Modeling, Identification and Control, Vol. 32, No. 1, 2011, pp.

35–45, ISSN 1890–1328

Analysis, Modeling and Simulation of Mechatronic

Systems using the Bond Graph Method
A. Alabakhshizadeh 1 Y. Iskandarani 2 G. Hovland 2 O. M. Midtgård 1

1
Renewable Energy Group, Faculty of Engineering and Science, University of Agder, N-4898 Grimstad, Norway.
E-mail: {abozar.alabakhshizadeh, ole-morten.midtgard}@uia.no
2
Mechatronics Group, Faculty of Engineering and Science, University of Agder, N-4898 Grimstad, Norway. E-mail:
{yousef.iskandarani, geir.hovland}@uia.no

Abstract

The Bond Graph is the proper choice of physical system used for: (i) Modeling which can be applied to
systems combining multidisciplinary energy domains, (ii) Analysis to provide a great value proposition for
finding the algebraic loops within the system enabling the process of troubleshooting and eliminating the
defects by using the proper component(s) to fix the causality conflict even without being acquainted in
the proper system, and (iii) Simulation facilitated through derived state space equations from the Bond
Graph model is solved using industrial simulation software, such as 20-Sim, www.20sim.com.
The Bond Graph technique is a graphical language of modeling, in which component energy ports
are connected by bonds that specify the transfer of energy between system components. Following a brief
introduction of the Bond Graph methodology and techniques, two separate case studies are comprehen-
sively addressed. The first case study is a systematic implementation of a fourth order electrical system
and conversion to mechanical system while the second case study presents modeling of the Dielectric
Electro Active Polymer (DEAP) actuator. Building the systematic Bond Graph of multifaceted system
and ease of switching between different domains are aims of the first case study while the second study
shows how a complex mechatronic system could be analyzed and built by the Bond Graph. The respective
Bond Graphs in each case is evaluated in the light of mathematical equations and simulations. Excellent
correlation has been achieved between the simulation results and proper system equations.

Keywords: 20-Sim tool, Bond graph, Casual stroke, Dielectric electro active polymers (DEAP), Push
actuator

1 Introduction port between components, is the universal currency of

physical system Gawthrop and Bevan (2007).
The Bond Graph is an abstract representation of a sys- The Bond Graph may be used to model energy
tem where a collection of components interact with transformation across many energy domains includ-
each other through energy ports and are placed in ing electrical, mechanical (translation and rotation),
the system where energy is exchanged Wong and Rad hydraulic, thermal, magnetics and chemical. The
(1998). The Bond Graph is a graphical method to Bond Graph energy domains for different disciplines
modeling and simulation of multi-domain dynamic sys- are shown in Table 1.
tems, in which component energy ports are connected The Bond Graph takes into consideration both topo-
by bonds that specify the transfer of energy between logical and computational structure of multi-domain
system components. Power, the rate of energy trans- dynamic systems, while most other graphical tech-

doi:10.4173/mic.2011.1.3 c 2011 Norwegian Society of Automatic Control

 Modeling, Identification and Control

Table 1: Identification of variables Pedersen and Engja (2001)

Energy domain Effort (e) Flow (f) Momentum (p) Displacement (q)
Electrical Voltage [V] Current [A] Flux linkage [Vs] Charge [C]
Mechanical Linear momentum
Force [N] Velocity [m/s] Distance [m]
translation [kgm/s]
Mechanical Angular velocity Angular
Torque [Nm] Angle [rad]
rotation [rad/s] momentum [Nms]
Pressure
Volume flow rate
Hydraulic Pressure [Pa] momentum Volume [m3 ]
[m3 /s]
[N/m2 s]
Thermal Temperature [K] Entropy flow [J/s] - Entropy [J]
Magneto motive
Magnetic Flux rate [Wb/s] - Flux [Wb]
force [A]
Chemical potential Rate of reaction Advancement of
Chemical -
[J/mol] [mol/s] Reaction [mol]

