Bond graphs and its use in mechatronics

The article deals with bond graphs method which is useful in order to display structure of dynamic systems as well as to its analysis. Block diagram of bond graphs method is shown. It is possible to transform graphs into block diagrams for numerical simulation or into differential and algebraic equation system. Rules for bond graph construction in mechanical and electrical system are stated. Simulation state schemes and state equations present block diagrams which are alternatives to graphical representation of system dynamics in the sense of power bond graph. At state scheme, signal transfer is given by power and energy variables e, f, p, q. Dynamics is modelled with elementary energy accumulators, i. e. integrators which is an advantage. Additional blocks in state schemes are additive block and statical nonlinearity.