Bond Graph Modeling of Inter-Actuator Interactions in a Multi-Cylinder Hydraulic System
In this paper, a bond graph dynamic model for a valvecontrolled
hydraulic cylinder has been developed. A simplified bond
graph model of the inter-actuator interactions in a multi-cylinder
hydraulic system has also been presented. The overall bond graph
model of a valve-controlled hydraulic cylinder was developed by
combining the bond graph sub-models of the pump, spool valve and
the actuator using junction structures. Causality was then assigned
in order to obtain a computational model which could be simulated.
The causal bond graph model of the hydraulic cylinder was verified
by comparing the open loop state responses to those of an ODE
model which had been developed in literature based on the same
assumptions. The results were found to correlate very well both
in the shape of the curves, magnitude and the response times,
thus indicating that the developed model represents the hydraulic
dynamics of a valve-controlled cylinder. A simplified model for interactuator
interaction was presented by connecting an effort source with
constant pump pressure to the zero-junction from which the cylinders
in a multi-cylinder system are supplied with a constant pressure from
the pump. On simulating the state responses of the developed model
under different situations of cylinder operations, indicated that such
a simple model can be used to predict the inter-actuator interactions.
[1] M. Krishna, "Optimal Motion Generation for Hydraulic Robots". PhD.
thesis, 1999.
[2] N. Singh, "Coordinated motion control of heavy duty industrial machines
with redundancy," Journal of Robotica, vol. 13, pp. 623-633,
1995.
[3] H. M. Paynter, Analysis and Design of Engineering Systems. MIT Press
Publishers, Cambridge, 1961.
[4] D. C. Karnopp, D. L Margolis, and R. C. Rosenberg, System Dynamics:
Modelling and Simulation of Mechatronic Systems. John Wiley and Sons
Publishers, Newyork, 2000.
[5] D. C. Karnopp, D. L. Margolis, and R. C. Rosenberg, System Dynamics;
A Unified Approach. John Wiley and Sons Publishers, Newyork, 2nd ed.,
1990.
[6] D .C. Karnopp and R. C. Rosenberg, Introduction to Physical System
Dynamics. McGraw Hill Publishers, Newyork, 1983.
[7] P. Breedveld, "Bond graphs," in Encyclopedia of Life Support Systems,
Modeling and Simulation, 2003.
[8] P. Gawthrop and L. Smith, Metamodeling: Bond Graphs and Dynamic
Systems. Prentice Hall International Publishers, UK Limited, 1996.
[9] F. Fakri, A. Rocaries, and A. Carrierre, "A simple method for conversion
of bond graph models in representation by block diagrams,"
in 1997 Proc. International Conference on Bond Graph Modeling and
Simulation.
[10] J. F. Broenink, "Introduction to Physical Systems Modeling with Bond
Graphs," Technical Report, Department of Electrical Engineering, University
of Twente, Netherlands, 1996.
[11] H. Q. Nguyen, "Robust low level control of robotic excavation". PhD.
thesis, Australian Centre for Field Robotics, The University of Sydney,
2000.
[12] M. Bin, "System modeling, identification and coordinated control design
for an articulated forestry machine," MSc. thesis, Department of
Mechanical Engineering, McGill University, 1996.
[13] S. Sarkar, "Dynamic modeling of an articulated forestry machine for
simulation and control," MSc. thesis, Department of Mechanical Engineering,
McGill University, Canada, 1996.
[14] R. G. Blackburn and J. Sheare, Fluid Power Control. Technology Press
of M.I.T and John Wiley Publishers, 1960.
[15] H. E. Merritt, Hydraulic Control Systems. Wiley and Sons Publishers,
Newyork, 1967.
[16] D. McCloy and H. R. Martin, Control of Fluid Power: Analysis and
Design. Ellis Horwood Publishers Limited, England, 2 ed., 1980.
[17] W. Borutzky, "An energetically consistent bond graph model of a double
acting hydraulic cylinder," in Proceedings of European Simulation
Multiconference,, pp. 203-207, 1993.
[18] P. Dransfield and M. K. Teo, "Using Bond graphs in Simulating an
Elecro-mechanical System," Journal of Franklin Institute, vol. 308,
no. 3, pp. 173-184, 1984.
[19] B. W. Bernard, "Predicting the dynamic response of a hydraulic system
using power bond graphs," MSc. thesis, Monach University, Melbourne,
Australia, 1983.
[1] M. Krishna, "Optimal Motion Generation for Hydraulic Robots". PhD.
thesis, 1999.