niques preserve only topological or computational with simulation software. (iii) Case study II “Dielectric
structure. For instance, a circuit diagram reflects the Electro Active Polymer Actuator” is presented, gov-
topological structure of the system while a signal flow erning equations are derived and explained. The Bond
graph and block diagram are used for computational Graph model is constructed, and simulation results are
structure of the system. These methods are not al- shown to match well with the governing output of the
ways applicable to different multi-domain systems; e.g. equations.
a circuit diagram is used only for electrical systems.
Some of the advantages of the Bond Graph method
emphasized in the literature are information about 2 Fundamentals of the Bond Graph
constrained states, algebraic loops, and the benefits
Components regardless of any energy domains are con-
and consequences of potential approximations and sim-
nected through a lossless line so called power bond. The
plifications. Moreover, due to causality assignment
direction in which the power flow is assigned, a posi-
the method gives the possibility of localization of
tive value is indicated by a half-arrow on one end of
state variables, a tool for finding and removing alge-
the bond as it is shown in Figure 1-a. In the Bond
braic loops and achieving a well-behaved mathematical
Graph method, power consists of two variables which
model. The Bond Graph provides information regard-
are known as generalized effort and generalized flow
ing the structural properties of the system, in terms
denoted by e and f respectively. The power flowing in
of controllability and observability. Altogether, it is
the bond is defined as the product of an effort and a
ideally suited for modeling and simulation of mecha-
flow variable, as shown in Equations 1,
tronic systems Khurshid and Malik (2007), Roman
et al. (2010).
Although the Bond Graph technique has been in- P (t) = e(t) × f (t) (1)
vented by Professor H. M. Paynter at MIT, approx-
imately six decades ago, still it has not been one of
the main tools for modeling systems. Here, in this pa- In order to describe a system, generalized momentum
per, the Bond Graph technique is introduced, for the and generalized displacement are defined. Generalized
first time, to the Modeling, Identification and Control momentum is the time integral of effort which is as-
(MIC) community. After 30 years of publication, not a signed by p and generalized displacement is the time
single paper about the Bond Graph has been published integral of flow assigned by q.
in MIC. In the Bond Graph language, voltage and current
The paper is organized as follows: (i) Fundamen- which resemble the power variables are translated to
tals of the Bond Graph is presented. (ii) Case study effort and flow respectively. Furthermore, flux leakage
I “Fourth Order Electrical System” is introduced and variable and the charge are considered as momentum
analyzed using the Bond Graph and equations are ex- and displacement. Electrical elements are classified
tracted. Then conversion from electrical to mechani- as one-port or two-port elements in the Bond Graph
cal domain is accomplished, and the results are proved method according to their number of inputs or outputs.

36
 A. Alabakhshizadeh et.al, “Mechatronic Systems Modeling using Bond Graph Method”

as 0 is the effort equalizing junction or flow summing

junction. While 1-junction is indicated as 1 and it is
flow equalizing junction or effort summing junction.

Figure 1: (a) Sign convention on the power bond. (b)

Notation convention for effort and flow re-
spect to the indicated causality on a bond

Meaning that, each bond represents two connections

in the electrical system. For instance resistor, induc-
tor, capacitor and sources are considered as one-port
Figure 2: Tetrahedron of state for one-port elements
element while transformer is categorized as two-port
Pedersen and Engja (2001)
element. The common electrical elements and their
respective Bond Graph and constitutive relations are
summarized in Table 2. In electrical domain, 0-junction is used for parallel
connection which is following the Kirchhoff’s voltage
law. On the other hand, 1-junction restricted for series
Table 2: Common electrical elements and their proper connection which is following the Kirchhoff’s current
Bond Graph indicators and relations law.
Common
Bond Graph Constitutive
electrical
element relations
elements
Voltage e
Se * e = e(t)
source
Current Sf *
f
f = f (t)
source
e
*R e = ϕR (f ) Figure 3: The two basic junctions. (a) 0-junction and
Resistor f e = Rf (b) 1-junction
e
*I p = ϕI (f )
Inductor f p = If
The constitutive relations for 0-junction and 1-
e
*C q = ϕC (e)
Capacitor junction are summarized in Equations 2 and 3 as fol-
f q = Ce
lows;
e1 2
* TF *
e e1 = e2 m
Transformer f1 f2 f1 m = f2

