In many applications that require physical interaction with humans or other physical environments, passivity is a useful property to have in order to improve safety and ease of use. Many mechatronic applications (e.g., teleoperators, robots that interact with humans) fall into this category. In this paper, we develop an approach to design passifying control laws for mechatronic components from a bond graph perspective. Two new bond graph elements with power scaling properties are first introduced and the passivity properties of bond graphs containing these elements are investigated. These elements are used to better model mechatronic systems that have embedded energy sources. A procedure for passifying mechatronic systems is then developed using the four-way directional electrohydraulic flow control valve as an example. The passified valve is a two-port system that is passive with respect to the scaled power input at the command and hydraulic ports. This is achieved by representing the control valve in a suitable augmented bond graph, and then by replacing the signal bonds with power scaling elements. The procedure generalizes a previous passifying control law resulting in improved performance. Similar procedure can be applied to other mechatronic systems.
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e-mail: pli@me.umn.edu
e-mail: r.f.ngwompo@bath.ac.uk
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December 2005
Technical Papers
Power Scaling Bond Graph Approach to the Passification of Mechatronic Systems— with Application to Electrohydraulic Valves
P. Y. Li,
P. Y. Li
Department of Mechanical Engineering,
e-mail: pli@me.umn.edu
University of Minnesota
, Minneapolis, MN 55455
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R. F. Ngwompo
R. F. Ngwompo
Department of Mechanical Engineering,
e-mail: r.f.ngwompo@bath.ac.uk
University of Bath
, Bath, BA2 7AY, United Kingdom
Search for other works by this author on:
P. Y. Li
Department of Mechanical Engineering,
University of Minnesota
, Minneapolis, MN 55455e-mail: pli@me.umn.edu
R. F. Ngwompo
Department of Mechanical Engineering,
University of Bath
, Bath, BA2 7AY, United Kingdome-mail: r.f.ngwompo@bath.ac.uk
J. Dyn. Sys., Meas., Control. Dec 2005, 127(4): 633-641 (9 pages)
Published Online: March 28, 2005
Article history
Received:
June 28, 2003
Revised:
March 28, 2005
Citation
Li, P. Y., and Ngwompo, R. F. (March 28, 2005). "Power Scaling Bond Graph Approach to the Passification of Mechatronic Systems— with Application to Electrohydraulic Valves." ASME. J. Dyn. Sys., Meas., Control. December 2005; 127(4): 633–641. https://doi.org/10.1115/1.2101848
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