State functions and bond graph dynamic models for rotary, multi-winding electrical machines

1991 ◽  
Vol 328 (1) ◽  
pp. 45-54 ◽  
Author(s):  
Dean Karnopp
Keyword(s):  
Dynamic Models ◽  
Bond Graph ◽  
Electrical Machines ◽  
State Functions

scholarly journals Modular Dynamic Biomolecular Modelling: The Unification of Stoichiometry, Thermodynamics, Kinetics and Data

2021 ◽  
Author(s):  
Peter J. Gawthrop ◽  
Michael Pan ◽  
Edmund J. Crampin
Keyword(s):  
Dynamic Models ◽  
System Development ◽  
Kinetic Modelling ◽  
Simulation Models ◽  
Bond Graph ◽  
Model Parameters ◽  
Biomolecular Systems ◽  
Genome Wide ◽  
Estimation Of Model Parameters ◽  
Genome Scale

AbstractRenewed interest in dynamic simulation models of biomolecular systems has arisen from advances in genome-wide measurement and applications of such models in biotechnology and synthetic biology. In particular, genome-scale models of cellular metabolism beyond the steady state are required in order to represent transient and dynamic regulatory properties of the system. Development of such whole-cell models requires new modelling approaches. Here we propose the energy-based bond graph methodology, which integrates stoichiometric models with thermo-dynamic principles and kinetic modelling. We demonstrate how the bond graph approach intrinsically enforces thermodynamic constraints, provides a modular approach to modelling, and gives a basis for estimation of model parameters leading to dynamic models of biomolecular systems. The approach is illustrated using a well-established stoichiometric model of E. coli and published experimental data.

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.

A Dynamic Model of a Concentric LADD Actuator

1983 ◽  
Vol 105 (3) ◽  
pp. 157-164 ◽  
Author(s):  
K. L. Pottebaum ◽  
J. J. Beaman
Keyword(s):  
Dynamic Model ◽  
Rotational Motion ◽  
Dynamic Models ◽  
Translational Motion ◽  
Bond Graph ◽  
Second Order ◽  
Sixth Order ◽  
Order Model ◽  
Lumped Parameter ◽  
Elasticity Effects

A LADD actuator is a device capable of converting rotational motion to translational motion and has potential for use in manipulators, robotics, and prosthetics. Two low order lumped parameter dynamic models of a concentric LADD actuator have been formulated and experimentally verified. The sixth order model includes elasticity effects while the second order model does not. Both of these models are presented in bond graph terminology in order to ease their use in overall system models.

Lagrange’s Equations for Complex Bond Graph Systems

1977 ◽  
Vol 99 (4) ◽  
pp. 300-306 ◽  
Author(s):  
Dean Karnopp
Keyword(s):  
Bond Graph ◽  
Writing System ◽  
Complex Mechanism ◽  
State Equations ◽  
Graph Models ◽  
Physical Systems ◽  
Lagrange’S Equations ◽  
Alternative Means ◽  
Lagrange's Equations ◽  
State Functions

The standard means of imposing causality to extract state equations for bond graph models of physical systems can be inconvenient when algebraic loops and derivative causality in combination with nonlinear constraints are present. This paper presents an alternative means of writing system differential equations using energy and coenergy state functions and Lagrange’s equations. For certain types of systems, particularly mechanical and electromechanical systems, this indirect means of finding state equations turns out to be very convenient. In this technique, causality is used in a new way to establish generalized coordinates and generalized efforts for nonconservative elements. Finally, it is shown that in some cases in which a Lagrangian can be written by inspection for a complex mechanism, a detailed bond graph for this component is unnecessary and yet the equations of the mechanism can be easily coupled to the bond graph equations for the remainder of the system.

scholarly journals Detailed modelling and simulation of different DC motor types for research and educational purposes

2021 ◽  
Vol 12 (2) ◽  
pp. 703
Author(s):  
Saif Sabah Sami ◽  
Zeyad Assi Obaid ◽  
Mazin T. Muhssin ◽  
Ali N. Hussain
Keyword(s):  
Dynamic Models ◽  
Block Diagram ◽  
Electrical Machines ◽  
Machine Model ◽  
Matlab Simulink ◽  
Dc Motors ◽  
E Learning ◽  
First Time ◽  
Modelling Methods ◽  
Diagram Representation

