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چكيده انگليسي :

An Integrated Approach for Modeling of Mechatronic Systems Using Linear Graphs Method Morteza Ganji m ganji@me iut ac ir Date of Submission 2011 04 12 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Saeed Behbahani behbahani@cc iut ac ir Abstract A mechatronic system is a mixed and multi domain system It will typically consist of many different types of interconnected components and elements which fall within different domains such as mechanical electrical hydraulic thermal and control Due to the multi domain nature of a mechatronic system and dynamic couplings and interactions between its components a multi domain and integrated modeling approach is required where all the domains are treated in a unified manner There are various unified languages for modeling of mixed mechatronic systems including block diagrams bond graphs and linear graphs Among these graphical tools linear graphs take an important place This work presents an integrated mechatronic modeling tool using linear graphs and provides a unified language and environment to model different parts from different domains in a unified and integrated model The development of a unified modeling methodology is based on analogies and similarities between the characteristics of different energy domains These similarities are due to two factors which seem to be nearly universal in all lumped element systems First is the similarity between the energy variables and elemental equations and second is the similarity of the continuity and compatibility equations in different domains The linear graph theory uses the concepts of generalized through and across variables to identify these similarities The linear graphs are very similar in form to electric circuit diagrams A node represents a point of interconnection of system elements and a line called branch represents a system element The term linear graph stems from this use of line segments and does not mean that the system itself has to be linear Particular advantages of using linear graph method for model development and representation are they use variables quantities that are physically measurable and directly related to the energy stored in system elements as states they allow visualization of the system structure even before formulating an analytical model they help identify similarities in domain structure behavior etc in systems they are applicable for multi domain systems the same approach is used in any domain they show the directions of power flows and they facilitate development of computer based modeling tools systematic graphical to automatically generate state equations To demonstrate the capabilities of the presented framework an integrated model of a complex electro hydraulic servo manipulator and its governing motion equations in the state space form are presented The electro hydraulic servo systems have been widely used in industrial applications because of their high power to weight ratio high accuracy high stiffness high payload capability etc However the dynamic behavior of the hydraulic systems is highly nonlinear due to various factors such as the pressure flow characteristics of the valve the leakage flow characteristics of the valves and the cylinder with variation of supply pressure the friction effects and the variation of the system gains with the supply pressure and the load pressure Earlier work on the modeling of electro hydraulic servo systems mostly focuses on the separate modeling of the components and often only linear models have been derived due to the complex nature of these systems In this thesis we have developed an accurate integrated and comprehensive linear graph model of the considered electro hydraulic servo system The system includes a hydraulic power supply unit a two stage flapper nozzle servo valve a double acting single ended hydraulic cylinder a position transducer embedded in the cylinder a co

گنجي، مرتضي

مدل سازي يكپارچه ي سيستم هاي مكاترونيكي با استفاده از روش گراف خطي

تئوري گراف خطي , بازوي سروالكتروهيدروليكي , خاصيت سببي