scholarly journals Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

Designs ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 53
Author(s):  
Erfan Shojaei Barjuei ◽  
Darwin G. Caldwell ◽  
Jesús Ortiz
Keyword(s):  
Kalman Filter ◽  
System Dynamics ◽  
Dynamic Models ◽  
Block Diagram ◽  
Graph Model ◽  
Bond Graph ◽  
Simulation Software ◽  
Observer Design ◽  
Linear Quadratic ◽  
Bond Graph Modeling

This paper presents a versatile approach to the synthesis and design of a bond graph model and a Kalman filter observer for an industrial back-support exoskeleton. Actually, the main purpose of developing a bond graph model is to investigate and understand better the system dynamics. On the other hand, the design of the Kalman observer always should be based on a model providing an adequate description of the system dynamics; however, when back-support exoskeletons are considered, the synthesis of a state observer becomes very challenging, since only nonlinear models may be adopted to reproduce the system dynamic response with adequate accuracy. The dynamic modeling of the exoskeleton robotic platform, used in this work, comprises an electrical brushless DC motor, gearbox transmission, torque sensor and human trunk (biomechanical model). On this basis, a block diagram model of the dynamic system is presented and an experimental test has been carried out for identifying the system parameters accordingly. Both the block diagram and bond graph dynamic models are simulated via MATLAB and 20-sim software (bond graph simulation software) respectively. Furthermore, the possibility of employing the Kalman filter observer together with a suitable linear model is investigated. Subsequently, the performance of the proposed Kalman observer is evaluated in a lifting task scenario with the use of a linear quadratic regulator (LQR) controller with double integral action. Finally, the most important simulation results are presented and discussed.

Approach of a Particle Statics Problem by Using the Bond-Graph Modeling Method

2014 ◽  
Vol 657 ◽  
pp. 599-603 ◽  
Author(s):  
Radu Ibănescu ◽  
Cătălin Ungureanu
Keyword(s):  
Numerical Solution ◽  
Equilibrium Equation ◽  
Block Diagram ◽  
Graph Model ◽  
Bond Graph ◽  
New Approach ◽  
Graph Modeling ◽  
Modelling Method ◽  
Linear Spring ◽  
Bond Graph Modeling

The paper presents a new approach to the numerical solution of a particle in equilibrium lying on a circle and subjected to the action of a linear spring. The difficulties of solving such a problem and the Mathcad and Simulink based solutions are presented in [1, 2, 3]. The most important difficulties consist in symbolically solving a forth degree trigonometric equation or in solving a complicated trigonometric inequality. This is why a numerical solution is preferred. The use of the bond graph modelling method for solving this problem of equilibrium is presented in this paper. The bond-graph modelling method is designed only for dynamics and the paper presents the possibility of its adaptation for solving this problem of statics of a particle. This approach can be then applied to solve other problems of statics. From the bond graph model the equilibrium equation and the block diagram model can be obtained. The block diagram model is usually preferred in engineering and, for this reason, the block diagram model obtained from the bond-graph model is shown in the paper together with the numerical results obtained after performing the simulations. The results are compared with those previously obtained in [2, 3].

Lagrange's Equations versus Bond Graph Modeling Methodology by an Example of a Mechanical System

2015 ◽  
Vol 809-810 ◽  
pp. 914-919 ◽  
Author(s):  
Radu Ibănescu ◽  
Cătălin Ungureanu
Keyword(s):  
Mechanical System ◽  
Graphical Model ◽  
Block Diagram ◽  
Graph Model ◽  
Bond Graph ◽  
Modeling Methodology ◽  
Graph Modeling ◽  
Lagrange’S Equations ◽  
Bond Graph Modeling ◽  
Lagrange's Equations

