Study On Objected-oriented Bond Graph Modeling And Simulation Of Multi-domain Complex Mechatronic System

Complex mechatronic products are often related to many different domains, such as mechanical, control, electronic, hydraulic, pneumatic and software. Their development is a cross domain systematic process, and need multi-domain modeling and simulation. Aiming at this problem, the disseration carried out the research on objected-oriented bond graph modeling and simulation of multi-domain complex mechatronic system.Chapter one first summarizes status in quo of multi-domain modeling and simulation, multi-domain united modeling methods and languages, graph-based multi-domain modeling, and bond graph modeling. Then dicusses existent problems. The research's significance and the contents are put forward.Chapter two introduces the basic theory of bond graph modeling in outline, including the signal definition of bond graph basic element and their physical characteristic and mathematical description in different engineering systems, casual relation of bond graph, basic method and process of deduce state equations from bond graph model.Chapter three researches in depth of object-oriented characteristic of bond graph, the expression mechanism of bond graph element in Modelica, and Modelica implementing of bond graph model. Then based on this, carried out the research of ideas and methods of component based modeling, and promote a component based modeling process.Aiming at the problem of multibody system difficult expression using bond graph, Chapter four systemically promotes the bond graph expression methods of complex mechanical system based on Euler equation of Newtonian mechanics, Lagrange equations of the first kind and Lagrange equations of the second kind. Chapter four also promotes the concepts of vector bond graph, develops the detailed methods and processes for establishing the vector bond graph of multibody systems, to solve the problem of bond graph based united modeling of multi-domain complex mechatronic systems.Chapter five introduces the concept of physical model reduction method MORA and building process of proper model, then researches in depth of physical interpretation of MORA algorithm, and promotes physical interpretation of different reduction situation. Based on this, the chapter improvement the MORA algorithm, and demonstrates via the reduction of bond graph of a slide-crank. After that, the chapter promotes the concept of local activity based on junction structure, explains in detail the process of model transform, reduction, decomposition based on local activity of junction structure, and validates this by the reduction and decomposition of bond...