Simulation methods of rigid holonomic multibody systems with bond graphs

Abstract

Bond graph software can simulate bond graph models without the user needing to manually derive equations. This offers the power to model larger and more complex systems than in the past. Multibond graphs (those with vector bonds) offer a compact model which further eases handling multibody systems. Although multibond graphs can be simulated successfully, the use of vector bonds can present difficulties. In addition, most qualitative, bond graph–based exploitation relies on the use of scalar bonds. This article discusses the main methods for simulating bond graphs of multibody systems, using a graphical software platform. The transformation between models with vector and scalar bonds is presented. The methods are then compared with respect to both time and accuracy, through simulation of two benchmark models. This article is a tutorial on the existing methods for simulating three-dimensional rigid and holonomic multibody systems using bond graphs and discusses the difficulties encountered. It then proposes and adapts methods for simulating this type of system directly from its bond graph within a software package. The value of this study is in giving practical guidance to modellers, so that they can implement the adapted method in software.

Simulation of the Dynamics of the 3-CRS Parallel Robot with a Bond Graph Approach

“…In this paper, the aim is to develop a modeling framework of mechatronic robots with a systematic, structural and modular approach. This work is an extension of the work done in [16,17] by the use of a more formalized and flexible library.…”

“…Multibody systems methods have been reviewed in [23]. Practical modeling guidelines for multibody systems with bond graph have been formalized in [17]. In the past, few complex robots were simulated because the equations had to be manually derived from bond graph.…”

“…Rigid bodies and kinematic joints can be modeled beforehand as objects and form a library. The BG models of the rigid bodies and the kinematic joints are detailed in [17]. This library can then be used to model complex MBS by assembling the models of bodies and kinematic joints.…”

Bond graph modeling and multi-body dynamics of a twin rotor system

“…Also, by placing a pad ( R -1- C ) instead of junction joint torque ( T ij ) and viscous damping ( R ij ), the joint can be converted into a rigid joint. 51 The same principle of applying and/or relaxing constraints can be used to model other types of joints, such as spherical and sliding joints.…”

A novel fault-tolerant control strategy based on inverse bicausal bond graph model in linear fractional transformation

“…The BG approach is a multidisciplinary and unified tool based on the graphical representation of the energetic analogy between the physical domains and power exchanges within the components of the system. 22 It has been extensively exploited for dynamical modeling, 23,24 for Robust FDI, [25][26][27][28] and fault estimation. 29,30 Due to its properties, BG has been used in the last decade for the FTC and failure prognosis tasks.…”