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Автор: Grafiati
Опубліковано: 11 вересня 2023

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1

El MARAGHY, W. H., H. A. El MARAGHY, and A. IBRAHIM. "BONDGRAPH MODELLING OF ROBOT DYNAMICS." Transactions of the Canadian Society for Mechanical Engineering 13, no. 4 (December 1989): 123–32. http://dx.doi.org/10.1139/tcsme-1989-0019.

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Анотація:
Euler-Lagrange and Newton-Euler dynamic modelling become very involved and the equations quite complex even for a robot of few axes. For robot models, the bondgraph approach provides several advantages such as explicit bondgraph representation of the robot physical parameters and does not involve any complex equation writing or matrix inversion. In this paper, the use of the bondgraph method for modelling and simulating robot dynamics is presented. To illustrate the technique, a dynamic model for a SCARA robot is derived using bondgraph modelling. The causality conflict arising from the dependent inertias is solved by introducing structural and joint damping. Simulation results obtained using the developed model were in very close agreement with the analytical values obtained using the manipulator kinematic relations. Response due to impact excitation was obtained and is presented.
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2

Mandal, S. K., K. Dasgupta, S. Pan, and A. Chattopadhyay. "Theoretical and experimental studies on the steady-state performance of low-speed high-torque hydrostatic drives. Part 1: Modelling." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 223, no. 11 (July 6, 2009): 2663–74. http://dx.doi.org/10.1243/09544062jmes1202.

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In this article the steady-state models of an open-circuit and a closed-circuit hydrostatic transmission (HST) drive have been developed to study their performances. A low-speed high-torque multi-stroke cam plate type radial piston motor is considered for both HST drives. Bondgraph simulation technique has been used to model the drives. The multi-bondgraph representation of the HST drives is presented; it takes into account the compression and expansion phases, which occur sequentially in the hydraulic motor. A reduced bondgraph model of the drives has been proposed, where various losses are lumped into suitable resistive elements. The relationships of the loss coefficients with other state variables, obtained from the reduced model, are identified through experimental investigation. The loss coefficients are found to have a non-linear relationship with the load torque and the supply flowrate. Using the characteristics of these loss coefficients, the steady-state performances of the hydrostatic drives are studied in Part 2 of this article (pg. 2675 of this issue).
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3

Van De Veen, P. G., W. Van Der Tempel, and J. De Vreiss. "Bondgraph modelling and simulation of the dynamic behaviour of above-knee prostheses." Prosthetics and Orthotics International 11, no. 2 (August 1987): 65–70. http://dx.doi.org/10.3109/03093648709078180.

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A mathematical model was used to investigate the dynamic behaviour of an above-knee (AK) prosthesis in the swing phase and to analyse the influence of mass and mass distribution on the maximal stump load and the required energy. The model consists of a bondgraph model of the prosthesis and a “walking” model which predicts the walking velocity, step length and the femoral trajectory. Equipment was developed to measure the inertial properties of the components of the prosthesis. Through computer simulation, stickdiagrams of the swing phase and graphs of the variation with time of the hip and stump forces were obtained. It was found that for a normal AK prosthesis with a knee-lock mechanism the axial stump load is greatest at the beginning and at the end of the swing phase. At a walking velocity of 5 km/hr the maximum axial stump load amounts to 2.1 times the static weight of the prosthesis. The maximum axial stump force appeared to be almost directly proportional to the total mass of the prosthesis but independent of the mass distribution. The required energy also increased with the mass of the prosthesis but is' dependent on mass distribution. Because of their comparable weights the influence of the shoe is almost equal to the influence of the prosthetic foot. Thus lightweight shoes should be used with lightweight prosthetic feet in order to add to their advantages.
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4

Dasgupta, K., and H. Murrenhoff. "Modelling and dynamics of a servo-valve controlled hydraulic motor by bondgraph." Mechanism and Machine Theory 46, no. 7 (July 2011): 1016–35. http://dx.doi.org/10.1016/j.mechmachtheory.2010.11.006.

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5

Dasgupta, K., and J. Watton. "Dynamic analysis of proportional solenoid controlled piloted relief valve by bondgraph." Simulation Modelling Practice and Theory 13, no. 1 (January 2005): 21–38. http://dx.doi.org/10.1016/j.simpat.2004.08.002.

