Abstract: Aiming at the problem of integrated dynamic simulation of electromechanical systems, a vector bond graph method suitable for computer automatic modeling was proposed. Considering that the equations of independent energy storage field and dissipation field were nonlinear, the system state equations were derived. Based on improved hybrid nonlinear continuous contact and collision model, the vector bond graph model describing joint clearance was made. Based on this, the vector bond graph model of a crank slider press mechanism system including driving motor and nonlinear joint clearance was made, the integrated automatic modeling and dynamic simulation of the nonlinear electromechanical system were realized, and the reliability of this procedure was verified. The results indicate that the established system state equations are more universal and the modeling method is stylized. The proposed model has the characteristics of high precision and modularization, which is especially suitable for the integrated computer modeling and dynamic simulation of electromechanical system with accurate calculation of joint clearance. The joint clearance has a certain degree of influence on the dynamic performance of electromechanical system, which makes the joint constraint force at both ends of the linkage and the tool acceleration oscillate in a high-frequency state. The maximum value increases by 3.55%, 2.8% and 5.7%, respectively, which further demonstrates the effectiveness of the method presented.

Key words:  vector bond graph; electromechanical system; joint clearance; state equations; integrated modeling; dynamic simulation