Modal analysis of inwheel motordriven electric vehicle. Longterm bond yields declined from a high of nearly 15% in 1981 to 7% by the end of the century, leading to higher. The procedure to derive these equations is covered by bond graph software like enport rosenberg, 1974. This package is based around the graph layout tools tikz and pgf. Based on the bond graph model, modal analysis was carried out to study the vibration characteristics of the electric vehicle. Broenink objectoriented modeling with bond graphs and modelica icbgm99, part of wmc99, jan 1720, san francisco pag 2 of 6 models can have submodels that can have submodels themselves. Relation to bond graph theory it is possible to point out the relation of such a representation of the behavior of a reality to the bond graph theory. Electrical power analysis using the scattering bond graph. Example damped massspring system a real car wheel suspension and b onefourth. N2 is tooth ratio of the rack and pinion system m is a motor and j is an inertia of rotating disk attached to the motor re rack and pinion. Schematic full car model 5 download scientific diagram. Model of a simple electrical rlc circuit consisting of a resistor, an inductor, and a capacitor is taken.
Fuzzy logic control for half car suspension system using. Studies of compatible software tools for abstract and concrete design of mechatronic. The bond graph method is a graphical approach to modeling in which component energy ports are connected by bonds that specify the transfer of energy between system components. In other words, for both structure and behavior description a unique notation is used. In a 1994 paper by elbeneiry and karnopp 2, the stochastic linear quadratic gaussian lqg regulator is implemented as an optimal controller for a bond graph quarter car model. In this paper the method of generation of state equations system is discussed. Bond graph methodology addresses fundamentals, as well as advanced topics, e. Moreover, the notations of causality provides a tool. Clearly, as with other graphical modelling paradigms, bond graph models can be developed in a hierarchical combined topdown and bottomup approach by using component models or elements from model libraries. Bond graphs modeling of suspension download scientific diagram. Bond graph modelling and simulation of mechatronic. Clearly, as with other graphical modelling paradigms, bond graph. Half a billion investment in uks northern powerhouse to. A half car vibration model of an electric vehicle driven by rear inwheel motors was developed using bond graph theory and the modular modeling method.
The universal bond graph modeling preprocessor for dynamic and mechatronics systems campg computer aided modeling program with graphical input is a model generator, which takes the topological description of a physical system model described by a bond graph, and transforms it into a dynamic simulation model in source code form. Now, if every bond of a causal bond graph is replaced by two signal arrows of opposite direction, then apparently, the bond graph can be transformed into a block diagram as it is common in control engineering. Simulating coupled longitudinal, pitch and bounce dynamics of. A new optimum frequency controller of hybrid pumping system. Bond graph basics the bond graph technique for dynamic systems modeling is based on energy as a \common currency between di erent domains, such as mechanical, electrical, uid, thermal. The library support xml input and output of the bond graph structure. The bondgraph modeling of the equivalent rl and rc circuits in the modeling of the equivalent electrical circuit of an. The rapid growth of gnulinux in recent years has focused attention on free and open source software. In both cases 1, 2 the active suspension system has reduced the. Model construction, simulation, control design and evaluation can therefore. In the vector form, they give concise description of complex systems. A bond graph is a graphical representation of a physical dynamic system. Quarterhalffull car models for passive suspension with. A bondgraph model of quarter car with driver seated on a.
Simulation of electrical system using bond graphs and matlab. Onehalf vehicle suspension parameters for simulation work. In certain cases, researchers have considered a full car model as four quarter car models or two half car models, then coupled the models, and finally extended the results. The half arrow pointing towards r means that the power i. Consequently, it is here the effort variable that must get the negative sign. Broenink objectoriented modeling with bond graphs and modelica icbgm99, part of wmc99, jan 1720, san francisco pag 2 of 6 models can have submodels that can have. Mtt comprises a set of tools for modelling dynamic physical systems using the bondgraph methodology and transforming these models into. Modeling and simulation of dynamic systems using bond graphs. For this transformation, there is a systematic procedure, which is presented here. Modeling and simulation of dynamic half car using bond graph. Also paper 6 illustrates the results for quarter, half as well as full car model based on bond graph model.
The bond graph symbol for the resistive element is shown below. The corresponding bond graph of the msd shown in figure 2. The modelica association modelica 2006, september 4 th 5560 table 2. Simulation of mechanical system with two degrees of. Automobiles continue to be central present day human activities and literature exists on.
These tools use, and generate m files for, gnu octave. Draw a complete bond graph of an electric hydraulic lift system below. The universal bond graph modeling preprocessor for dynamic and mechatronics systems campg computer aided modeling program with graphical input is a model generator, which. The model provides the ability to interface the test cell directly with models that are used in the design stage.
The implementation of the conjugated back connection for the complementary power variable effort or flow will be done automatically via software background. There is the line that joins element a to element b. Modeling and simulation of dynamic systems using bond. Bond graph basics the bond graph technique for dynamic systems modeling is based on energy as a \common currency between di erent domains, such as mechanical, electrical, uid, thermal, acoustic, etc. Bond graph modelling and simulation of multidisciplinary. Analytical solutions of motion equations of railway car, determination of bazic. First, a multidisciplinary modeling language, bond. Symbol software is used for simulating the bond graph model of vehicle at variable operating speeds. The modelica multibond graph library dirk zimmer and francois e. These bondgraph models will be interconnected as submodels in the final bondgraph model.
