MODELLING AND STRUCTURAL ANALYSIS OF THE BALL-ON-SPHERE SYSTEM USING BOND GRAPH TECHNIQUE
MODELLING AND STRUCTURAL ANALYSIS OF THE BALL-ON-SPHERE SYSTEM USING BOND GRAPH TECHNIQUE
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Date
2017-01
Authors
YESUFU, ABDULMUMINI
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Abstract
This research is aimed at the modelling and structural analysis of the ball-on-sphere
system using bond graph technique. To achieve the bond graph model of the ball-onsphere
system, the various subsystems, storage elements, junction structures,
transformer elements with appropriate causality assignments and energy exchange that
make up the ball-on-sphere system were identified and modelled. The developed bond
graph model of the ball-on-sphere system overcame the computational complexities
involved using Euler-Lagrange modelling technique which is prone to modelling errors.
20-Sim software was used to validate the developed bond graph model. In the
developed bond graph model considering the effect of friction, the time of angular
position response of the ball ( ) achieved was 0.5253s while in the system model
without frictional effect, time of 0.5408s was achieved for the angular position response
of the ball ( ). This shows 2.9% improvement of the angular position response of the
ball considering frictional effect in the developed bond graph model. It was established
from the structural analysis that the developed model of the ball-on-sphere system was
controllable and observable. It was also determined from the structural analysis that the
system was invertible and input-output decouplable.
Description
A DISSERTATION SUBMITTED TO THE SCHOOL OF POST GRADUATE STUDIES AHMADU BELLO UNIVERSITY, ZARIA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE AWARD OF A MASTER OF SCIENCE (M.SC) DEGREE IN CONTROL ENGINEERING
DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING, FACULTY OF ENGINEERING,
AHMADU BELLO UNIVERSITY,
ZARIA, NIGERIA
Keywords
MODELLING,, STRUCTURAL ANALYSIS,, BALL-ON-SPHERE SYSTEM,, BOND GRAPH TECHNIQUE