The devastating impact of Covid-19 pandemic accelerated the shift to e-learning in the higher education. Particularly in the electrical machines courses, that often include laboratory experiments. However, no detailed models of DC motors, developed in MATLAB/Simulink, were reported in literature.  Hence, in this paper, a virtual laboratory consist of models of DC motors was built for the first time. The proposed models are easy to use and modify, and allow all machines’ parameters to be altered for students to replicate easily to support and enhance the learning process of electrical machines courses. Consequently, the developed models are effective tools for educational and research purposes. Dynamic models of DC motors were developed using MATLAB/Simulink, namely separately excited, permanent magnet, shunt-connected and series-connected DC motors. Two different approaches for modelling were proposed, the block diagram representation and Simscape based models. The two modelling methods were validated against the built-in DC machine model. The proposed models are easy to use and modify, and allow all machines’ parameters to be altered for monitoring and comparison purposes. Consequently, the developed models are effective tools for research and educational purposes.

Digital Simulation of Saturated Electro-mechanical Energy Converters

1977 ◽  
pp. 22-57
Author(s):  
M. Ridzuan Salleh
Keyword(s):  
Energy Conversion ◽  
Mechanical Energy ◽  
Digital Simulation ◽  
Bond Graph ◽  
Electrical Machines ◽  
Graph Analysis ◽  
Transformation Matrices ◽  
Electromechanical Energy Conversion ◽  
Electromechanical Energy ◽  
Mathematical Equations

Based on th e now familiar Bond Graph analysis the process of electromechanical energy conversion in electrical machines is studied in detail. The paper avoids the use of transformation matrices and relies on the diagramatic representations which evolve from the bond graph method to extract the necessary mathematical equations for subsequent digital simulation.

The Bond Graph as a Unified Data Base for Engineering System Design

1975 ◽  
Vol 97 (4) ◽  
pp. 1333-1337 ◽  
Author(s):  
R. C. Rosenberg
Keyword(s):  
Data Base ◽  
Large Scale ◽  
Dynamic Models ◽  
Systems Design ◽  
Bond Graph ◽  
Graph Representation ◽  
Model Description ◽  
Engineering System ◽  
State Equations ◽  
Engineering System Design

In developing a unified data base for support of engineering systems design there are several important factors to consider, such as efficiency of model description, ease of modifying models, and characteristics of assembling device models into systems. The multipart model and its associated bond graph representation can serve very effectively as a unified data base, especially when devices and systems involve several energy domains simultaneously (e.g., electromechanical or hydromechanical transduction). In addition to providing a succinct, flexible data base for linear and nonlinear, static and dynamic models, bond graphs can be processed causally to reveal important information about alternative input-output choices and device-level coupling factors when submodels are assembled into systems. Particularly for large-scale nonlinear systems this is an important feature in aiding the formulation of state equations. Illustrations of the bond graph data base approach are given.

scholarly journals Detailed modelling and simulation of single-phase transformers for research and educational purposes

2021 ◽  
Vol 24 (1) ◽  
pp. 37
Author(s):  
Saif Sabah Sami ◽  
Mazin T. Muhssin ◽  
Zeyad Assi Obaid ◽  
Ali N. Hussain
Keyword(s):  
Single Phase ◽  
Dynamic Models ◽  
Block Diagram ◽  
Electrical Machines ◽  
Virtual Laboratory ◽  
E Learning ◽  
Transformer Model ◽  
First Time ◽  
Modelling Methods ◽  
Diagram Representation

<span>COVID-19 pandemic, despite its devastating impact, accelerated the shift to e-learning in higher education. Particularly in the electrical machines courses, that often include laboratory experiments. However, no detailed models of transformers, developed in Simulink/MATLAB®, were reported in the literature. Hence, in this paper, a virtual laboratory consists of models of single-phase transformers was built for the first time. The proposed models are easy to use and modify, and allow all machines’ parameters to be altered for students to replicate easily to support and enhance the learning process of electrical machines courses. Consequently, the developed models are effective tools for educational and research purposes. Dynamic models of single-phase, two-winding, transformers and step-up and step-down auto-transformers were developed using Simulink/MATLAB®. Two different approaches for modelling were proposed, the block diagram representation and Simscape based models. The two modelling methods were validated against the built-in transformer model. The developed models have been successfully integrated into electrical engineering courses at Middle Technical University, Baghdad, Iraq. Therefore, all developed models are freely available online at a dedicated repository.</span>

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