Modelling and Simulation of Dynamic Systems

MODELLING AND SIMULATION OF DYNAMIC SYSTEMS
BOND GRAPHS MODELLING
PUSHPARAJ MANI PATHAK

MECHANICAL & INDUSTRIAL ENGINEERING
1
Introduction
• Today we must develop capabilities to deal with

variety.
• Only way to deal with variety and diversity is to
achieve conceptual unification.
• The requirement of a unified approach to
modeling, simulation and synthesis of physical
systems residing in multi-energy domain may be
stated as:
2
The requirement
• The language for a modeling should have concise
lexicon valid over a large variety of energy domain.
• It should allow the modeler to portray the exchange
with in and across the domain.
• The portraits so created should algorithmically lead to
mathematical or logical models.
• These models may then be subjected to predictive or
deductive processes.
3
• In physical systems it is energy which plays the role
of common currency of exchange between various
domains and sustains the business of dynamics.
• The idea of bond graph was proposed by H. M.
Paynter (at MIT).
• He used a graphical language for representation of
physical system in multi-energy domain through
creating portrays of exchange of power.
4
• These portrays were further augmented by
imposition of reference direction of power flow and
causal relations or information exchange.
• In India Prof Amalendu Mukherjee of IIT Kharagpur
worked extensively in bond graph modelling.
• The significant value of these portrays is that one
may arrive at mathematical or logical models in
algorithmic manner.
5
• This brought both algorithmisation and
unification.
• For engineering analysis and synthesis,
computers could be deployed to be our
deductive partners and also could be entrusted
to perform simulation.
6
An invariant nature of power exchange
• The direction of
power flow at any
moment is a system
invariant.
• The force (effort)
and the velocity
(flow) are its factors.
7
Power, P(t )  e(t ) f (t )
effort flow
Power [ P(t ) ] Variables : e(t )  effort & f (t )  flow

8
Power Variables
Power = Fv Power = Γω
Power = PQ
P Q Power = V i
Power = Effort (e) x Flow (f)

9
Power Variables for Different Energy Domains
Systems Effort (e) Flow (f)
Mechanic Force (F) Velocity (v)
al Torque () Angular velocity ()
Electrical Voltage (V) Current (i)
Hydraulic Pressure (P) Volume flow rate (dQ/dt)
Thermal Temperature (T) Entropy change rate (ds/dt)
Pressure (P) Volume change rate (dV/dt)
Magnetic Magneto-motive force (em) Magnetic flux rate (d/dt)
10
Introductory Example
(RLC Circuit)
11

 Reference power direction

represented by half arrow
on the bonds is given
 It is as arbitrary as fixing
coordinate system in
classical analysis.
12
Basic Elements of Bond Graph
External
Sources of
input
Constraints
13
Power and Energy variables
Power variables
e(t) and f(t)
Energy variables
14
Basic Elements SE and SF R
 Source of effort (SE): C
maintains input effort, ex. v
Voltage sources, forces,

pressure Voltage Source
m
 Source of flow (SF):
maintains input flow, ex.
Velocity sources, current,
flow sources
Road(Flow
source)
15
Energy Storing Elements I
• Inertia/Inductance (Effort storage) F (t )  m dv / dt
• Idealisation of devices like mass,
t
v(t )  (1 / m)  F (t ) dt
inductance, inertia in mechanical, 
electrical, hydraulic systems t

f (t )  G  e(t ) dt
respectively. 
16
Energy Storing Elements C t
Q(t ) 
  f (t ) dt
t
• Compliance/Capacitor (Flow storage) e(t )  KQ(t )  K

  f (t ) dt
• Idealisation of devices as spring, e(t )  G
t
 f (t ) dt
capacitor, accumulators 
17
A Resistive Element (R)
• Idealisation of devices like dampers,
resistors, fluid carrying pipes.
• Dissipative element.
• Removes energy and relates effort to flow.
e  R f or f  (1 / R) e
18
Transformer Element (TF)
• Two port elements altering magnitude of either flow or effort.
• Relates flow to flow or effort to effort by transformer modulus.
• Ratio b/a is transformer modulus.
• Other examples are gear set, pulleys, electric transformer.
19
Gyrator Element (GY)
• Two port element which relates input effort to output flow or vice versa by
a modulus. Ex. Electric motor, generator
ir=T
e=rω
Motor
Angular velocity output is

If the rotor spins rapidly and a small F1 proportional to applied voltage e
will yield proportional velocity V2
20
The (0) junction element
f1  f 2  f 3 i1  i2  i3
P1  P2  P3 e1  e2  e3
21
Examples of 0 junction
22
The (1) Junction Element
 Current through C and R  Velocity is common.

is same.  Summation of forces must
 Summation of voltage follow Newton’s law.
23
Examples of 1 junction
24
Constitutive laws of the junction elements
e1 f1+ e2 f2 + e3 f3 + e4 f4 = 0
1 1 junction being a flow

equalizing junction
f1 = f2 = f3 = f4
e1+ e2 + e3 + e4 = 0
e1 f1- e2 f2 + e3 f3 - e4 f4 = 0
f1 = f2 = f3 = f4
e1- e2 + e3 - e4 = 0
25
e1 f1+ e2 f2 + e3 f3 + e4 f4 = 0
0 junction being effort
0 equalizing junction
e1 = e2 = e3 = e4
f1 + f2 + f3 + f4 = 0
f1 - f2 + f3 - f4 = 0
26
Summary
• Satisfying kinematics implies force balance is
automatically satisfied.
• Satisfying force balance implies kinematics is
automatically satisfied.
• You can draw a bond graph from either
perspective or a mixture of them.
• A bond graph model is somewhere between a
physical system and a mathematical model. You
can look into either side from the model.
27
Reference
• Intelligent Mechatronic Systems: Modeling, Control and Diagnosis, R.
Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould Bouamama, Springer,
London
• Systems Dynamics: Modelling and Simulation of Mechatronic Systems by
Dean C. Karnopp, Donald L. Margolis, Ronald C. Rosenberg, Wiley
• Bond Graph in Modeling Simulation and Fault Identification , Amalendu
Mukherjee, Ranjit Karmakar, Arun Samantray, IK International
• Modelling and Simulation in Thermal and Chemical Engineering: a Bond
Graph Approach by Jean U Thoma, B Ould Bouamama
• Engineering System Dynamics: A Unified Graph Centered Approach by
Forbes T Brown, Brown T Brown
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MODELLING AND SIMULATION OF DYNAMIC SYSTEMS

BOND GRAPHS MODELLING

PUSHPARAJ MANI PATHAK

• Today we must develop capabilities to deal with

Power [ P(t ) ] Variables : e(t )  effort & f (t )  flow

Power = Effort (e) x Flow (f)

 Reference power direction

 Source of effort (SE): C

maintains input effort, ex. v

Voltage sources, forces,

electrical, hydraulic systems t

• Compliance/Capacitor (Flow storage) e(t )  KQ(t )  K

Angular velocity output is

 Current through C and R  Velocity is common.

1 1 junction being a flow

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