e1 = e2 = e3
e
1 2 e e 1 = f2 r 0 − Junction : (2)
Gyrator * GY * f1 + f2 + f3 = 0
f1 f2 f1 r = e2

f1 = f2 = f3
A tetrahedron diagram which indicates the relation 1 − Junction : (3)
e1 + e2 + e3 = 0
of the power variables; effort and flow, and energy vari-
ables; momentum and displacement for one-port ele- Causality is perhaps the most significant concept em-
ments is shown in Figure 2. bedded in the Bond Graph in order to extract the state
Junctions serve to interconnect other components space equations. Causality is used to define which en-
into subsystem or system models. There are two ba- ergy variables are input variables and which are output
sic junctions defined in the Bond Graph method; 0- variables with respect to elements considered and rep-
junction and 1-junction. 0-junction which is indicated resented by causal stroke, placed perpendicular to the

37
 Modeling, Identification and Control

bond at one of its ends. The causal stroke indicates

the direction of the effort and flow. The direction of
the causal stroke is independent of the power direction,
which is shown in Figure 1-b.
The possible causalities and their respective relations
for each electrical element are indicated in Table 3.
According to Table 3, both voltage and current sources
have a constant causality while the rest of the elements
could vary between integral and derivative causality.
However, the most desirable causality of the storage
elements is the integral causality.
Figure 4: A forth order electrical circuit
Table 3: Common electrical elements and their proper
Bond Graph indicators and causal relations
and each indicated as a 0-junction. Meaning that,
Common Bond each element is located between two 0-junctions. Sec-
Causal
electrical Graph ond, the proper element is connected to the 1-junction,
relations
elements element connected to the related 0-junctions. Third, defining
Voltage the ground junction by connecting the corresponding
Se *| e(t) = given 0-junction to the zero voltage source (Se =0) element.
source
Current Forth, simplifying the Bond Graph by neglecting the
Sf |* f (t) = given 0-junction which is connected to the ground and ob-
source
|* R e = ϕR (f ) taining the reduced Bond Graph.
Resistor
*| R f = ϕ−1 R(e)
The algorithmic Bond Graph technique for the se-
|* I e = dtd
[ϕI (f )] lected electrical circuit is indicated in Figure 5-a to c.
Inductor
f = ϕ−1
R
*| I I (R edt)
|* C e = ϕ−1
C ( f dt) 3.2 Bond Graph Model Equations
Capacitor d
*| C f = dt [ϕC (e)]
To obtain the state space equations for a reduced Bond
|* TF |* e1 = me2 , f2 = mf1
Transformer Graph, first the flow equations in 0-junctions and ef-
*| TF *| e2 = em1 , f1 = fm2
fort equations in 1-junctions are attained as shown in
e1 = rf2
equations (4-9), respectively;
|* GY *| e2 = rf1
Gyrator
*| GY |* f1 = ( 1r )e2 f1 = f12 + f2 (4)
f2 = ( 1r )e1

f5 = f4 − f6 (5)

3 Case Study I
f10 = f9 + f8 (6)
3.1 Electrical Model and Reduced Bond
Graph Model e3 = e2 − e4 (7)
A fourth order electrical circuit is considered as a case
study as shown in Figure 4. It consists of a common e7 = e6 + e8 (8)
voltage source and a resistor that connects to two par-
allel branches containing two inductors and two capac-
itors which are connected diagonally. e10 = e12 − e11 (9)
Following the step-by-step procedure to achieve a
Bond Graph of electrical circuits can become an issue Equations (4-9) are most likely to be used in second
for complicated circuits. The algorithmic Bond Graph and third step of acquiring the model equations.
technique for electrical circuits is the solution when Second, the flow or effort caused by each element
challenging circuits exist. In the algorithmic Bond is obtained. It is recommended to start with sources
Graph technique when it is applied to electric current, (e.g. voltage and current source), then the storage ele-
first, the points with different voltages are identified ments (e.g. I and C), and finally non-storage elements

