Hybrid simulation method for dynamic harvesting systems

This paper introduces a hybrid simulation method for dynamic systems that has been developed to combine bond graph techniques with real-time numerical-experimental substructuring. The approach involves the use of bond graph concepts such as virtual junctions and virtual actuators, traditionally used in physical model-based control, to enable intuitive substructuring. The methodology is demonstrated by revising a previously reported case study. Experimental validation is carried out using a table system comprising multiple masses and springs as the physical substructure, with automatically generated real-time code used for the digital substructure.