Bond Graph Research Articles

Bond Graph Modeling of Newton's laws and Collision

Bond Graph Modeling of Newton's laws and Collision

Bond Graph Modeling, Simulation, and Control of Permanent Magnet Linear Synchronous Motor

The high-performance feature of the Permanent Magnet Linear Synchronous Motor (PMLSM) makes it a reliable and valuable motor for use in the automotive industry, especially for electric vehicle (EVs) applications. This research proposes a bond graph approach in modeling the PMLSM as a multi-domain dynamical system. However, A time-based simulation was performed using 20-sim software to simulate the dynamical behavior of the motor. An equivalent model of the motor was first obtained and then modeled and simulated using 20-sim software. The model of the PMLSM drive system was modeled separately and incorporated with PMLSM Motor equivalent model to form a global model. Moreover, the motor drive system response was studied based on the sensor resolutions and the inverter switching frequency. The block diagram and the transfer function methods validated the bond graph model obtained. Two classical PIs such as continuous and discrete were implemented on the motor response to control the velocity of the motor.

Modeling and simulation of the kinematic behavior of the deployment mechanism of solar array for a 1‐U CubeSat

AbstractKinematics of deployable solar array mechanisms in CubeSat satellites have considerable influence on the stability and attitude control of a satellite, especially in low mass systems as CubeSats. One of the issues with the conventional solar panel deployment mechanisms in CubeSats is the speed of its deployment, especially when position‐lock to hold the panels back from oscillation is lacking. The generated oscillation becomes more pronounced in a system equipped with solar tracking unit and thus, reduces available projected area of the panels and causing fatigue at the yoke and panel hinges. This work aims at modeling and simulation of the 1‐U CubeSat solar panel deployment mechanism vibration control using fisher wire. Two‐fold panel deployment mechanism with a rolling sun‐tracking tilt mechanism was developed. The system performance from viewpoint of vibration analysis was evaluated using mass‐spring‐damper method and bond graph techniques. Numerical simulations and experiments were performed to validate the proposed method. The modeling and computational analysis were done with SOLIDWORKS software. The system was tested for vibration and stability using the seismic mass‐spring‐and‐damper arrangement to validate the model. A 3‐D printing was generated and tested to evaluate its vibration performance and its effects during deployment. The result was such that the two panels attached to a wing hinged at Y – and – Y directions deployed slowly and smoothly at approximately 2 s, giving room for the vibration to decay exponentially towards zero. This agrees with reported works where a DC motor was used to control speed of deployment by increasing time to 6.8 s. The simulated and experimental results of the printed model showed close agreement with the theoretical values with an error of 0.03% in energy supply reliability and up to 400% power generation potential when compared to body mounted solar panels with the same satellite specification without a significant impact on system strength and stability.

Energy Harvesting Using a Nonlinear Resonator with Asymmetric Potential Wells

This paper presents the results of numerical simulations of a nonlinear bistable system for harvesting energy from ambient vibrating mechanical sources. Detailed model tests were carried out on an inertial energy harvesting system consisting of a piezoelectric beam with additional springs attached. The mathematical model was derived using the bond graph approach. Depending on the spring selection, the shape of the bistable potential wells was modified including the removal of wells’ degeneration. Consequently, the broken mirror symmetry between the potential wells led to additional solutions with corresponding voltage responses. The probability of occurrence for different high voltage/large orbit solutions with changes in potential symmetry was investigated. In particular, the periodicity of different solutions with respect to the harmonic excitation period were studied and compared in terms of the voltage output. The results showed that a large orbit period-6 subharmonic solution could be stabilized while some higher subharmonic solutions disappeared with the increasing asymmetry of potential wells. Changes in frequency ranges were also observed for chaotic solutions.

Regenerative hydraulic SUSPENSION: Numerical model and Evaluation of Energy Harvesting Potential using bond graphs

ABSTRACT This paper presents a novel nonlinear bond graph model of the regenerative hydraulic suspension system. The model has been developed in a way that closely follows the physical structure of the underlying system. The proposed regenerative hydraulic suspension bond graph model was simulated for the mathematical approximation of E class road profile according to the ISO 2631–1 standard (10 mm and 3.81 Hz excitation parameters). The obtained simulation results show that the proposed regenerative suspension system can effectively isolate vibrations even on a poor road at a relatively high excitation frequency. The reduction of the vehicle chassis velocity relative to the velocity of the input signal is about 62% (for selected simulation parameters). The proposed regenerative hydraulic system can regenerate a maximum electrical power of 23.9 W and an average electrical power of 19.84 W in an electric generator for a 10 s simulation test. This type of device is more practical to use on lower quality roads for the category of heavy vehicles due to the compromise of vehicle driving comfort and useful power regeneration.