[2] N. Singh, "Coordinated motion control of heavy duty industrial machines
with redundancy," Journal of Robotica, vol. 13, pp. 623-633,
1995.
[3] H. M. Paynter, Analysis and Design of Engineering Systems. MIT Press
Publishers, Cambridge, 1961.
[4] D. C. Karnopp, D. L Margolis, and R. C. Rosenberg, System Dynamics:
Modelling and Simulation of Mechatronic Systems. John Wiley and Sons
Publishers, Newyork, 2000.
[5] D. C. Karnopp, D. L. Margolis, and R. C. Rosenberg, System Dynamics;
A Unified Approach. John Wiley and Sons Publishers, Newyork, 2nd ed.,
1990.
[6] D .C. Karnopp and R. C. Rosenberg, Introduction to Physical System
Dynamics. McGraw Hill Publishers, Newyork, 1983.
[7] P. Breedveld, "Bond graphs," in Encyclopedia of Life Support Systems,
Modeling and Simulation, 2003.
[8] P. Gawthrop and L. Smith, Metamodeling: Bond Graphs and Dynamic
Systems. Prentice Hall International Publishers, UK Limited, 1996.
[9] F. Fakri, A. Rocaries, and A. Carrierre, "A simple method for conversion
of bond graph models in representation by block diagrams,"
in 1997 Proc. International Conference on Bond Graph Modeling and
Simulation.
[10] J. F. Broenink, "Introduction to Physical Systems Modeling with Bond
Graphs," Technical Report, Department of Electrical Engineering, University
of Twente, Netherlands, 1996.
[11] H. Q. Nguyen, "Robust low level control of robotic excavation". PhD.
thesis, Australian Centre for Field Robotics, The University of Sydney,
2000.
[12] M. Bin, "System modeling, identification and coordinated control design
for an articulated forestry machine," MSc. thesis, Department of
Mechanical Engineering, McGill University, 1996.
[13] S. Sarkar, "Dynamic modeling of an articulated forestry machine for
simulation and control," MSc. thesis, Department of Mechanical Engineering,
McGill University, Canada, 1996.
[14] R. G. Blackburn and J. Sheare, Fluid Power Control. Technology Press
of M.I.T and John Wiley Publishers, 1960.
[15] H. E. Merritt, Hydraulic Control Systems. Wiley and Sons Publishers,
Newyork, 1967.
[16] D. McCloy and H. R. Martin, Control of Fluid Power: Analysis and
Design. Ellis Horwood Publishers Limited, England, 2 ed., 1980.
[17] W. Borutzky, "An energetically consistent bond graph model of a double
acting hydraulic cylinder," in Proceedings of European Simulation
Multiconference,, pp. 203-207, 1993.
[18] P. Dransfield and M. K. Teo, "Using Bond graphs in Simulating an
Elecro-mechanical System," Journal of Franklin Institute, vol. 308,
no. 3, pp. 173-184, 1984.
[19] B. W. Bernard, "Predicting the dynamic response of a hydraulic system
using power bond graphs," MSc. thesis, Monach University, Melbourne,
Australia, 1983.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:62906", author = "Mutuku Muvengei and John Kihiu", title = "Bond Graph Modeling of Inter-Actuator Interactions in a Multi-Cylinder Hydraulic System", abstract = "In this paper, a bond graph dynamic model for a valvecontrolled
hydraulic cylinder has been developed. A simplified bond
graph model of the inter-actuator interactions in a multi-cylinder
hydraulic system has also been presented. The overall bond graph
model of a valve-controlled hydraulic cylinder was developed by
combining the bond graph sub-models of the pump, spool valve and
the actuator using junction structures. Causality was then assigned
in order to obtain a computational model which could be simulated.
The causal bond graph model of the hydraulic cylinder was verified
by comparing the open loop state responses to those of an ODE
model which had been developed in literature based on the same
assumptions. The results were found to correlate very well both
in the shape of the curves, magnitude and the response times,
thus indicating that the developed model represents the hydraulic
dynamics of a valve-controlled cylinder. A simplified model for interactuator
interaction was presented by connecting an effort source with
constant pump pressure to the zero-junction from which the cylinders
in a multi-cylinder system are supplied with a constant pressure from
the pump. On simulating the state responses of the developed model
under different situations of cylinder operations, indicated that such
a simple model can be used to predict the inter-actuator interactions.", keywords = "Bond graphs, Inter-actuator interactions, Valvecontrolledhydraulic cylinder.", volume = "5", number = "2", pages = "475-10", }