The bond graph modeling method was discovered by Henry Painter in 1959 and has quickly become a wide spread method all over the modeling engineering world. The method is based on the analysis of power circulation in systems and has some indisputable advantages over other modeling methods, based in principle on mathematical aspects. The paper proposes a comparison between the bond graph method and Lagrange's equations method, by applying both methods to model a mechanical system. The bond graph model is a graphical model. There are three possibilities to exploit the bond-graph diagram. The first one consists in deducing a system of differential or algebraic-differential equations from the diagram. The second one consists in obtaining the block diagram model from the bond graph diagram, without additionally writing any equations, followed by the block diagram implementation in the appropriate software, which permits to perform simulations at once. The third one consists in implementing the bond graph diagram directly in the appropriate software, where simulations can immediately run. The advantages and the disadvantages of the methods are emphasized, but the decision about the most appropriate method is up to the modeler.

scholarly journals Bond-Graph model based stepper motor output characteristics simulation implemented in LabVIEW environment

2021 ◽  
Vol 7 (1.) ◽  
Author(s):  
Zsolt Molnár
Keyword(s):  
Block Diagram ◽  
Real Life ◽  
Graph Model ◽  
Bond Graph ◽  
Visual Programming ◽  
Stepper Motor ◽  
Intermediate Step ◽  
Virtual Device ◽  
Wide Range ◽  
Made In

In the industry, simulations are of great importance. They enable measurements to be made in different conditions about a virtual device, which are highly comparable to measurements made in a real life scenarios. Because of their wide range of usage in lower power drive systems, where precision and simplicity is a must, the subject of study is a permanent magnet stepper motor. For precise positioning purposes, it is essential to know the positioning behaviour of these devices. The model construction process involved an intermediate step, which consisted of creating the Bond-Graph of the motor based on pre-defined models available in the literature in this field. In the next step, the Bond-Graph model was converted to a block diagram of the motor. This permitted the direct implementation of the motor model in LabVIEW visual programming environment. The preliminary steps allows us to check and confirm the functionality and correctness of the model. This article covers in detail the model conversion and implementation steps of the simulation. At the end, the functionality of the simulation was tested.

A System Framework With Online Monitoring and Evaluation for Design Evolution of Engineering Systems

2010 ◽  
Vol 10 (3) ◽  
Author(s):  
L. B. Gamage ◽  
C. W. de Silva
Keyword(s):  
Genetic Programming ◽  
Domain Knowledge ◽  
Design Space ◽  
Graph Model ◽  
Bond Graph ◽  
Design Solution ◽  
Engineering Systems ◽  
Design Evolution ◽  
Bond Graph Modeling ◽  
Machine Health Monitoring

This paper presents a methodology for the design evolution of engineering systems, with a mechatronic emphasis. The developed approach specifically integrates machine health monitoring and an expert system and carries out the design evolution of a multidomain dynamic system using bond graph modeling and genetic programming. The evolution of a bond graph model of a mechatronic system through genetic programming enables the exploration of the design space, thereby generating a global optimum design solution in an automated manner. Domain knowledge and expertise are used to control the design exploration and to restrict it only to a meaningful design space. As an illustrative example, the developed methodology is applied to redesign the electrohydraulic manipulator of an existing industrial fish processing machine.

Bond Graph Modeling of an Internally Damped Nonideal Flexible Spinning Shaft

2010 ◽  
Vol 132 (6) ◽  
Author(s):  
A. K. Samantaray ◽  
S. S. Dasgupta ◽  
R. Bhattacharyya
Keyword(s):  
Steady State ◽  
Graph Model ◽  
Bond Graph ◽  
Design Stage ◽  
Stability Threshold ◽  
Transverse Modes ◽  
Graph Modeling ◽  
Bond Graph Modeling ◽  
Spinning Speed ◽  
Spinning Shaft