38
 A. Alabakhshizadeh et.al, “Mechatronic Systems Modeling using Bond Graph Method”

(e.g. R). Equations are derived and shown in (10-15)

as follows;

Se : e1 = E(t) (10)

p9
L1 : f9 = (11)
L1

p3
L2 : f3 = (12)
L2

q11
C1 : e11 = (13)
c1

q5
C2 : e5 = (14)
c2

e7 1 1
R : f7 = = (e6 + e8 ) = (e5 + e12 − e11 )
R R R
1 q5 E(t) q11
= (e5 + e1 − e11 ) = + − (15)
R RC2 R RC1

Third, the received flow or effort of each storage ele-

ment with integral causality from the system should be
obtained which are the state space equations; shown in
the equations (16-19).

L1 : e9 = ṗ9 → ṗ9 = e10 = e12 − e11

q11
= e1 − e11 = E(t) − (16)
C1

L2 : e3 = ṗ3 → ṗ3 = e2 − e4
q5
= e1 − e5 = E(t) − (17)
C2

C1 : f11 = q̇11 → q̇11 = f10 = f9 + f8 = f9 + f7

p9 q5 E(t) q11
= + + − (18)
L1 RC2 R RC1

C2 : f5 = q̇5 → q̇5 = f4 − f6 = f3 − f7
p3 q5 E(t) q11
Figure 5: Bond Graph model of the forth order elec- = − − + (19)
L2 RC2 R RC1
trical circuit presented in Figure 4. (a)
First two steps of algorithmic Bond Graph Finally, the state space equations are summarized in
technique (b) Omitting the 0-junction con- the matrix below.
nected to the ground and simplifying the 
ẋ(t) = A(t)x(t) + B(t)u(t)
Bond Graph (c) Reduced Bond Graph. (20)
y(t) = C(t)x(t) + D(t)u(t)

39
 Modeling, Identification and Control

0 0 − C11 0
     
ṗ9 p9
 ṗ3   0 0 0 − C12   .  p3 
 
 q̇11  =  1
   1 1
L1 0 − RC 1 RC2
  q11 
q̇5 1 1 1 q5
0 L2 RC1 − RC 2
 
1
 1 
+ 1 

 E(t) (21)
R
− R1

 
p9
  p3 
− C11 − C12

e7 = 0 0 ·
 q11  + E(t)
 (22)
q5

3.3 Electrical to Mechanical System

Conversion
As mentioned, the main value proposition of the Bond
Graph technique is its multi-domain characteristics. In
order to have equivalent systems in different domains,
first the Bond Graph should be sketched. Having the
Bond Graph, it is easy to switch between domains.
In the mechanical domain, damper, mass, and spring
are equivalent to R, I, and C respectively. Further-
more, sources of current and voltage in electrical do-
main equate to sources of velocity and force in the me-
chanical domain and represented by Sf and Se respec-
tively. 1-junctions in the Bond Graph, indicate the Figure 6: Mechanical model of the Bond Graph and
equal flow and each 0-junction connected to the ele- electrical model shown in Figure 5-c and Fig-
ments indicates there is a mechanical element between ure 4 respectively.
the associated 1-junctions.
In Figure 5-c, three 1-junctions are translated to
three separate equal flows. Thus, two masses instead
of L1 and L2 and two springs instead of C1 and C2 ap-
pear in the mechanical system. A source of effort and
a damper are replaced with the Se and R. Figure 6
presents the mechanical system of the Bond Graph Table 4: Model Parameters
sketched in Figure 5-c which is equivalent to the elec-
Bond Electrical Mechanical
trical system argued as the case study, Figure 4. Value
Graph Domain Domain