Simulation study on the influence of wheel irregularity on the vertical dynamics of wheel–rail interaction for high-speed railway track using bond graph

Dynamic interaction between train wheel and high-speed slab is an important issue when evaluating the contact force at the wheel–rail interface under the influence of an irregularity either on the train wheel or on the rail. In this paper, an influence of amplitude of irregularity along with the vehicle speed on the dynamics of wheel–rail interaction for high-speed railway tracks is being analyzed. For this purpose, single-wheel high-speed railway (HSR) track interaction models are developed using the bond graph modeling technique. The HSR track model consists of two layers of beam, i.e., rail and concrete slab. Both the rail and slab track is modeled using the Euler–Bernoulli beam theory. The Hertzian contact theory at the wheel–rail interface has been considered for this analysis. The vertical dynamic interaction between a train wheel and a high-speed slab track is compiled in the time domain using a bond graph approach coupled with a technique known as modal superposition. Irregularity present on the wheel is characterized as smooth, moderate, and severe depending upon the variation of irregularity amplitude. An expeditious increase of maximum contact force has been observed between the speed range of 200 and 250 km/h. Beyond the speed of 250 km/h, there is a gradual increment of contact force up to its peak value. When the train speed is beyond 288 km/h, there is a gradual decrease in maximum contact force. This kind of several other useful dynamic responses in terms of wheel acceleration and wheel–rail overlap are also evaluated.

Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework

This work addresses the interaction control problem of a fully actuated aerial vehicle considered as a flying end-effector. We tackle the problem using geometrically consistent variable-stiffness impedance control for safe wrench regulation using the concept of energy tanks, where both the modeling and the control are carried out in the port Hamiltonian framework. We exploit previous well-known results in the literature of ground manipulators and extend them to be applied for novel and challenging aerial physical interaction with a focus on quasi-static applications. The energy-awareness of the presented control method guarantees the stability of the aerial robot in both free-flight and in-contact scenarios together with a level of safety in the case of contact-loss with the unknown environment. Furthermore, by utilizing bond graphs we demonstrate how the closed-loop passivity can be graphically conducted. The validity of our proposed approach is shown via several experiments. We also provide several insights on how the proposed framework could be extended to a generic dynamic aerial physical interaction.

Multi-physics modelling of quench in a superconducting magnet using bond graph

Bond graphs are widely used in the modelling of various systems. In this work, we are exploring the idea of using bond graphs to model the event of 'Quench' in a superconducting magnet. Quench is the event where a portion of the magnet turns normal, i.e. resistive. This starts Joule heating at that spot, and the stored energy of the magnet will be deposited at that point. This can lead to temperature rise and high voltage arcs. Here a bond graph model is proposed to study the electrical and thermal domain of the quench event. The model is further used to simulate the quench in a 6T superconducting solenoid magnet, and the results are compared with the results of a commercial quench solver. The results show close agreement with minor variations due to various assumptions taken in both cases. With the case successfully demonstrated, the model can be improved further to simulate more complex magnet systems and can provide a robust and fast method for quench simulation.

An experimentally-verified approach for enhancing fluid drag force simulation in vertical oilwell drill strings

ABSTRACT The oilwell drilling fluid flows cause viscous and hydrodynamic forces on drill strings. This effect is ignored or treated as a constant in most drill string models. The present study introduces mathematical models for lateral vibration damping and axial drag forces that are employable in lumped segment drill string models. First, the variables to which drilling fluid-generated forces are most sensitive were identified and the Response Surface Method was applied to design the experiment matrix. The lateral vibration-damping experiments, which were validated using a scaled-down physical model, and the axial drag experiments were done using Fluid-Structure Interaction simulations. The results were statistically analysed to acquire the models and were implemented in a 3D lumped segment bond graph developed using the Newton-Euler formulation and body-fixed coordinates. The results indicate a considerable effect of the extended treatment of damping and axial drag on bending moment fluctuation, wellbore interactions, and weight on bit.

A quantitative simulation-based conceptual design evaluation approach integrating bond graph and rough VIKOR under uncertainty

Conceptual design evaluation is a vital stage of new product development, which determines the sustainability, safety, quality of the final design, as well as its impact on the production cycle cost and manufacturability. Notwithstanding, pertinent evaluation methods advocate quantifying the subjective assessments of conceptual schemes (CSs) by decision makers (DMs) based on qualitative evaluation objectives, but the lack of physical performance verification of CSs with respect to quantitative objectives, leading to inconsistency between the optimal CS and the actual design requirements. To fill the issue, a quantitative simulation-based CS evaluation approach integrating bond graph and rough VIKOR is proposed. First, the bond elements that satisfy the physical effects corresponding to the realization of the function is obtained by function-effect mapping, and the functional structure is transformed into a bond graph model. Second, the AMESim components that satisfy the mathematical model of the above bond graph model are sought, the simulation model without detailed structural parameters is constructed to realize the simulation analysis of the scheme performance. Third, the rough VIKOR model is used to integrate the simulation data and the subjective assessments for the optimal ranking of CSs under uncertainty. Besides, rough number is introduced to aggregate the evaluation information of multi-DMs to improve the objectivity of decision process. Eventually, a cutting variable-speed device case study is further employed to verify the proposed simulation approach, and comparison results show that the proposed model can provide design decision support for value product development and reduce the waste of design resources through early design verification.

