Bond Graph Method And Its Application For Dynamic Modeling And Simulation In Electromechanical System

With the rapid development of science and technology and higher requirements on theproperties of mechanical and electrical products, engineering system modeling and simulationtechnology in product design plays an increasingly important position. Traditional method ofmodeling and simulation, most are limited to a single energy system, for complexelectromechanical coupling system, cannot be in a uniform way to conduct computer aideddynamic alalysis. Bond graph theory based on the energy conservation principle, has theadvantages of simple structure, including a large amount of information, the regulationcharacteristics of dynamics modeling, for pluripotent domains coexistence system ofcomputer aided dynamic modeling and simulation problem has potential applications. Inthis paper,the main work is as follows:(1) The paper based on the dynamics modeling and simulation problems of mechanicaland electrical integration wheeled robot system, puts forward the method of bond graph.According to the structure and working principle of wheeled mobile robots, respectively, itsets up suspension system of the vertical direction and horizontal direction(including drivemotor)drive system bond graph model. On this basis, it realizes the integration modeling andsimulation of mechanical and electrical integration wheeled robot. In addition, using theclassical Newton euler dynamics method on the reliability of simulation rusults is verified.(2) According to electromechanical coupling planar flexible multi-body systemdynamics modeling and simulation problems,the paper puts forward the corresponding vectorbond graph method. According to the construction member’s motion constraints of the ceterof mass and hinge point, it establishes the system vector bond graph, the topology structure isperfect and expression form is concise, which can express the kinematics and dynamicscharacteristics of a single components, and can express the constraints’kinematics anddynamics characteristics between components, but also can express the electromechanicalcoupling effect. In addition, in view of the differential causality brought the algebraicdifficulty of computer automatically modeling, in the vector bond graph theory framework,itputs forward the effective augented method, solves the algebraic difficulty brought by the complicated system for the automatic modeling and simulation. On this basis, it has realizedthe integration of mechanical and electrical coupling of planar flexible multi-body systemmodeling and simulation. For dynamic analysis of complex electromechanical integrationsystem, the design and control lays a necessary foundation.