Development of a bond graph model for electromechanical actuators

Abstract This article addresses the bond graph model that allows for better comprehension of what the physical and mathematical concepts involved in electromechanical actuators are. In this study a disc type electromechanical actuator is modeled according to the bond graph method. Nonlinear effects such as flux path permeances, leakage loss and material saturation in a magnetic circuit are taken into account. The model is run on 20-sim 4.7 software, which allows for working directly with bond graph concepts. Simulation run-time is approximately 0.3 s for the simulation time of 12 ms. Results achieved with this model are compared with an MATLAB/Simulink model prepared using magnetic circuit algebraic equations. It was determined that the results of both models are almost identical. The static and dynamic model results are also verified by test results. As a consequence, a simple, fast running, accurate and easy-to-understand comprehensive bond graph model with magnetic circuit characteristics was developed. The model can be adapted to any type of electromechanical actuators with proper arrangement.