Abstract: A bond graph model of a two degrees of freedom
PUMA is described. System inversion gives the system input
required to generate a given system output. In order to get the system
inversion of the PUMA manipulator, a linearization of the nonlinear
bond graph is obtained. Hence, the bicausality of the linearized bond
graph of the PUMA manipulator is applied. Thus, the bicausal bond
graph provides a systematic way of generating the equations of the
system inversion. Simulation results to verify the calculated input for
a given output are shown.
Abstract: Bond graph models of an electrical transformer including
the nonlinear saturation are presented. The transformer
using electrical and magnetic circuits are modelled. These models
determine the relation between self and mutual inductances, and
the leakage and magnetizing inductances of power transformers
with two windings using the properties of a bond graph. The
equivalence between electrical and magnetic variables is given.
The modelling and analysis using this methodology to three phase
power transformers can be extended.