Modeling of Inter-Component and Inter-Domain Dynamic Interactions of an Excavator Using Bond Graphs

Dr. Onesmus Muvengei

Modeling of Inter-Component and Inter-Domain Dynamic Interactions of an Excavator Using Bond Graphs

Dr. Onesmus Muvengei * §

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§ Department of Mechanical Engineering, JKUAT

Modeling of Inter-Component and Inter-Domain Dynamic Interactions of an Excavator Using Bond Graphs

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Abstract

In this paper the interaction of hydraulic and mechanical dynamics, the inter-actuator and inter-link interactions in an excavator are modeled using bond graphs, and then simulated on a MATLAB/SIMULINK environment. Bond graph method was chosen as the modeling method because, firstly, it is a domain-independent graphical method of representing the dynamics of physical systems. Therefore, systems from different engineering disciplines can be described in the same way. Secondly, the available literature shows that the method being relatively new has not been thoroughly applied to model the dynamics of nonlinear systems such as excavators. A complete bond graph dynamic model of the excavator was obtained by coupling the mechanical and hydraulic models using appropriate Manipulator Jacobians which were treated as Modulated Transformer Elements. The causal bond graph model of the excavator was expanded into block diagrams and simulated on MATLAB/SIMULINK to determine the transient and steady state responses of the system. From the responses obtained, the model developed was found to capture the inter-component interactions and also the interaction between the hydraulic and mechanical dynamics. Therefore, the model developed can be used to design control laws necessary for controlling the dynamics and motions of the excavating manipulator.

References

15 Cites in Article

Reference Format

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Funding

No external funding was declared for this work.

Conflict of Interest

The authors declare no conflict of interest.

Ethical Approval

No ethics committee approval was required for this article type.

Data Availability

Not applicable for this article.

How to Cite This Article

Dr. Onesmus Muvengei. 1970. "Modeling of Inter-Component and Inter-Domain Dynamic Interactions of an Excavator Using Bond Graphs". Global Journal of Research in Engineering - A : Mechanical & Mechanics GJRE-A Volume 11 (GJRE Volume 11 Issue A6).

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GJRE Volume 11 Issue A6

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Journal Specifications

Crossref Journal DOI 10.17406/gjre

Print ISSN 0975-5861

e-ISSN 2249-4596

Keywords

Actuators Bond graphs Forward dynamics Inter-actuator interactions Jacobians Steady-state responses Transient responses

Classification

GJRE-A Classification FOR Code: 091399

Submission ReceivedAugust 6, 2011
Peer Review Double Blind
Handling Editor
Accepted August 28, 2011
Published September 9, 2011

Version of record

v1.2

Language

English

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Article Matrices

Total Score: 107

Country: Kenya

Subject: Global Journal of Research in Engineering

Authors: Dr. Onesmus Muvengei, John Kihiu (PhD/Dr. count: 1)

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Publish Date: 2011 09, Fri

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