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Jimmy C. Mathews
• Dynamic Systems
Related sets of processes and reservoirs (forms in which matter or energy exists) through
which material or energy flows, characterized by continual change.
• Common Dynamic Systems
electrical, mechanical, hydraulic, thermal among numerous others.
• Real-time Examples
moving automobiles, miniature electric circuits, satellite positioning systems
• Physical systems
Interact, store energy, transport or dissipate energy among subsystems
• Ideal Physical Model (IPM)
The starting point of modeling a physical system is mostly the IPM.
• To perform simulations, the IPM must first be transformed into
mathematical descriptions, either using Block diagrams or Equation
descriptions
• Downsides – laborious procedure, complete derivation of the mathematical
description has to be repeated in case of any modification to the IPM [3].
GME +
Differential Matlab/Simulink Output
Equations Data Tables &
Graphs
Simulation and
Analysis
Software
Fig 1. Modeling Dynamic Systems [1]
Mechanical
Rotation
Mechanical Hydraulic/Pneumatic
Translation
Thermal Chemical/Process
Electrical Engineering
The equations for the damper (damping coefficient, α), spring (coefficient, KS) and mass are:
F_d = α * v
F_s = KS * (∫v dt) = 1/CS * (∫ vdt)
F_m = m * (dv/dt); or v = 1/m * (∫F_m dt); Also, F_a = force
Lets compare! We see the following analogies between the mechanical and electrical
elements:
Notice that the bond graphs of both the RLC circuit and the Spring-mass-damper system are
identical. Still wondering how??
Mechanical Rotation ω T θ = ∫ω dt b = ∫T dt
angular velocity torque angular displacement angular
momentum
Hydraulic / φ P V = ∫φ dt τ = ∫P dt
Pneumatic volume flow pressure volume momentum of a
flow tube
Thermal T FS S = ∫fS dt
temperature entropy flow entropy
Chemical μ FN N = ∫fN dt
chemical potential molar flow number of moles
e
A B
f
(directed bond from A to B)
For a capacitor, C [F] is the capacitance and for a spring, K [N/m] is the stiffness and C [m/N]
the compliance.
If the resistance value can be controlled by an external signal, the resistor is a modulated
resistor, with mnemonic MR. E.g. hydraulic tap: the position of the tap is controlled from the
outside, and it determines the value of the resistance parameter.
In the thermal domain, the dissipator irreversibly produces thermal energy, the thermal port is
drawn as a kind of source of thermal energy. The R becomes an RS.
Intelligent Powertrain Design Page 18 of 43
The Bond Graph Modeling Formalism (contd..)
Sources (voltage sources, current sources, external forces, ideal motors, etc.)
Sources represent the system-interaction with its environment. Depending on the type of the
imposed variable, these elements are drawn as Se or Sf.
Source elements are used to give a variable a fixed value, for example, in case of a point in a
mechanical system with a fixed position, a Sf with value 0 is used (fixed position means
velocity zero).
When a system part needs to be excited, often a known signal form is needed, which can be
modeled by a modulated source driven by some signal form (figure 14).
Gyrator is defined by one bond pointing towards and other bond pointing away.
If r is not constant, the gyrator is a modulated gyrator, a MGY.
Fig. 17 Example of a 0-
Junction [4]
U2
U1 U3
+
-
U0
STEP 1: Determine which physical domains exist in the system and identify all basic
elements like C, I, R, Se, Sf, TF, GY. Give each element a unique name.
STEP 2: Indicate a reference effort for each domain in the Ideal Physical Model (reference
velocity with positive direction for the mechanical domains). Note that references in the
mechanical domain have a direction.
Generation of the connection / junction structure.
STEP 3: Identify all other efforts (mechanical domains: velocities) and give them unique
names.
STEP 4: Draw these efforts (mechanical: velocities), and not the references, graphically by
0–junctions (mechanical: 1–junctions). Keep if possible, the same layout as the IPM.
0: U12 0: U23
STEP 5, 6: 0 1 0 1 0
U1 U2 U3
STEP 7: The junction structure is now ready and the elements can be connected. Connect
the port of all elements found at step 1 with the 0–junctions of the corresponding efforts or
effort differences (mechanical: 1–junctions of the corresponding flows or flow differences).
STEP 8: Simplify the resulting graph by applying the following simplification rules:
1. A junction between two bonds can be left out, if the bonds have a ‘through’ power direction (one bond
incoming, the other outgoing).
2. A bond between two the same junctions can be left out, and the junctions can join into one junction.
3. Two separately constructed identical effort or flow differences can join into one effort or flow
difference.
Intelligent Powertrain Design Page 29 of 43
Examples (contd..)
STEP 7: R:R I:L
0: U12 0: U23
1 0 C:C
Se : U 0 1 0
U1 U2 U3
STEP 8:
R:R
Se : U 1 I:L
C:C
C:C
• Electrical Circuit # 2 and its Bond Graph model
R1
L1
C1 C2
C2
L1 R2
R3
R1 R2 R3
C1
Se1:Ua Se2:τ
Km
(de3/dt) 0 1/C e3 0
= + U
(df4/dt) -1/L -R/L f4 1/L
DC Motor model
2. Wong Y. K., Rad A. B., “Bond Graph Simulations of Electrical Systems,” The Hong Kong
Polytechnic University, 1998
3. http://www.ce.utwente.nl/bnk/bondgraphs/bond.htm
5. Granda J., Reus J., "New developments in Bond Graph Modeling Software Tools: The Computer
Aided Modeling Program CAMP-G and MATLAB," California State
University, Sacramento
6. http://www.bondgraphs.com/about2.html
7. Vashishtha D., “Modeling And Simulation of Large Scale Real Time Embedded Systems,” M.S.
Thesis, Vanderbilt University, May 2004