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

2. ICBGM'05 Fin Actuation System

3. ICBGM'05 Motor Bond Graph

4. ICBGM'05 Motor Bond Graph: Battery

5. ICBGM'05 Motor Bond Graph: Coils/Shaft

6. ICBGM'05 Fin Actuation System

7. ICBGM'05 Fin Dynamics

8. ICBGM'05 Fin Dynamics: Backlash Model

9. 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

10. ICBGM'05 Fin Actuation System

11. ICBGM'05 Controller 1 PI Controller

12. ICBGM'05 Controller 2

13. ICBGM'05 Controller 2: Y3 Limiter

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

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

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

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

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

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

20. 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