Energy Flow Modeling of Mechatronic

Object diagrams are generalizations of block diagrams and of bond graphs, and allow mode-ling of input/output signal ow as well as energy ow. It is shown how object diagrams can be used for the modeling of mechatronic systems, consisting of 3-dimensional mechanical systems, electrical circuits, drive trains, control blocks etc. Emphasis is given to the description of energy ow between diierent components. Contrary to domain-speciic packages, all the details of an object diagram, such as equations of elements, graphical layout of icons or submodels, are deened in a \soft" way, not built into the package, and can be directly accessed by the user, to either use it as a template for user-deened model types or to make modiications that are necessary for the problem at hand.