Modeling And Simulation Of Mechatronic Systems And Software Implementation Based On Bond Graphs

Mechatronic systems play an important role in modern industry. They have been widelyemployed in many fields of engineering. One of the basic works for design and analysis ofmechatronic products is their systems modeling and simulation, and the pivotal point of which is toestablish the mathematic equations for describing their dynamic behavior. The modeling methodcurrently used requires the establishment of a mathematic model of the objects being studied,which not only requires designer of a rich experience in physical modeling, but also the specialknowledge of mechanical, electrical, hydraulic and control engineering. Undoubtedly, these aredifficult and sometimes even not achievable. Therefore, it is a significant work about studying aunified graphical tool for modeling multidisciplinary systems.This thesis studied the application of bond graphs theory and methodology to the modelingand simulation of mechatronic systems, and proposed an energy-based and energy exchangeapproach for modeling dynamic systems including the mechatronic systems. Besides, the samephysical concepts and mathematic formulation widely exist in different domains, such as energysupply, storage, dissipation and constraint, which can be abstracted for generic elements formodeling cross-domain systems based on energy interface method. By studying mechanical andelectrical system modeling based on bond graphs, the thesis concluded the processes on thedynamic behavior modeling and mathematical equations derivation.In software implementation, related improvement of bond graphs method and the concept ofsensor element were firstly presented. And the Matlab Simscape was employed as theprogramming language. By applying Object-Oriented Programming method, an open bond graphslibrary was established for modeling and simulation of physical systems. At last, the application ofSimscape bond graphs library was illustrated through several examples of physical systemsincluding RLC circuit, mass-spring-damping systems and shunt DC motor. With this library, it ispossible to use bond graphs and physical network approach within the same model. The researchresults indicate that the former is more convenient and quick in modeling because of its intuitiveand concise characteristics.