Dynamical analysis of a novel hybrid oceanic tidal-wave energy converter system

One of the current biggest hurdles to harnessing renewable energy resources is their intermittent nature. Hybrid energy conversion minimizes intermittency by diversifying energy production. This work presents a conceptual design of a hybrid energy conversion system for ocean currents and waves on a shared platform: TIWAG (Tidal-Waves Generator). The power converter consists of two turbines and a float, each connected to a Doubly-Fed Induction Generator. We use a detailed bond graph methodology to develop the mechanical and electrical systems’ dynamical modeling and apply a rotation control strategy for the hydrokinetic turbines and float. The system’s operational feasibility is analyzed numerically for different tidal current speeds and wave heights –in loco data collected in São Marcos Bay, on the coast of the state of Maranhão, Brazil. Due to the addition of the float device to the structure with two turbines, the system goes from producing 209.2 kW to 300.7 kW without an increase in the occupied area, converting 32.6% of the available energy in the ocean currents and waves into electrical power. The different energy sources in the system complement one another to reduce intermittency, increasing the stability in energy production by 20%–30%.

Sensor fault diagnosis for uncertain dissimilar redundant actuation system of more electric aircraft via bond graph and improved principal component analysis

This paper develops a sensor condition monitoring method integrating the model-based bond graph (BG) technique and data-driven principal component analysis (PCA) for the dissimilar redundant actuation system of more electric aircraft with uncertain parameters. The uncertain dissimilar redundant actuation system is modeled by BG in linear fractional transformation form. After that, the analytical redundancy relations containing the nominal part and the uncertain part can be derived, based on which the adaptive thresholds and the fault signature matrix (FSM) can be obtained for robust fault detection and fault isolation. To improve the fault isolation performance under the multiple faults condition, a new fault isolation method integrating FSM and improved PCA (IPCA) is developed, where the possible fault set generated from the FSM is further refined by the IPCA module with an improved reconstruction algorithm and cyclic PCA monitoring model to achieve a more efficient fault isolation result. The effectiveness of the proposed approach is validated by simulation investigations.

Toward the use of bond graphs for manufacturing control: improving existing models

Toward the use of bond graphs for manufacturing control: improving existing models

Robust control of a planar snake robot based on interval type-2 Takagi–Sugeno fuzzy control using genetic algorithm

This paper presents trajectory tracking control of a snake robot in the presence of system uncertainty such as disturbances and parameter uncertainties. First, we derive a realistic dynamic model of the snake robot in the framework of the bond graph technique. Next, we present an interval type-2 Takagi–Sugeno fuzzy proportional–derivative (IT2FPD) control scheme, whose parameters are tuned using a genetic algorithm (GA) optimization approach. An improved optimization formulation with randomness is employed for robust near-optimal parameters. Under the assumption that forward velocity of the robot is always positive, we apply the proposed IT2FPD controller to the snake robot model so that the robot can have locomotion along the desired trajectory against uncertainties. To validate the performance of the proposed robot model and control scheme, we conduct in-depth numerical experiments using 20-sim software. Experimental results demonstrate that the snake robot embedded with the IT2FPD controller achieves a straight-line locomotion with the serpenoid gait function despite infiltration of external disturbances and parameter changes.

The Simulation of a Pid Controlled Robotic Drive Based on Bond Graph Modelling

AbstractDuring the study, the simulation of a robotic drive was realised using the 20-sim simulation software. The assumed robotic drive consists of an ideal permanent magnetic DC motor, a gear pair to realise the speed reduction, a torque transfer torsion shaft and a differential gear pair to change the direction and inertia. The drive is controlled by a speed control loop using a PID controller. In line with the purpose and result of the study, the simulation proved the effectiveness of Bond Graph-based modelling.

Energy-based advection modelling using bond graphs

Advection, the transport of a substance by the flow of a fluid, is a key process in biological systems. The energy-based bond graph approach to modelling chemical transformation within reaction networks is extended to include transport and thus advection. The approach is illustrated using a simple model of advection via circulating flow and by a simple pharmacokinetic model of anaesthetic gas uptake. This extension provides a physically consistent framework for linking advective flows with the fluxes associated with chemical reactions within the context of physiological systems in general and the human physiome in particular.

