L. Pattison et Jr. Hewit, ACE: a bond graph modelling and development tool for control system designand implementation, MECHATRONIC, 10(3), 2000, pp. 339-351
A software tool based on bond graphs is presented together with a hardware-
in-the-loop experimental rig. These are designed to be used as aids in the
planning, simulation, implementation and testing of control systems contain
ing multiple actuators with sensory feedback.
The windows-based, object-orientated (OO) development tool ACE (Adaptive Co
ntrol Environment) enables the user to build up a graphical representation
of the system by selecting objects from a library of system elements and/or
mini systems. Each of these objects, although viewed as a graphical drawin
g of the selected element on this level, contains data representing an acau
sal bond graph. As the model is built up containing several of these object
s, ACE has a view of the overall interconnecting acausal bond graph of the
system.
For hardware-in-the-loop simulation, ACE divides the core system model into
three parts, representing:
the hardware-in-the-loop objects - that is the hardware under test (e.g. an
electrical motor and sensors);
the controller - whose function it is to control the afore mentioned hardwa
re;
an applied loading.
It is from the last two of these sub-systems that control code may be gener
ated for operation and testing on a specially developed DAP (Data Acquisiti
on Processor) controlled test-rig. (C) 2000 Elsevier Science Ltd. All right
s reserved.