The rotating internal damping or nonconservative circulatory force in a rotor shaft system causes instability beyond a certain threshold rotor spinning speed. However, if the source loading of the drive is considered, then the rotor spin is entrained at the stability threshold and a stable whirl orbit is observed about the unstable equilibrium. As we move toward the use of more and more lightweight rotor dynamic components such as the shaft and the motor, overlooking this frequency entrainment phenomenon while sizing the actuator in the design stage may lead to undesirable performance. This applies to many emerging areas of strategic importance such as in vivo medical robots where flexible probes are used and space robotics applications involving rotating tools. We analyze this spin entrainment phenomenon in a distributed parameter model of a spinning shaft, which is driven by a nonideal dc motor. A drive whose dynamics is influenced by the dynamics of the driven system is called a nonideal source and the whole system is referred to as a nonideal system. In particular, we show the advantages of representing such nonideal drive-system interactions in a modular manner through bond graph modeling as compared to standard equation models where the energetic couplings between dynamic variables are not explicitly shown. The developed modular bond graph model can be extended to include rotor disks and bearings placed at different locations on the shaft. Moreover, the power conserving property of the junction structure of the bond graph model is exploited to derive the source loading expressions, which are then used to analytically derive the steady-state spinning frequency and whirl orbit amplitude as functions of the drive and the rotor system parameters. We show that the higher transverse modes may become unstable before the lower ones under certain parametric conditions. The shaft spinning speed is entrained at the lowest stability threshold among all transverse modes. The bond graph model is used for numerical simulation of the system to validate the steady-state results obtained from the theoretical study.

Modeling and Simulation of Linear Dynamic Characteristic for a Giant Magnetostrictive Actuator Using Bond Graph

2012 ◽  
Vol 433-440 ◽  
pp. 7324-7332
Author(s):  
Shi Feng Hu ◽  
Shi Jian Zhu ◽  
Qi Wei He ◽  
Jing Jun Lou ◽  
Xiang Rong Xie
Keyword(s):  
Graph Model ◽  
Bond Graph ◽  
Mechanical Interaction ◽  
Output Displacement ◽  
Linear Dynamic ◽  
Graph Modeling ◽  
Simulation And Experiment ◽  
Bond Graph Modeling ◽  
Magnetostrictive Actuator ◽  
Mechanical Dynamics

The development of an new method for formulation of transduction or input and output representation for a giant magnetostrictive actuator (GMA) is presented. The transduction model is built through the application of a bond graph modeling approach which includes the mechanical dynamics and the electro-magneto-mechanical interaction of the actuator. Simulation and experiment behavior correlation are also presented. The bond graph model allows for in-depth investigation of dynamic behavior of GMA, such as energy conversion, output displacement or force and so on.

Connecting Qualitative and Quantitative Analysis Through Bond Graph Modeling and System Dynamics

2021 ◽  
Author(s):  
Hailie Suk ◽  
John Hall
Keyword(s):  
System Dynamics ◽  
Social Systems ◽  
Well Being ◽  
Quantitative Information ◽  
Bond Graph ◽  
Social Progress ◽  
Qualitative And Quantitative ◽  
Graph Modeling ◽  
The Social ◽  
Bond Graph Modeling

Abstract Access to resources can contribute to social progress in extremely impoverished communities. The introduction of cyber-physical systems for electricity, water, and irrigation facilitates greater fulfillment of needs. Yet, the availability of resources may be inconsistent or lacking. The social dynamics of the community can provide insight into how the available resources support well-being. Thus, the cyber-physical system requires the addition of a social consideration to become cyber-physical-social systems. However, the social considerations typically include qualitative parameters. This prompts the need for integrating qualitative and quantitative information. In this paper, we present a method for mathematically representing qualitative and quantitative relationships. This is achieved by connecting Bond Graph Modeling and System Dynamics. The Bond Graph model is used to mathematically represent relationships between qualitative and quantitative elements. These relationships are used in the System Dynamics analysis. The method is anchored in expanding cyber-physical to cyber-physical-social systems through incorporating both qualitative and quantitative information in the systems analysis. The mathematical connectivity of qualitative and quantitative information is a key feature of this approach. A test problem in resource allocation is used to demonstrate the function and flexibility of the method. This is anchored in connecting qualitative and quantitative information in the analysis.

