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Modelling Example
Analysis of Models Dissipation
1
Bond Graph Elements
Energy Storing Elements
In dynamical systems energy can be stored,
Bond Graph Elements there are two kinds of energy storage:
Basic Elements Capacitor/Compliance (
ow storage)
Sources/Sinks Se C
Active elements, that supplies/removes Z
eort or
ow. e(t) = G( f (t)dt)
Z
Resistance R u(t) = C1 i(t)dt
Passive dissipative elements. Removes i(t) = C du=dt
energy and relates eort to
ow.
Constitutive relation: Inductance/Inertia (eort storage)
e(t) = h(f (t)) I
f (t) = h?1 (e(t))
Z
u(t) = R i(t) f (t) = G( e(t)dt)
Z
1
v(t) = m F (t)dt
F (t) = m dv=dt
2
Bond Graph Elements
Energy Transducers Bond Graph Elements
Modulated Elements
Relaxing the symmetry requirement, two Some elements can be modulated by an
unique two-port junctions can be derived external variable or signal.
describing energy
owing from one physical
domain into another.
A Transformer transforms eort in one Sources MSe
domain into eort in another, e. g., force modulated by a signal generator or a
pressure in a hydraulic piston. control signal
F = pA MTF
F p Transducers
v TF q nonlinear transformations, modulated by
q = vA for example angle or position
A Gyrator relates eort in one domain Example: AC voltage source in small circuit.
with
ow in another, e. g., current sin t
torque in an electrical motor.
M = km i
u MSe R
GY M
w
u = km ! i
Causality
Element causality
3
Causality Causality
Integral causality Causal constraints
Storage elements are said to have desirable Constitutive equations of junctions and
causality if it is integrating. transducers give constraints or propagation
Numerical routines are designed to integrate, rules for causality.
not dierentiate. 0
Common eort,
Eort causality for inertias
I one eort can be imposed
f 1R 1
)f =
I e dt
Common
ow,
Flow causality for capacitors N-1 eorts imposed
e
C 1 R Transformer, same causality in and out
)e=
C f dt e1 ! e2
f2 ! f 1 TF
Gyrator, switched causality
e1 ! f2
e2 ! f1 GY
Causality Causality
Assigning procedure
Example: A simple electrical circuit.
1. Assign mandatory causality to sources.
uc
i
2. Propagate causality through the junction
structure, using the causal constraints on I
junctions, transformers and gyrators.
i uc
:
Se 1 0 C
4
Modelling example
Modeling Example
Issues in Modeling Battery vacuum cleaner, electrical dynamics of
motor neglected.
The main issues when you want to make a
model of a system are:
Competence Willems - MPUM
Is the model adequate for our purpose?
Simplicity Occam's razor
Is it the simplest model possible?
Analysis of models
Causality con
icts
5
Analysis of models
Algebraic loops
Analysis of models
Algebraic loops can be found by inspection of
signal loops in the bondgraph. (Chap 6.5, [4])
Signal loop Closed causal path Deriving system equations from a causal
bondgraph.
Causal path Follows bonds with same causal
orientation, stops at storage or source 1. Choose power state variables, outputs
I from independent energy storages.
ic
:
Se 1 0 C u 1
uR1 iR2 uR
uC
i
uL I
R
R R C
1:I: i; C: uc di ; u = Ri;
i = C dudtC ; uL = L dt R
di = u =L duc = i =C
uC = u ? uL ? uR = U ? LC ddtu2C ? RC dudtC
2
2:
dt L dt c
3 : uL = V ? uR1 ? uc =
= V ? R1 i ? uc
) (LCs2 + RCs + 1)UC (s) = Ur(s)
ic = i ? iR2 = i ? uc =R2 !02 = LC1
; = R2 CL
di = 1 (V ? R i ? u )
) dt L 1 c 0 u
i
duc = 1 (i ? uc )
dt C R2 R I
C
6
Advanced Bond Graphs Advanced Bond Graphs
Multiports Multiports
Most energy transduction is associated with Example: A bicycle pump with blocked outlet.
energy storage. This leads to general multi-
ports, elds. Examples:
Electrical transformer with
ux energy, II
p,T
In two- and three-dimensional mechanics you Example: (Ch 8.1 [4], Ch 23.2 [7])
need to have bonds with several eorts/
ows, Extendable robot arm.
multibonds. y
Motivation for bond graph robotics: r x
Se:τ 1 IMT IF 1 II :M
generalized uncoupled
Handle in simple coordinate frame
{ Mechanics in uncoupled coord
{ Actuators in generalized coord
7
Conclusions
Bond graphs can be used to describe
simple linear & nonlinear systems.
+ Displays causality & dependencies between
parts of the system.
+ Systematic method, using physical
analogies
+ Model subsystems independently
+ Simplies nonlinear mechanics?
{ Tricky to learn, best suited for electrome-
chanics.
{ Complex technical applications?
{ Not well suited for applications with multi-
layered descriptions, simultaneous balance
equations
1. References
[1] Henry Paynter. Analysis and Design of
Engineering Systems, MIT Press, 1961.
[2] Dean Karnopp and Ronald Rosenberg,
System Dynamics: A Unied Approach,
Wiley & sons, 1975.
[3] P.E. Wellstead Introduction to Physical
System Modelling, Academic Press, 1979.
[4] Jean U. Thoma, Simulation by Bondgraphs,
Springer-Verlag, 1990.
[5] Francois Cellier, Continuous System
Modeling, Springer-Verlag, 1991.
[6] L. Ljung and T. Glad, Modellbygge och
simulering, Studentlitteratur, 1991.
[7] N. Hogan and P. Breedveld, Integrated
Modeling of Physical System Dynamics,
Internal report, Univ. Twente, 1995.
[8] Peter Gawthrop and Lorcan Smith,
Metamodelling: Bond graphs and dynamic
systems, Prentice Hall, 1995.