Mtt model transformation tools is, as far as the authors are aware, the only open. Campg computer aided modeling program with graphical input is a model generator, which takes the topological description of a physical system model described by a bond graph, and. The work shows the use of bond graph formalism for modeling dynamic systems. Bond graph dynamic modeling and stabilization of a quad. The exposed scattering bond graph analysis represents an alternative to the classical phasor analysis. In bond graphs of thermal systems, the thermal port of a c element is attached directly to the 0junction of an absolute temperature. The problem of visualizing the reactive power in a bond graph was resolved. There is a half arrow that indicates that power flows either from a to b or from b to a and. Bond graph symbol this symbol represents the dynamics between two components of a dynamic system.
Mathematical modeling of physical systems the sliding mass model we are now ready to look at the model of a sliding mass. The procedure to derive these equations is covered by bond graph software like enport rosenberg, 1974, ms1 lorenz, 1997, camp granda, 1985, and 20sim broenink, 1990, 1995, 1997, 1999. The perspective of the well known concept of active and reactive power in electrical systems is addressed in this paper. Quarterhalffull car models for passive suspension with pid. A new optimum frequency controller of hybrid pumping. It is similar to a block diagram or signalflow graph, with the major difference that the arcs in bond graphs represent bidirectional exchange of physical energy, while those in block diagrams and signalflow graphs represent unidirectional flow of. The paper focuses on the presentation of a graphical modeling method named a bond graph method that is applicable to various dynamic systems such as. May 23, 20 this chapter aims to introduce the basic concepts of hybrid systems and some existing tools for modeling hybrid systems.
This chapter aims to introduce the basic concepts of hybrid systems and some existing tools for modeling hybrid systems. Replace each half arrow connection by one visible connection drawn by the standard editor, presenting optionally a flow or an effort connection. Jan 22, 2020 the bond market entered the 21st century coming off its greatest bull market. Some manipulation techniques are demonstrated and its place in the process of modeling of.
Typical examples for combined functionalities are the energy storage block choice of i or c type or the node block choice of 0 or 1 type. However, not every block diagram can be converted into a bond graph. A bond is a cut set which does not contain any oth. It allows the conversion of the system into a statespace representation.
The optimal control method, which is used to tune the active suspension system, is implemented in the. Power, the rate of energy transport between components, is the universal currency of physical systems. Development of computational model of half car through bond. Now, if every bond of a causal bond graph is replaced by two signal arrows of opposite direction, then apparently, the bond graph can be transformed into a. Every bond, or connection between two elements in a bond graph, is associated with an e ort and a.
A bond graphs model is composed of one or a combination of the following basic elements. The paper focuses on the presentation of a graphical modeling method named a bond graph method that is applicable to various dynamic systems such as mechanical, electrical, hydraulic, thermal, chemical and magnetic or a combination of these named hybrid systems or multidisciplinary systems. Longterm bond yields declined from a high of nearly 15% in 1981 to 7% by the end of the. Bond graph modelling and simulation of mechatronic systems an. As an example a electrical model is solved by this approach at the level of its physical behavior. Model construction, simulation, control design and evaluation can therefore be done. Vehicle dynamics, bonds and laterality researchgate, the professional. Software did not request causalities to be specified, and it transformed. Given that bi, ba are friction constants of bearings k is twisting constant of the rotating rod n. The block diagram and equations of state of the bond graph. Mtt model transformation tools is, as far as the authors are aware, the only open source project related to bond graphs. Some manipulation techniques are demonstrated and its place in the process of modeling of dynamic system behavior is discussed. Bondgraph is a portrayal of exchange of power between various. The is the first bond graph modeling and simulation software written in the early seventies by prof.
Bond graph modeling of automotive suspension system. The equations of the models are described noncausally, i. Simulations are performed using commercial software that allows hybrid bond graph and block diagram models. Bond graphs are related to model equations, but there may be many different choices of equations to represent a given model. In a bond graph formulation of the pmdc motor, a power bond is used to identify. Some software packages supporting bond graph modelling, e. A bondgraph model of quarter car with driver seated on a cushion seat has been created fig. It was created by reprogramming the simulation engine of powerdev. In this paper, an 8dof model including driver seat dynamics, subjected to.
Bond graphs for mechanical systems table of contents. The local enterprise partnerships leps will receive the money under the british. Simulation of electrical system using bond graphs and. The generalized power variables by bond graph modeling are the effort e and the flow f whose product expresses the power transmitted by the bond. To verify the effectiveness of the established model, the results were compared to ones computed on the ground of. Existing commercial bond graph software allowed simultaneous modeling and control implementation. The bondgraph method is a graphical approach to modeling in which component energy ports are connected by bonds that specify the transfer of energy between system components. Hybrid systems and hybrid bond graph models springerlink. Ride comfort and vehicle handling of quarter car model. Introduction bond graph is an explicit graphical tool for capturing the common energy structure of systems. Ride comfort and vehicle handling of quarter car model using.
This is a package to easily create bond graph figures in latex documents. In this paper the main objective is to propose a design for half car suspension system. This concept is presented from the point of view of the bond graph. Bond graph notation shown in figure 1 is the symbol of a bond graph. Objectoriented modeling with bond graphs and modelica. A causal bond graph contains all information to derive the set of state equations. First, a multidisciplinary modeling language, bond graph method is introduced, then an extension of bond graph modeling to hybrid system, i. It must be noted that all the results of quarter car model is studied using fuzzy control. Introduction the topic area that has become commonly known as bond graph modeling and. The work shows the use the methodology of bond graph for modeling electric system of simple rlc circuit.
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