Dynamic Modeling of a Three-Phase BLDC Motor Using Bond Graph Methodology

This paper presents a dynamic modeling approach for a 3-phase BLDC motor used in a differential-drive serving robot using bond graph (BG) methodology. Designed for structured indoor environments, the serving robot incorporates mechanical, electrical, and control components that require an integrated modeling strategy. Traditional methods often fall short in handling the multi-domain nature of such systems. Bond graphs, with their energy-based modeling capability, offer a unified framework for capturing electromechanical dynamics and physical interactions. This work develops a complete bond graph model of a three-phase BLDC motor-driven robot, simulates its performance under typical operating conditions, and validates the model through current, torque, EMF, and velocity responses. The results demonstrate the model’s effectiveness in reflecting real-world robot behavior, supporting future design optimization and control development.