Structural analysis by bond graph approach: Duality between causal and bicausal procedure

Mariem El Feki (1) , Audrey Jardin (1) , Wilfrid Marquis-Favre (1) , Laurent Krähenbühl (1) , Daniel Thomasset (1)

1 AMPERE - Ampère

The infinite structure of linear time-invariant systems has been principally used to solve control problems. Nevertheless, this system characterization appears interesting in the design and sizing of mechatronic systems as well. Indeed, based on the bond graph language and inverse modelling, a methodology has already been developed for sizing mechatronic systems according to energy and dynamic criteria. One of the novelties of this methodology is its structural analysis step. This step enables structural properties to be deduced and helps in the formulation of the specifications. The aim of this paper is to add new graphical procedures to the structural analysis step to determine some structural properties (infinite pole orders and relative orders) from the inverse model (bicausal bond graph model). The structural analysis of the inverse model remains interesting since the essential orders are immediately obtained on the bicausal model. A discussion is carried out regarding the duality between the causal and bicausal procedures.

Mots clés: bond graph; structural analysis; causal path duality; infinite zero/pole orders; relative order; essential order

Domaines: Automatique / Robotique

Mariem El Feki, Audrey Jardin, Wilfrid Marquis-Favre, Laurent Krähenbühl, Daniel Thomasset. Structural analysis by bond graph approach: Duality between causal and bicausal procedure. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2012, 226 (1), pp.82-100. ⟨10.1177/0959651811407708⟩. ⟨hal-00639588⟩