ACE: a bond graph modelling and development tool for control system design and implementation

摘要

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 containing multiple actuators with sensory feedback. The windows-based, object-orientated (OO) development tool ACE (Adaptive Control 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 drawing of the selected element on this level, contains data representing an acausal bond graph. As the model is built up containing several of these objects, 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 hardware; ·an applied loading. It is from the last two of these sub-systems that control code may be generated for operation and testing on a specially developed DAP (Data Acquisition Processor) controlled test-rig.