3.4 Simulation Results Voltage

Fource
200-60 Se source
(N-Freq)
Several computer-based simulation tools are available (V-Hz)
for designing and simulating Bond Graphs. 20-Sim is Inductors Mass
0.001 I
a graphical modeling and simulation program which (H) (Kg)
is suitable for generating and processing of dynamic Capacitance Spring
1e-006 C
systems, such as electrical, mechanical, and hydraulic (F) (N/m)
systems or any combination of these in an intuitive and Resistor Damper
10 R
user-friendly way. The software has been used for sim- (Ω) (N.s/m)
ulating the three approaches simultaneously; Electrical
system, Bond Graph and mechanical system. Table 4
shows the values of each parameter.

40
 A. Alabakhshizadeh et.al, “Mechatronic Systems Modeling using Bond Graph Method”

Figure 7, shows the simulation results for three der to transmit the forces from the dielectric film to
equivalent systems. Voltage applied to the resistor in the spring, the rolled film is glued to the treaded rods.
electrical model, force applied the damper in the me- This actuator elongates in the axial direction when a
chanical model, and R in the Bond Graph model are voltage is applied and contracts back to its original
sketched. length when deactivated. Elongations up to 26% and
The simulation results show that the obtained Bond forces up to 15 N were achieved at 2500V. This design
Graph and mechanical system are equivalent with the was chosen for the dielectric actuators to be used in
electrical system. an arm wrestling robot where 256 spring roll actuators
with 12 mm outer radius were used.
The actuating performances of the elastomeric di-
4 Case Study II electric materials, used as electromechanical polymer
transducers, have been assessed and continuously im-
4.1 Dielectric Electro Active Polymer proved over the last few years so that devices made of
Actuator DEAP today represent one of the best smart material
technologies using polymer actuation.
Danfoss PolyPower A/S has been researching into the This work investigates the PolyPower DEAP actua-
technology of the DEAP for a number of years, using tor modeling using the Bond Graph method. The Bond
smart compliant electrode technology Benslimane et al. Graph representation of the DEAP based actuator is
(2002) in conjunction with a silicon elastomer Wacker an alternative for the better known block diagram and
Chemie AG (2011). So far the company has concen- signal flow Graph with a major difference of having a
trated on developing an automatic manufacturing fa- bidirectional physical energy exchange in between each
cility for their PolyPower material as well as designing of the Bond Graph elements. The work will provide an
and fabricating PolyPower actuators. Two actuator insight into (i) the state-of-art Bond Graph modeling
types currently exist; a pre-strained ‘pull’-type actu- of the DEAP push actuator and (ii) the simulation to
ator and a core free tubular ‘push’ actuator with no show the actuator performances. The following objec-
pre-strain. The surface structure and the electrodes on tives are addressed:
their DEAP film are corrugated. The corrugation al-
low the elastomer and the electrodes to be compliant in • An introduction to the governing equations which
one direction and stiff in the other direction. Applying are used for modeling the DEAP push actuator.
voltage between the electrodes results in electrostatic • The Bond Graph model of the DEAP actuator.
forces and contraction between the electrodes. The re-
sulting stress from the electro static forces causes the • The simulations showing (i) Force-Voltage, (ii)
elastomer to elongate in one direction. Stroke-Voltage and (iii) Force-Stroke relations.
A large number of different types of DEAP actuators
have been demonstrated so far. Most notable examples 4.2 Governing Equations
include planar devices, rolls, tubes, stacks, diaphragms
and extenders. Of the range of DEAP-based actuators Figure 8-a shows the push actuator which is produced
that currently exists those having a cylindrical configu- by rolling a long laminated sheet of Electro Active
ration (rolls and tubes) are among the most promising Polymer ‘EAP’ material resulting into multi ‘cylindri-
and important. This kind of device was proposed for cal’ hollow tube as shown in Figure 8-b.
the first time by Pelrine et al. (2001), who called it a
tube actuator. The basic principle of the tube actua-
tor is that by applying a voltage to two compliant elec-
trodes attached to the internal and external surfaces of
a thin-walled cylindrical dielectric elastomer tube, the
tube wall will squeeze, causing an axial elongation.
The spring roll actuator Pelrine et al. (2001), Ash-
ley (2003) is perhaps currently the most advanced
cylinder-type design for achieving large activation
forces with dielectric elastomers. The actuator is com- Figure 8: (a) The DEAP push actuator, (b) (i) Inner
prised of a bidirectionally pre-stretched and double- and outer pressure when electric field applied
side-coated dielectric film wrapped around an elastic (ii) Resultant longitudinal pressure.
coil spring. The interface for the external fixing of the
actuator is made from two threaded rods, which are These actuators are envisaged to be used as hy-
screwed from both sides into the coil spring. In or- draulic type positioning devices. To model the force

