The role of bond graph modeling and simulation in mechatronics systems: An integrated software tool: CAMP-G, MATLAB–SIMULINK

One of the main and most challenging steps in the design and analysis of a mechatronics system is to generate a computer model. This paper explores the fundamental theory, the methodology and the process from conceptual ideas to practical realization. Using a multienergetic approach that allows the modeling of interdisciplinary models, it explores the theory and method to automate the process of the generation of the differential equations and how to automate the derivation of transfer functions. The approach is discussed for linear and non-linear systems. The generation of a computer model takes new dimensions when that model contains mixed energy domains such as electromechanical, electrohydraulic, thermo-fluid, and electronic control systems all together. These are typical of mechatronics applications. This paper explores the bond graph technique as a modeling tool to generate state space models or non-linear models together with software tools. CAMP-G (Computer Aided Modeling Program with Graphical input) has been developed in order to generate computer models automatically and have them integrated with MATLAB–SIMULINK as simulation tools. Several aspects of mechatronics systems design have been investigated in order to focus on which areas the bond graph modeling technique can help engineers in the process of creating mechatronics systems from scratch. Towards this end, the paper deals with computer-generated models of sensors, actuators, and multidisciplinary complex physical systems.