Analytical transmissibility based transfer path analysis for multi-energy-domain systems using bond graphs

2017 ◽  
Vol 24 (13) ◽  
pp. 2927-2937 ◽  
Author(s):  
Mohammad Jalali Mashayekhi ◽  
Kamran Behdinan
Keyword(s):  
Path Analysis ◽  
Vibration Isolation ◽  
Graph Model ◽  
Bond Graph ◽  
High Tech ◽  
Transfer Path ◽  
Energy Domain ◽  
Bond Graph Modeling ◽  
Transfer Path Analysis ◽  
Increasing Demand

The increasing demand for vibration reduction in several high-tech industries has motivated many researchers to investigate novel vibration isolation techniques. Understanding the vibration transfer paths within a system is an essential part of designing an effective vibration isolation strategy. In this paper, an analytical transfer path analysis algorithm is proposed suitable for multi-energy-domain systems. The bond graph modeling technique, which is an effective approach to model multi-energy-domain systems, is used to extend the concept of transmissibility to such systems. In this paper, an electro-hydro-mechanical system is used as a benchmark example to elucidate the effectiveness of the proposed technique. An energy based path ranking algorithm based on the bond graph model of the system is also conducted.

Pseudo Bond Graph Modeling and Experimental Investigation of Thermal Transfers Inside a Household Refrigerator

2016 ◽  
Vol 24 (02) ◽  
pp. 1650014 ◽  
Author(s):  
Emna Aridhi ◽  
Mehdi Abbes ◽  
Abdelkader Mami
Keyword(s):  
Experimental Data ◽  
Experimental Investigation ◽  
Natural Convection ◽  
Graph Model ◽  
Bond Graph ◽  
Performance Comparison ◽  
Evaporator Temperature ◽  
Graph Modeling ◽  
Bond Graph Modeling ◽  
Simulation Results

This paper proposes a pseudo bond graph model of thermal transfers by natural convection inside a household refrigerator. It has two inputs: the ambient temperature and the temperature at the level of the evaporator wall. The latter assesses the functioning of the compressor cycles. A performance comparison, with the experimental data, was carried out in order to verify the model, in which, real measurements are used to modulate the evaporator temperature source. The simulation results show the effectiveness of the proposed approach.

Bond graph modeling of a jet engine with electric starter

2018 ◽  
Vol 233 (9) ◽  
pp. 3193-3210 ◽  
Author(s):  
Morteza Montazeri-Gh ◽  
Seyed Alireza Miran Fashandi
Keyword(s):  
Modeling And Simulation ◽  
System Development ◽  
Dynamic Performance ◽  
Graph Model ◽  
Systems Design ◽  
Bond Graph ◽  
Mechatronic Systems ◽  
Jet Engine ◽  
Graph Modeling ◽  
Bond Graph Modeling

Following the technological advances in recent decades, advanced electronic systems linked to the gas turbine industry are increasingly considered by the designers of this field. For this purpose, new airborne systems in conjunction with jet engines are developed, which are incorporated in many challenging design problems such as control law and configuration design. Thus, a comprehensive modeling structure is needed that can bolster the integrity of the system development such as the bond graph approach, which is known as an efficient method for modeling complicated mechatronic systems. In this paper, modeling and simulation of a jet engine dynamic performance and aircraft motion are achieved based on the bond graph approach. At first, the electric starter bond graph model is constructed and physical relationships governing each engine component are obtained. In the aftermath, the modulated energy fields are developed for the jet engine components. Subsequently, the bond graph model of the engine is numerically simulated and experimentally tested and verified for a small jet engine. Finally, bond graph modeling and simulation of integrated engine and aircraft system is presented. The test results indicate the acceptable accuracy of the modeling approach which can be applied for innovative diagnosis and control systems design.

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