several subjects. So far, the bond graph has not been used in control theory, but it is the “native language” of mechatronics engineers, so we would like to introduce it into the teaching of control theory. The bond graph method is proposed as a novel teaching method to teach mechatronics subjects in the paper. The bond graph is a graphical alternative to ordinary differential equations from a mathematical standpoint. Traditionally, control theory employs ordinary differential equations, as they are familiar to control theorists. However, mathematically, both approaches are equivalent but require a slightly different approach in their application. This article highlights the mathematical similarities between the two approaches while emphasizing the distinctions in graphical representation. Another contribution is that the PID and sliding mode controller are represented using the bond graph method. In the meantime, through the use of practical examples, we effectively illustrate how the same problem can be solved using either approach. In the training materials, the PID controller and an adaptive robust sliding mode controller (ARSMC) with the bond graph are utilized as examples to demonstrate synergy in mechatronics. Finally, we present proof that mechatronic engineers achieve superior outcomes when utilizing the bond graph approach, based on test results from undergraduate students.

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Section: Motivation and Problem Statementmentioning

confidence: 99%

Bond-Graph-Based Approach to Teach PID and Sliding Mode Control in Mechatronics

Guo,

Korondi,

Szemes

2023

Machines

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“…Among different graphical modeling methods to represent the physical process of a system, a BG is a description formalism that can be applied in the multidisciplinary dynamic engineering systems from different energy domains such as the mechanical, the electrical, the thermal, and the hydraulic domain [25]. BGs were first used as a modeling tool, and have gradually been extended to solve various challenges, including fault detection and isolation, observability and controllability [26].…”

Section: Related Workmentioning

confidence: 99%

“…Notice that BG software like 20-sim 1 automates this process, and there is no need to generate the equations by hand. Nevertheless, we explain how to write equations with an example in section V. We refer readers to [25], [32] for a detailed description of BG theory and related elements.…”

Section: B Causality Assignment and State Equationsmentioning

confidence: 99%

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Unified IT&OT Modeling for Cybersecurity Analysis of Cyber-Physical Systems

Akbarzadeh

Katsikas

2022

IEEE Open J. Ind. Electron. Soc.

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Cyber-Physical Systems (CPSs) engineering profoundly relies on modeling methods to represent the system and study the operation and cybersecurity of CPSs. The operation of a CPS is the result of the collaboration between Information Technology (IT) and Operational Technology (OT) components. While OT focuses on the system's process physics, the emphasis of IT is on information flow. Consequently, different system models are utilized to study various aspects of CPSs, which may infer different views of the same system. The increasing complexity of CPSs and the high number of cyberattacks against Industrial Control Systems (ICSs) and CPSs in recent years have highlighted the necessity of considering these interrelations based on a unified model to analyze cybersecurity of CPSs. However, the diversity of engineering fields and implicit relations and dependencies between them have made it difficult to integrate the modeling methods towards a unified IT&OT model of CPSs.In this paper, we propose a comprehensive method, based on bond graphs, to model CPS and analyze their cybersecurity. Unlike existing methods, modeling the cyber layer along with the physical layer based on the system flow provides a holistic graphical representation of a CPS, which facilitates collaboration between IT and OT experts.

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“…The conservation of energy dictates that junctions and transformation elements are power preserving elements. [ 19 ] Multiport transformation elements provide an alternative representation. [ 20 ]…”

Section: Introductionmentioning

confidence: 99%

Energy‐Based Abstraction for Soft Robotic System Development

Chun

Taylor

Stokes

2021

Advanced Intelligent Systems

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Soft robots are designed to convert stored energy into useful work done. Typically, the soft robot designer starts from a type of soft actuation technology at a component level, rather than from a systems engineering level. The characteristics of soft actuation technology may apply constraints on the final system. Bond‐graph theory can be used to graphically represent a model of the energy transfer through a system. Top‐level abstraction can be in the form of a word bond‐graph and bond‐graph elements can form a lower component level abstraction. Herein, bond‐graph abstraction is applied to different soft actuators and their essential characteristics are identified from an energy‐based perspective. Several distinct soft actuation technologies are represented using bond‐graph components for each of the key elements: the energy source, the intermediate energy storage, energy dissipation, energy transformation, and the interaction with the environment. By applying this analysis, the soft robot designer is enabled to select the most suitable actuation technology to fulfill their top‐level system requirements independently of the actuation domain. A systems engineering approach to develop soft robotic systems leads to more everyday products that impact our everyday lives.

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Bond Graph Representations of Hybrid System Models

Cited by 5 publications

References 26 publications

Bond-Graph-Based Approach to Teach PID and Sliding Mode Control in Mechatronics

Bond-Graph-Based Approach to Teach PID and Sliding Mode Control in Mechatronics

Unified IT&OT Modeling for Cybersecurity Analysis of Cyber-Physical Systems

Energy‐Based Abstraction for Soft Robotic System Development

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