BOND GRAPH BICAUSALITY MODELING THE HYDRAULIC SYSTEM

This papers represents one of the most widely challenging control problems. The most accepted blockdiagrams in automatic control used to describe processes have been replaced by control based on bond graphmodeling. The bond graph model one physical model hydraulic process is presented. The goal of the research is toobtain a model of process with and without knowledge of the mathematical model, which is used to obtain asimulation and prediction model. Due to the feedback effect of the liquid in the pipes (power and flow), a bicausalbond graph was used as the flow source. Bond graphs have a basic concept in their physics - energy that isexchanged through connectors 0 and 1 (ports). Effort e (force, voltage, pressure, etc.) and flow f (current, velocity,volume, etc.) are general physical quantities that are used to analyze the appropriate physical model and descriptionfor bond graph modeling and that very successfully. Bond-graph modeling is a powerful tool for modelingengineering systems, especially when physical domains are involved. Submodels graph can be reused, because linkgraph models are not causal. Connection graphs are labeled and directed graphs, in which vertices representsubmodels and arrows represent the ideal energy connection between power ports. Bond has a direction of strengthand a direction of causality. The assigned computational causality dictates which port variable will be computed asthe result (output) and accordingly, another port variable will be the cause (input). Graphs can be connected to partsof the block diagram, submodels of the connection graph can have power connections, signal inputs and signaloutputs as their interface elements. Aspects such as the physical domain of the connection (energy flow) can be usedto support the modeling process. The research in this work is on obtaining a fast and adequate physical model withgood knowledge of physical changes.

Fault Detection of Landing Gear Retraction/Extension Hydraulic System Based on Bond Graph-Linear Fractional Transformation Technique and Interval Analytic Redundancy Relations

Fault detection in the landing gear retraction/extension hydraulic system is difficult due to uncertainties in component parameters and sensor measurement values. This work lies in the introduction of linear fractional transformation technology and uncertainty analysis theory for the construction of the diagnostic bond graph of the landing gear retraction/extension hydraulic system. Thus, interval analytical redundancy relations can be derived as well as fault signature matrices. By using the fault signature matrix, existing faults can be detected and isolated preliminary. Furthermore, interval analytical redundancy relations can be used to detect system faults in detail. The analysis results of the failure cases of the internal and external leakage of the actuator and landing gear selector valve reversing stuck show that compared to the traditional analytical redundancy relations, this method takes into account the negative factors of uncertainty, so it can effectively reduce missed diagnosis and misdiagnosis; compared to the traditional absolute diagnostic threshold, the interval diagnostic threshold is more accurate and sensitive.

Bond graph model of line-start permanent-magnet synchronous motors

The bond-graph (BG) enables to model multi-physics systems in the energy domains. This paper shows that BG models are an alternative, more intuitive and simpler to interpret, graphical tool as compared to existing dynamic models for performance prediction of the line-start permanent-magnet synchronous motors (LSPMSMs). It includes electrical, magnetic, and mechanical energy domains where the stator windings, rotor bars, and permanent magnets are the main components of the model. The dynamical equations of the proposed BG are extracted and solved using the MATLAB ordinary differential equation solver for a sample LSPMSM. The dynamics of the studied LSPMSM is investigated under two operating conditions (1) a healthy motor and (2) a motor with broken rotor bars. The simulation results are compared with the finite-element analysis (FEA) as the most accurate method to simulate the electric motor behaviour. It is shown that the proposed BG model accurately predicts the performance parameters of the motor such as current, torque, and speed under various operating conditions. In addition to the modelling validation, the transient behavior of the LSPMSM are discussed to describe the possible reasons for its behaviour during transient and steady-state operating conditions.

Optimal Rotary Wind Turbine Blade Modeling with Bond Graph Approach for Specific Local Sites

The wind turbine blade is an important component for harnessing wind energy. It plays a vital role in wind turbine operation. In this work, a study was conducted to investigate the dynamic behavior of an optimal rotary wind turbine blade with a bond graph approach simulated with MATLAB/Simulink. The model is considered as a twisted Rayleigh beam which is made of several sections of the type SG6043 airfoil. This type of airfoil is suitable for low wind conditions, and each section is subjected to aerodynamic loads that are computed using the blade element momentum theory. The bond graph model was developed based on the law of conservation of mass and energy in the systems, and then the model was converted to the MATLAB/Simulink toolbox; results were validated with SG6043 airfoil data and real wind data collected from selected specific sites of Abomsa, Metehara, and Ziway areas in Ethiopia.