Dynamic modelling of multi-physical domain system by bond graph approach and its control using flatness based controller with MATLAB Simulink
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1 Dnamic modlling of multi-phsical domain sstm b bond graph approach and its control using flatnss basd controllr with MATLAB Simulink Sauma Ranjan Sahoo Rsarch Scholar Robotics Lab Dr. Shital S. Chiddarwar Suprvisor Robotics Lab Dpartmnt of Mchanical Enginring
2 Nd of rliabl modlling and simulation tool for multi domain phsical sstm Dvlopmnt of a mathmatical modl for Mobil robot using Bond graph tchniqu Dvlopmnt of Simulink nvironmnt for multi domain sstm Dsign of th bond graph modl of th Mobil robot using MATLAB Simulink Controllr dsign to achiv dsird task for multi domain sstm Dsign of a Flatnss basd controllr to achiv dsird trajctor Ral Tim and hardwar implmntation Ral tim implmntation of th proposd Mthodolog using MATLAB hardwar support packag
3 Approach usd to solv th problm Modling Optimization Controllr dsign Ral Tim Implmntation
4 Modlling Challngs & Solutions With MATLAB/SIMULINK Dnamic Modlling using Bond Graph Non-Linar controllr modl Arduino support packag M-fil Solvr IN SIMULINK Solving Scond ordr non linar Equations Fdback data collction Ral Tim Hardwar Implmntation BG V.0 Tool Box Function blocks SIMULINK Kinct support packag
5 Modlling Tool Usd Arduino Support packag SIMULINK BG V.0 Tool box Kinct Support Packag Paramtr stimation Tool box
6 Bond Graph Enrg flow(effort/ Flow) Bond Graph Elmnts Bond Graph For Multidomain sstm Bond Graph Junction Global Structur BG_V0 Librar in SIMULINK
7 Four whl omnidirctional mobil robot (FWOMR) Dirction of motion Motor Path Path Goal Application Dsird path (FWOMR) Warhous Whl chair Omni mov liftr Hom Purpos Robots
8 Kinmatic modlling of th robot
9 Dnamic modlling using Bond graph of th robot DC Motor Gar Box Mcanum Whl Bond Graph Of th Robot Translational Motion Yaw Motion
10 Kinmatic and Dnamic Modl Using Simulink Kinmatics Dnamics
11 Flatnss basd Diffrntial Control ) sin cos ( ) sin (cos 0 ) sin (cos ) sin (cos / ) sin cos ( / ) sin (cos 0 / ) sin (cos / ) sin (cos X I m m m m X u u u rf rf rf k dt k k k dt k k k dt k k Whr rf rf rf Th Controllr gain usd for th simulations is calculatd b MATLAB Paramtr stimation tool box Flatnss Basd Controllr in Simulink
12 Paramtr Estimation toolbox For optimizd controllr paramtr
13 Ral Tim Implmntation of th proposd Schm Implmntation of control algorithm Simulink modl for arduino microcontrollr Robot with arduino microcontrollr
14 Ral Tim Implmntation of th proposd Schm Fdback data collction using Kinct snsor
15 Exprimntal Environmnt Dnamic modl and control BG+FBC Computd control input is snd from SIMULINK to Arduino board Rfrnc Trajctor (In form of flat output) + - Computd control input To robot Robot prformanc in th Exprimntal Environmnt Kinct basd tracking
16 Rsult Achivd Ral Tim Tracking of th Robot Using MATLAB Vido
17 Rsult Achivd (Mor complicatd trajctor) Vido
18 Conclusion Bond graph tchniqu provd to fficint to modl complx Multi-phsical sstm. BGV_0 is found suprior to othr softwar lik 0sim, CAMP-G tc. Flatnss basd controllr ssntiall hlps to linariz th sstm to gt control law. Estimation of controllr paramtrs using optimization tool box was fficintl don whn usd with simulation. Ral tim implmntation of dsignd approach was succssful du to hardwar support packags.
19 Wh MATLAB? Provids all basic and advanc tool for Scintific computation and rsarch Effctiv Tools for modl basd dsign of multi domain sstm Implmntation of control stratg using diffrnt blocks in SIMULINK Ral Tim Implmntation Wid rang of Hardwar support (lik arduino, Kinct and othrs) Abilit to conduct numbr of simulations and xprimnts Estimation of Sstm Paramtrs
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