1. Object-Oriented Bond-Graph Modeling of a Gyroscopically Stabilized Camera Platform Robert T. McBrideDr. François Cellier Raytheon Missile SystemsUniversity of Arizona

2. ICBGM'03 Gyro

3. ICBGM'03 Gyro Bond Graph

4. ICBGM'03 Gyro:Pitch Orientation

5. ICBGM'03 Gyro:Yaw Orientation

6. ICBGM'03 Gyro:Roll Orientation

7. ICBGM'03 Inertial Rate Sensor

8. ICBGM'03 Camera Model

9. ICBGM'03 Simple Platform Inertia

10. ICBGM'03 Simple Platform Inertia: 3 Channels

11. ICBGM'03 Stabilized Platform

12. ICBGM'03 Stabilized Platform and Camera

13. ICBGM'03 Platform and Camera Test Scenario

14. ICBGM'03 Platform Commanded Angular Positions

15. ICBGM'03 Pitch Achieved Position

16. ICBGM'03 Roll Achieved Position

17. ICBGM'03 Yaw Achieved Position

18. ICBGM'03 Camera: Pitch Achieved Position

19. ICBGM'03 Camera: Roll Achieved Position

20. ICBGM'03 Camera: Yaw Achieved Position

21. ICBGM'03 The paper has demonstrated how bond-graph models of physical devices can be embedded in an overall control architecture in an object-oriented fashion. The Dymola modeling framework enables the modeler to convert hierarchical bond-graph models into software objects that can be integrated into larger entities, and that can be used in simulation experiments. A gyroscopically stabilized platform was used in this paper to demonstrate the generality of the approach to object- oriented bond-graph modeling of physical systems, and to show that the tools available to this end are powerful enough to deal with complex industrial processes. Conclusions