Modeling and Analysis of a Mechatronic Actuator System by Using Bond Graph Methodology

Mechatronic design deals with the integrated design of a mechanical system and its embedded control system. This definition implies that it is important, as far as possible, that the system be designed as a whole. This requires a system approach to the design problem. An important aspect of mechatronic systems is that the synergy realized by a clever combination of a mechanical system and its embedded control system leads to superior solutions and performances that could not be obtained by solutions in one domain. The bond graph methodology is a convenient and useful complimentary tool for obtaining both the behavioral and the diagnostic models. Moreover, the causal properties of the bond graph methodology can help to design fault detection and isolation (FDI) algorithms. In this paper, the bond graph modeling in the interest of actuator monitoring is given. Then the method to associate the bond graph description to the model, in order to complete the equipment description, is explained.