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System Efficiency Measurement through Bond Graph Modeling

System Efficiency Measurement through Bond Graph Modeling. Robert T. McBride Dr. François Cellier Raytheon Missile Systems University of Arizona. Fin Actuation System. Motor Bond Graph. Motor Bond Graph: Battery. Motor Bond Graph: Coils/Shaft. Fin Actuation System. Fin Dynamics.

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System Efficiency Measurement through Bond Graph Modeling

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  1. System Efficiency Measurement through Bond Graph Modeling Robert T. McBride Dr. François Cellier Raytheon Missile Systems University of Arizona ICBGM'05

  2. Fin Actuation System ICBGM'05

  3. Motor Bond Graph ICBGM'05

  4. Motor Bond Graph: Battery ICBGM'05

  5. Motor Bond Graph: Coils/Shaft ICBGM'05

  6. Fin Actuation System ICBGM'05

  7. Fin Dynamics ICBGM'05

  8. Fin Dynamics: Backlash Model ICBGM'05

  9. Fin Dynamics: Backlash Model Code if (position error > backlash/2) then Twist = (position error – backlash/2) else if (position error < - backlash/2) then Twist = (position error + backlash/2) else Twist = 0 end MSE = k*Twist for k = 340 N*m/deg ICBGM'05

  10. Fin Actuation System ICBGM'05

  11. Controller 1 PI Controller ICBGM'05

  12. Controller 2 ICBGM'05

  13. Controller 2: Y3 Limiter ICBGM'05

  14. Fin Step Response:Hinge Moment at -.34 N*m/Deg. 10˚ Commanded Fin Position ICBGM'05

  15. Energy Response:Hinge Moment at -.34 N*m/Deg. 10˚ Commanded Fin Position ICBGM'05

  16. Integral of Energy Response:Hinge Moment at -.34 N*m/Deg. 10˚ Commanded Fin Position ICBGM'05

  17. Fin Step Response:Hinge Moment at -.34 N*m/Deg. 3˚ Commanded Fin Position ICBGM'05

  18. Integral of Energy Response:Hinge Moment at -.34 N*m/Deg. 3˚ Commanded Fin Position ICBGM'05

  19. Integral of Energy Response:Hinge Moment at -.34 N*m/Deg. 3˚ Commanded Fin Position ICBGM'05

  20. Conclusions • This paper showed, by means of an example, a method in which the power flow obtained from a bond-graph model can be used to compare the efficiency of controllers with different topologies. • The normalization of the output energy to the input energy, from a bond-graph model of the actuator, allows the designer to compare the effectiveness of various controller schemes. • Bond-graph modeling lends itself naturally to this type of analysis, since it maps the power flow through the system. ICBGM'05

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