Hybrid bond graphs for contact, using controlled junctions and dynamic causality

Margetts, Rebecca and Ngwompo, Roger F. (2014) Hybrid bond graphs for contact, using controlled junctions and dynamic causality. In: 2014 International Conference on Bond Graph Modeling and Simulation, ICBGM 2014, Part of the 2014 Summer Simulation Multiconference, SummerSim 2014, 6 - 10 July 2014, Monterey, CA; United States.

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Item Status:Live Archive


Controlled junctions with dynamic causality can be used to generate mixed-Boolean mathematical models. Several variations on the Switched or Hybrid Bond Graph have already been proposed, with none reaching common usage. The motivation for suggesting this approach was to develop a general method for adoption by practicing engineers, which is intuitive, adheres to the principles of idealized physical modelling and facilitates both structural analysis and efficient simulation. This paper revisits the classical example of a bouncing ball in order to discuss the advantages and disadvantages of such an approach with reference to the body of literature on hybrid models and nonsmooth dynamics. A switching model (as opposed to an impulse model) is generated which is both stiff and contains kinematic constraints, making it problematic to simulate. However, the method facilitates model simplification and the derivation of a coefficient of restitution, allowing Newton’s collision law to be applied. The resulting model simulates efficiently and well, without the need for parasitic elements or state reinitialization algorithms.

Keywords:Hybrid Model, bond graph, Hybrid Bond Graph, nonsmooth dynamics, contact, resititution
Subjects:H Engineering > H730 Mechatronics
G Mathematical and Computer Sciences > G150 Mathematical Modelling
H Engineering > H650 Systems Engineering
G Mathematical and Computer Sciences > G121 Mechanics (Mathematical)
H Engineering > H140 Mechanics
Divisions:College of Science > School of Engineering
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ID Code:14607
Deposited On:05 Aug 2014 20:07

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