CAMPG/MATLAB

Fig. 11.35 CAMPG/MATLAB interface with bond graph window...

These operations can be hardly manually performed, even for models of small size. However, a bond graph preprocessor such as CAMPG [11] can automatically derive the equations from the original as well as from the incremental bond graph. MATLAB [12] or Scilab [13] script files can then generate the matrices F and F in symbolic form and can perform the multiplication of a row of F by the factor F j8j for each requested parameter sensitivity of an ARR residual. 

Keywords Automated modeling Simulation Mechatronics systems Computer generated differential equations Transfer functions State space CAMPG Bond graph Block diagrams MATLAB SIMULINK SYSQUAKE... 

CAMPG interfaces automatically with a simulation language (MATLAB, SIMULINK, SYSQUAKE, EASY5, ACSL, SIMULINK) or the user s own simulation program... 

CAMPG assigns preferred integral causality so that the system ends up with an explicit set of differential equations (Fig. 11.14). However, if the system was assembled with dependent elements, those are assigned in the corresponding derivative causality form. It produces readymade MATLAB. m files which are used for computer simulation. 

The task that was programmed manually as shown in Figs. 11.5 and 11.6, now, is automatically produced by CAMPG, resulting in. m files which control the simulation and describe the differential equations in MATLAB code and syntax form. Abstracts are shown as Figs. 11.14 and 11.15. 

The computer-generated CAMPG files in (.m) (MATLAB) form are... 

The computer-generated transfer function for the voltage across the capacitor crosses two different energy domains without separation since the model is all together. The transfer function is obtained in one step in symbolic form. CAMPG generated the code for the A, B, C, D matrices which are displayed in MATLAB. Any other transfer function for the efforts and flow output variables can be obtained. More details are presented in [11]. At this point, the computer-generated model becomes so versatile that all the linear control theory operations implemented in the MATLAB Control Systems Toolbox can be used on the entire mechatronics model. 

The CAMPG interface to SIMULINK follows the same format as the one for MATLAB. The user enters a bond graph model utilizing the menu as for the other simulation programs then SIMULINK interface is chosen under the ENTERFACE menu. 

Granda J., Reus J. New Developments in Bond Graph Modeling Software Tools The Computer Aided Modeling Program CAMPG and MATLAB . The IEEE International Conference on Systems, Man, and Cybernetics. Orlando, FL, October 1997. 

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