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6

Afshari, Hamed Hossein, Amir Zanj, and Alireza Basohbat Novinzadeh. "Dynamic analysis of a nonlinear pressure regulator using bondgraph simulation technique." Simulation Modelling Practice and Theory 18, no. 2 (February 2010): 240–52. http://dx.doi.org/10.1016/j.simpat.2009.11.001.

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7

Dasgupta, K., and J. Watton. "Modelling and Dynamics of a Two Stage Pressure Rate Controllable Relief Valve: a Bondgraph Approach." International Journal of Modelling and Simulation 28, no. 1 (January 2008): 11–19. http://dx.doi.org/10.1080/02286203.2008.11442444.

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8

Heidari, Mohammad, and Hadi Homaei. "Quadratic Optimal Regulator Design of a Pneumatic Control Valve." Modelling and Simulation in Engineering 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/862190.

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Анотація:
Pneumatic control valves are still the most used devices in the process industries, due to their low cost and simplicity. This paper presents a regulator for pneumatic control valves using pole-placement method, optimal control, full-order state observer, and minimum-order state observer and their responses will be compared with each other. Bondgraph method has been used to model the control valve. Simulation results have been made for four models of regulator. The results show that minimum overshoot and settling time are achieved using optimal regulator of pneumatic valve.
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9

Kumar, N., and K. Dasgupta. "Steady-state performance investigation of hydrostatic summation drive using bent-axis hydraulic motor." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, no. 17 (November 17, 2014): 3234–51. http://dx.doi.org/10.1177/0954406214559410.

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Анотація:
This article investigates the steady-state performance of a closed-circuit hydrostatic summation drive used in heavy earth moving machine through modelling and experiment. The proposed drive basically consists of variable displacement pump and bent-axis motor. The performance studies of the drive have been made for its two different modes of operation: using single motor and two motors. Bondgraph simulation technique is used to model the drive, where various losses are lumped into suitable resistive elements. The relationships of the losses with the state variables obtained from the model are identified through experiments. The dependencies of the loss characteristics on the load torque and the pump displacement ratio are studied. The model has been verified experimentally. The performances of the hydrostatic drives are studied at different torque levels with respect to its slip, torque-loss and overall efficiency, using the expressions describing the characteristics of the loss-coefficients. The investigation also identifies the operating range of the proposed hydrostatic drives with reasonable efficiency.
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10

Birkett, S. H. "Regularity of bondgraphs and directed bondgraphs." Simulation Modelling Practice and Theory 17, no. 1 (January 2009): 69–91. http://dx.doi.org/10.1016/j.simpat.2008.04.004.

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11

Rančić, Milorad, Spasoje Erić, and Dušan Rančić. "Modelling and simulation of technical systems: Application of bondgraphs." Trendovi u poslovanju 2, no. 2 (2014): 49–54. http://dx.doi.org/10.5937/trendpos1402049r.

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12

Birkett, S. H. "Directed bondgraphs and integral matroids." Simulation Modelling Practice and Theory 17, no. 1 (January 2009): 50–68. http://dx.doi.org/10.1016/j.simpat.2008.04.003.

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13

Thoma, Jean. "Electric batteries and fuel cells modeled by Bondgraphs." Simulation Practice and Theory 7, no. 5-6 (December 1999): 613–22. http://dx.doi.org/10.1016/s0928-4869(99)00025-7.

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14

Thoma, Jean U. "Wolfgang Borutzky, Bondgraphs, a Methodology for Modeling Interdisciplinary Dynamic Systems." Mathematics and Computers in Simulation 58, no. 2 (January 2002): 171–72. http://dx.doi.org/10.1016/s0378-4754(01)00369-x.

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15

Mukherjee, Amalendu, Vikas Rastogi, and Anirvan Dasgupta. "A Study of a Bi-symmetric Electro-mechanical System through Umbra-Lagrangian Generated by Bondgraphs, and Noether's Theorem." SIMULATION 83, no. 9 (September 2007): 611–30. http://dx.doi.org/10.1177/0037549707084668.

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16

Dasgupta, K., and J. Watton. "MODELLING AND DYNAMICS OF A TWO-STAGE PRESSURE RATE CONTROLLABLE RELIEF VALVE: A BONDGRAPH APPROACH." International Journal of Modelling and Simulation 28, no. 1 (2008). http://dx.doi.org/10.2316/journal.205.2008.1.205-4336.

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