New developments in bond graph modeling software tools: the computer aided modeling program CAMP-G and MATLAB

The Computer Aided Modeling Program (CAMP-G) is a bond graph modeling tool designed to make physical system models in graphical form and to generate systems of equations in source code form so that computer simulation programs and now MATLAB can analyze dynamic systems. Current technology allows the creation of system models using CAMP-G and performing simulations using general purpose simulation languages such as ACSL, DSL, CSSL or the user's own program. This paper investigates the ability to use bond graph modeling technology with MATLAB and its tool boxes, a package oriented to matrix state variable formulation and control system design. Basic principles of causality and equation generation are presented in order to establish the theoretical basis for the logic. The analysis of multienergy physical systems and control systems joins representations by block diagrams and bond graphs in a single model. The capabilities of CAMP-G to generate automatically source code models have been incorporated together with the mathematical capabilities of MATLAB. The new modeling environment created with this combination and the possible applications in system dynamics and control such as electromechanical and mechatronics systems are discussed.