Bond Graph Modelling and Simulation of Mechatronic Systems An Introduction into the Methodology

This paper introduces into a graphical, computer aided modelling methodology that is particularly suited for the concurrent design of mechatronic systems, viz. of engineering systems with mechanical, electrical, hydraulic or pneumatic components including interactions of physical effects from various energy domains. Beyond the introduction, bond graph modelling of multibody systems, as an example of an advanced topic, is briefly addressed in order to demonstrate the potential of this powerful approach to modelling mechatronic systems. It is outlined how models of multibody systems including flexible bodies can be build in a systematic manner. Keywords—Bond graph modelling, object-oriented physical systems modelling, computational causalities, forms of mathematical models, mechatronic systems, multibody systems.