Bond graph based unified modeling framework for aerial service robots

Abstract

This paper presents a novel Unified modeling approach using Bond Graphs (BG) as framework for Unified Modeling and validation of Aerial Service Robots. The proposed framework is generic and supports a concurrent design approach across multiple domains. A general parametric Non Linear Bond Graph Model that can be used for all types of rotorcraft UAVs with 6 DOF has been developed from the first principles using Newton Euler formalism. By employing a judicious mixture of 1-Dimensional, Multi-bonds and Junction structures, an Integral causal structure has been maintained, thus avoiding algebraic loops. This results in a compact computationally efficient model. Using experimental data from system identification, these generic models have been refined to develop accurate dynamic models for a specific Quad rotor and validated using 20-SIM. Simulation results obtained are in general conformity to those reported. © 2012 Springer-Verlag.