41
 Modeling, Identification and Control

Figure 7: Simulation results: Resistor Voltage in Electrical Model (Top), Damper Force in Mechanical Model
(Middle), R element effort in Bond Graph (Bottom).

characteristics of the actuator the rolled single EAP Where x is the total length of the actuator and can
laminated sheet will be approximated as a number of be found by summing active and passive length.
concentric cylinders, within the outer and inner radii It is assumed that the concentric cylinders which
of the tubular actuator. Each ‘cylinder’ in the actuator compose the push actuator are perfectly in contact
contributes to the total force provided by the actuator. with each other such that the outer radius of one cylin-
Since each cylinder has different geometrical dimen- der is equal to the inner radius of the next one. The in-
sion, each of them will contribute a different force to ner and outer circumferences of each cylinder are force
the overall force ‘Fa ’ Iskandarani (2008) which is found in the material when it is extended. This elastic force
to be: acts in the opposite direction to the actuator force.
Since the actuator has to compress the passive part, as
0 · r · y · U 2 shown in Figure 9-a and Figure 9-b, before moving the
Fa = (23)
z0 load it looses some force.
Where 0 and r are the dielectric and relative con- The effective force of a cylindrical EAP actuator con-
stants, y; the width of the DEAP sheet, z0 ; the original taining passive parts as shown by Wissler et al. (2007)
thickness, and U ; is the applied voltage. is reduced as a function of the ratio of the active length
An applied electrical potential, of opposite signs, on to the total length as shown in the formula below.
each of the actuator’s electrodes will cause the elec-  
La
trodes to attract each other compressing the cylinders Fe = Fa (26)
wall thickness. The compression of the wall thickness La + Lp
results in elongation of the cylinder as shown in Fig- where Fe is the effective force, La and Lp are active
ure 8-b. The electromechanical model of the strain and the passive actuator length respectively.
’S ’ of a cylindrical EAP actuator Iskandarani (2008) is
found to be:
4.3 DEAP with Bond Graph
2 · ν · Fa
S= (24) The graphical representation of the DEAP push actua-
Y ·A
tor as shown in Figure 10 has been successfully imple-
Where ν and Y represent the Poisson’s ratio and mented using the Bond Graph. The model has been
Young’s modulus of the material and A represents the implemented and simulated using the 20-sim software.
cross sectional area for the used sheet of material. The In the Bond Graph model, the actuator is divided into
effective stroke ∆L can be found as follows: three different parts; two passives and one active. The
active part of the actuator consists of (i) ‘C’; the ac-
∆L = S · x (25) tive spring component and (ii) ‘R’; the active damping

42
 A. Alabakhshizadeh et.al, “Mechatronic Systems Modeling using Bond Graph Method”

Figure 9: (a) Model of the Actuator showing the ac-

tive and passive parts (b) combining top and
bottom mass-spring-damper systems of pas-
sive parts.

of the actuator which shares the same flow at the ‘1’

junction. A transformer element ‘TF’; is used to con-
vert the electrical power to mechanical one. Hence,
it is connected to the ‘0’ junction. The transformer
provides the Maxwell Force which is generated when
biasing the actuator.
The passive ends are similar, both consist of ‘C, R
& I’ elements which represent the spring, damping and
mass of the passive material. The ‘C, R’ elements share
the same flow at the ‘1’ junction. Hence, the ‘C, R’ el-
ements of the lower passive part share the same flow
with the ‘I’ inertial element at the ‘1’ junction. Note
that the lower passive end is fixed with a ‘0’ junction
connection to zero flow source whereby the upper pas-
sive part is loaded with an external mass which is rep-
resented by an ‘I’ inertial element.

