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Duality
Transformers and gyrators in a bond graph model may be reduced and lead to a concise model with smaller number of elements. Such a reduction often obscures the physical aspects on which the original bond graph was based. However, such reductions may sometimes reveal the physics of the system in an alternative manner and provide deeper insight to the problem. Here, some interesting studies on such combination of two-port elements and equivalences are presented. The matter presented here are extracts from the from "Lecture notes on system modeling" by Prof. A. Mukherjee and Prof. R.Karmakar of the Indian Institute of Technology, Kharagpur.

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To start with, let us consider all possible combinations of gyrator and transformer elements. Gyrator and transformer combinations Let us consider a segment of a bond graph model as shown in the figure below. J1 , J2 and J3 represent junctions (i.e., 1 or 0). The junction J2 serves the purpose of separating two consecutive gyrators. The gyrators have causal orientations as shown in the figure.

Let us now obtain the relations between the power variables in bond numbers 1 and 4. e2 = m 1*f1 and e3 = e2 = m 1*f1, f4 = 1/m 2 *e3 and f4=m 1/m 2 * f1 Like wise f3 = 1/m 2 *e4, and f2 = f3 = 1/m 2 *e4 thus e1 = m 1/m 2 * e4.

e1=m 1 * f_2,

The two gyrators are thus equivalent to a single transformer with modulus and causal orientation as shown in the figure below.

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Likewise, other combinations of transformers and gyrators in various causal postures can be reduced to simplified forms shown in the table below.
C om bination R e duce d form

Combination of gyrators and sources A gyrator converts flow to effort and effort to flow. Thus a source type and

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gyrator combination may be replaced by a dual source with suitable scaling factor as shown in the table below.
C om bination R e duce d form

Combination of a gyrators and transformers with storage and resiststive elements Let us consider a combination of a gyrator and an inertial element as shown in the figure below. There may be an entire system model appended to the combination. The term J in the model represents any junction (1 or 0).

The above part model has one state, namely P4. The input and output equations may now be written as follows. DP4 = e4 = e3= m *f2 = m *f1, e1 = e2 = m *f3 = m *f4 = m *P4/m4 = m 2 /m4

f1 dt.

Let us now consider another part model with same input as shown below.

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The new model has a state Q4 and its equations are DQ4 = f1 e1 = K*Q4 = K

f4 dt = K

f1 dt.

Now, if we relate K = m 2 /m4, and Q4= P4/m , with the new state and parameter values, the initial model is equivalent to the later simplified form. Likewise other combinations may also be derived, as shown in the table below. If any transformer modulus is specified in the reverse orientation as compared to the item in the table, then in the equivalent parameter its reciprocal would appear. It should be remembered that these equivalences are valid

only when modulii of two ports are constants.

C om bination R e duce d form

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Combination of gyrators and junction elements Gyrators convert effort to flow and flow variable to effort variable. Thus they may be used to alter the junction types. Some such equivalences, which are independent of power and causal orientations, are shown in the table below. All the gyrators shown in the table are normally unitary, i.e. the modulus m =1.
Junction Equivale nt form

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An example of gyrator equivalence Let us now consider the bond graph model of an electrical circuit with a transformer shown in the figure below. This model considers the conversion of energy in electrical domain to magnetic domain and then back to the electrical domain in the transformer. The transformer core losses are included in the magnetic domain. Variables a, m and L represent the cross-sectional area, magnetic permeability and mean length of the core.

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Let us change the 1-junction for magnetic flux f to a 0-junction by incorporating gyrators of modulus n p on all sides as shown in the figure below.

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The model shown above may now be reduced to the model shown in the figure below.

The reduced bond graph model corresponds to a electrical system shown below.

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The resultant system is the well-known primary referred equivalent circuit of a transformer. The inductor and the resistance in parallel are parasitic elements appearing in the circuit due to reluctance and eddy current losses in the magnetic core. If m is very high and core resistance is very low, the total impedance of parasitic elements would be very high. Such high impedance in parallel can be neglected and dropped from the circuit model. Under such conditions, the practical transformer tends to behave as an ideal transformer. Dual Models If a bond graph model represents a system, its dual model also represents an admissible system. This rule can be greatly applied to derive newer dimensions of system dynamics. For an example, let us consider a bond graph model shown below. The dual model obtained using unitary gyrators at every junction (only one in this case) and reduction is shown to the right.

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The corresponding systems, which may be represented by the above, are shown below.

The mass parameter of the first model is mapped to the stiffness of the second and vice versa. Similarly, the states are mapped in reverse, i.e. momentum of first is mapped to displacement on the second and vice versa. Thus two systems realized are distinctly different. The utility of dualisation is felt significantly in control domain, where observer or control models for the main plant may be very difficult to synthesize, whereas the fully or partly dual model can be easily constructed. The parameters of the system and observed variables may then be scaled back to determine states of

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the original system. However, all that is possible for linear systems only. Dualization can be used to create a concise group of basic bond graph elements. For instance, only one of the storage elements (I or C) may be used in the model and the other storage element can be synthesized using a simplectic unitary gyrator. Similarly, one needs only one junction (1 or 0) and one source (SE or SF) type. Transformers can be equivalently represented by two gyrators in tandem. Thus the nominal set of elements and junctions required are 5 (1 : SE or SF, 2 : I or C, 3 : R, 4 : 1 or 0 and 5 : GY) as compared to 9 in normal notation.

