ICBGM'05 System Efficiency Measurement through Bond Graph Modeling Robert T. McBrideDr. François Cellier Raytheon Missile SystemsUniversity of Arizona.

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Presentation transcript:

ICBGM'05 System Efficiency Measurement through Bond Graph Modeling Robert T. McBrideDr. François Cellier Raytheon Missile SystemsUniversity of Arizona

ICBGM'05 Fin Actuation System

ICBGM'05 Motor Bond Graph

ICBGM'05 Motor Bond Graph: Battery

ICBGM'05 Motor Bond Graph: Coils/Shaft

ICBGM'05 Fin Actuation System

ICBGM'05 Fin Dynamics

ICBGM'05 Fin Dynamics: Backlash Model

ICBGM'05 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*Twistfor k = 340 N*m/deg

ICBGM'05 Fin Actuation System

ICBGM'05 Controller 1 PI Controller

ICBGM'05 Controller 2

ICBGM'05 Controller 2: Y3 Limiter

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

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

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

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

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

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

ICBGM'05 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. Conclusions