4.4 Simulation Results

In this part the 20-sim tool has been utilized to model
and simulate the Bond Graph for the DEAP actua-
tor. During the simulation phase, some parameters
which characterize the push actuator properties has to
be set as shown in Table 5. It is noted, the formu-
las which used these parameters are hidden inside the Figure 10: The DEAP push actuator model using the
Bond Graph elements. Bond Graph
Based on the parameters shown in Table 5, simula-
tions are carried out in order to determine the charac-

43
 Modeling, Identification and Control

teristics of the DEAP push actuator. Figure 11 shows

the Maxwell Force, Effective Force and Position vs.
Table 5: The actuator parameters Applied Voltage curves for the given actuator proper-
ties. However, when specifying an actuator, only active
Attribute Unit Value length and width within limitations are specified. The
0 - 8.8542e-12 parameters in Table 5 can vary, even within the same
r - 2.733 batch.
ν - 0.5 In contrast to the relations shown in Figure 11, Fig-
Y Pa 1.925e6 ure 12 shows the relation between the Effective Force
xa m 0.06 and Effective Stroke; this relation will provide a con-
xb m 0.04 crete basis to determine the actuator dimensions for
z0 m 75e-6 any application by picking up the operational force and
y m 7 stroke range. Furthermore, Figure 12 shows the pos-
U V 3000 sibility of enhancing the actuators curve by reducing
the passive ends which is the main reason of the per-
formance decline.
The simulation results show an excellent correla-
tion with the results conducted by Danfoss PolyPower
Benslimane et al. (2010). The behavioral outputs of
the DEAP actuator has been simulated and sketched in
Figure 11 and Figure 12. The outputs are determined
using the introduced parameters shown in Table 5 and
the governing equations introduced in section 4.2.

5 Conclusion
This work has addressed the analysis, modeling and
simulation of multi-disciplinary systems using the
Bond Graph. Through this work, the Bond Graph
technique is introduced, characterized and imple-
mented into two case studies. In case study I, the Bond
Figure 11: The actuator Maxwell and Effective Forces Graph is used to analyze and simulate a fourth order
and Position vs. Applied voltage electrical system. State-space equations have been de-
rived. Moreover, the equivalent mechanical system is
designed by conversion of the Bond Graph of the elec-
trical circuit to mechanical system. The 20-Sim soft-
ware has been employed in both case studies, whereby
it is used in case study I for simulating and verify-
ing the equality of the systems. The response of both
electrical and mechanical systems were tested and ver-
ified by the simulation software. In case study II, to
our knowledge for the first time, the modeling in the
area of dielectric smart material using the Bond Graph
method is investigated and highlighted as an origi-
nal work. The output of the Bond Graph model en-
ables finding the steady-state Voltage-Effective Stroke,
Voltage-Effective Force and last but not least the Ef-
fective Force-Effective Stroke DEAP’s push actuator
characteristics. Throughout the modeling of the actu-
ator, standard and verified dimensions and material pa-
Figure 12: The push actuator Maxwell and Effective rameters have been used for finding the actuator char-
Force vs. Effective Stroke curves acteristics. Moreover, data is collected from practical
experimentations and used to verify the Bond Graph
model which concludes accurate correlation.

44
 A. Alabakhshizadeh et.al, “Mechatronic Systems Modeling using Bond Graph Method”

Acknowledgment Wissler, M., Mazza, E., and Kovacs, G. Elec-

tromechanical coupling in cylindrical dielectric elas-
The work was carried out at the premises of the Univer- tomer actuators. Proc. SPIE 6524, 652409, 2007.
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