Multi and vector bond graphs

When similarities in various sub-system components in the model morphology can be established, they can be represented in form of a concise notation called vector or multi bond graphs. Multi bonds are drawn as two parallel lines augmented with power directions. The dimension of the multi-bond (number of scalar bonds, it is composed of) is indicated between these parallel lines. Thus multibond graphs are compact representation of large systems with identical subsystems. Since a multibond can accept only one power direction and causal orientation, all the subsystems represented by that multibond must have same power and causal structure. Though multibond graphs are useful when initial ideas are being formulated, they may obscure many physical aspects of the system. A multi bond representation is shown in the figure below.

The multibond graph notation for single port elements (SE, SF, I, C and R) is shown below. In the figure, m represents the bond number and n indicates the multibond dimension. The scalar bond graph equivalents are shown to the right.

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Junction arrays in multibond graphs and its scalar equivalent are shown below.

The two port elements (TF and GY) appearing in a multibond graph are in the form of transformation matrices. They have two ports which may have the same or different dimensions. In a multibond transformer, the distributor is 1-junction and the summer is 0-junction. A 3x2 multibond transformer and its scalar equivalent with distributors and summers is shown in the figure below.

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In a gyrator both the distributor and the summer are 1 junctions. A 3x2 multibond gyrator and its scalar equivalent with distributors and summers is shown in the figure below.

In both the previous examples, the transformer or gyrator transformation matrix was dense (i.e., contained all non-zero elements). If these matrices are sparse (i.e. contain some elements which are zero), then the corresponding branch can be dropped from the scalar model. The only constraint for a sparse matrix is that none of the summers or the distributors should be completely de-linked (i.e. any open in browser PRO version Are you a developer? Try out the HTML to PDF API

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row or column of the transformation matrix should not have all elements equal to zero). In such an unconstrained case, the entire bond graph collapses as that part of the junction structure would result in a discontinuous graph. The multibond field elements (FI, FC, FR) are multiports. Each port may or may not have different dimensions as shown in the figure below (three multi bonds connected with dimensions l,m and n). The field matrix is thus (l+m+n)x(l+m+n).

The Direct Sum of multibonds is a general method to represent the composition of multibonds, analogous to the direct sum of vector-spaces. It is represented by a line perpendicular to the multibonds which take part in the summation. Power and causal orientations are maintained, while the composition (out of scalar bonds) and order of the multibonds may be changed. One such direct sum is shown in the figure here. The same transverse line notation is also used to decompose multi bonds to scalar bonds. A composition and decomposition scheme is illustrated in the figure below.

A spatially anchored mass-spring damper system and its multibond graph model are shown in the figure below.

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Let us now consider a system and its bond graph model shown in the figure below.

The equation for effort variable in bond number 1 may be written as

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e1 = e3 = K*Q3 = K if

f3 dt = K

(f2-f1) dt = K

f2 dt - K

f1 dt.

f1 dt and

f2 dt represent two states Q1 and Q2 in another model, then

e1 = e2 = -K*Q1 + K*Q2. Now we may draw a bond graph model using a C field as shown below. The coefficients of the first row of the C-field matrix are derived from the above expression and the second row are derived from expression for -e2 (the participation of e2 at 1-junction in earlier bond graph was negative by virtue of its power direction). The expressions for the R-field in the model can be similarly derived. The new field model can now be represented in form of a multibond graph as shown to its right.

The greatest advantage of multibond graphs is felt in cascaded systems. Let us consider a system shown in the figure on the right. A bond graph model using C and R-fields can be drawn for it. The two C-field and two Rfield elements between three 1-junctions would be of

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2x2 dimension. One can then easily extend them to higher 3x3 dimension by adding a row and a column of zeroes. The summation of these matrices would lead to multibond fields as shown in the model below. In this model, no extra bonds have been added as compared to the earlier model, only the multibond dimensions have been increased. This way, the model can be extended to represent any large cascaded system.

Cascaded systems are common occurrence in modeling of structural members such as beams and plates. Systems requiring spatial reticulation where components are repeated and robotic systems ideally fit in to this scheme of modeling.

Suggested readings (Online)

The Bond Graph Digest : An Electronic Journal for Bond Graph Research and Applications. Introduction to Bond Graphs in "Bondgraph Modeling and Model Evaluation of Human Locomotion using Experimental Data".

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Seminar presentations by Peter Gawthrop. Bond Graph Modeling and Simulation of Electrical Machines by Sergio Junco. Design and Implementation of a Bond Graph Observer for Robot Control.

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