Chapter 6

Nonpotential Fields
6.1 Nonpotential systems

In the previous chapters single or multiport I and C elements are described to be

storers of energy. The flow and efforts returned by them to the system are gradients
of scalar valued functions which are kinetic and potential energies associated with
these elements or fields.

For I - fields the momentum vector is given by

p fT f  ,

where  f stands, in general, for multidimensional gradient with respect to the

flow vector and T is kinetic energy stored by the I - field. For a single port I element,
one dimensional version of this relation suffices. The flow returned may be then
obtained by f   M  1 p , , where [M] is the inertial matrix of the field.

e   q V  q  where V is the

Likewise or C - fields the effort vector is given by
potential energy function for the C - field. Vq is the multidimensional gradient
with respect to generalized displacements. The relation in classical mechanics is
F   q V  q  . The negative sign is not included in this discussion as the
standard power orientation of C - field takes care of this aspect.

Let us consider a C - field as an example to explain the ideas expressed above. Let us
assume (without any loss of generality) that bonds numbered 1 to n are the energy
ports of a C - field having the nature discussed above. Let us express the generalized
displacements, flows and efforts as column vectors with n elements. For example the
displacement vector may be written as
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 176
 q1 
 
 q2 
 . 
q  .
. 
. 
 
qn 
An alternative way of expressing these vectors could be through linear combination
of base vectors.

0
 
0 i–1
0
 
0
  for i = 1,n
 i  0
1
 
0 ii + 1 to n
 
0

0


A generalized displacement vector may be written as

n
q  q 
i 1
i i

The multidimensional gradient of scalar function V ( q ) of q , may be now defined

as

V q
n
q V  q   
i 1
 qi
i .

The  i in fact relates to the bond or energy port to which the effort is returned. The
incremental energy stored in a C - field may be expressed in the following forms.

t 2 , q (t 2 ) d q t 
E 
 t 1 , q ( t1 )
e ( q (t )) 
dt
dt ,
177 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

 V  q  t   d qi  t 
t 2 , q (t 2 ) n
i.e., E 
 t 1 , q ( t1 )
i 1
 qi dt
dt ,

q (t 2 )
or E 
 q ( t1 )
e . dq ,

 V q t 
q (t 2 ) n
i.e., E 
 q ( t1 )
 i 1
 qi
d qi .

The first and second forms are integration of power. These integrals are in Stieltjes
form. q (t) describes a path in n – dimensional space with end points at q (t1), and
at q (t2). The parameter t may be assumed to be time with t1  t  t 2 .

The incremental stored energy, E, has a remarkable property. For the same set of
end states at q (t1) and at q (t2) its value is independent of the path q (t). In other
words, stored energy depends only on the states of the system and not on the path
the system takes to reach there.

If the potential energy function is not explicitly a function of time then the above
potential forces are also conservative. If the potential energy function depends
explicitly on time then the effort vector may still be obtained by multidimensional
gradient of this function.
e q,t    q V  q,t .

However, the incremental energy stored in a C - field may now be evaluated as

follows.
 2 , q  2  d q  
E 
 1, q  1 
e  q   , t  .
d
d ,

 2 , q  2  n
 V  q   , t  d q  
i.e., E   1 , q  1 
 i 1
 qi   
.
dt
dt ,

q2
or E 
 q1
e  q, t   d q ,

 V  q, t 
q2 n
i.e., E   q1
 i 1
 qi   
dqi .
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 178
The incremental energy E in this case is not the real work done. It is the difference
of stored energies for two states at the same instance of time. This may as well be
called virtual incremental energy as real time is held frozen. For such a potential
function also, the entire argument regarding the path independence of virtual
incremental energy is valid except that the path should mean q () with end states
as q (1) and q (2) as the real time is frozen. An extension of the idea of
conservative C – field is possible within this framework.

If a system is brought back to the state at which it started at one point of time, at
some other time point following arbitrary paths, and the net expense of energy in
doing so is zero then the field is conservative. Obviously if the potential function V is
an explicit function of time the corresponding field will not be conservative. A field
thus may be potential but not conservative. For a conservative potential field V
should only be function of associated displacements.

Another important property of the efforts derived from a potential field is that their
multidimensional ̒Curl᾿ vanishes identically. In fact it is both a neccessary and
sufficient condition for a field to be potential. The condition may be expressed as
follows.
e  0 .

n
 ek
or 
i , j , k 1
i jk
 qj
i  0 ,

where εi j k is a permutation symbol. The

permutation symbol for multidimensional vector
space needs an explanation. Consider n integers
arranged in a circle as shown in Fig. 6.1, with a
sense of circulation imposed on it. A relation may
now be created amongst these integers as follows.

i  j if j appears later than i when the sense of

circulation is followed. Now the permutation
symbol may be defined as,
Fig. 6.1

εi j k = 1 if i ≠ j ≠ k and i → j → k
εi j k = –1 if i ≠ j ≠ k and either j → i
or k → j or i → k
εi j k = 0 if any two or all of them repeat
179 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

A linear field is rendered (with linear relation between generalized effort and
displacement vectors) if the potential V is a quadratic function of generalized
displacements.

The general form for such a V could be

K
1
V q   i j qi q j with K i j  K j i.
2
i , j 1

This potential function would lead to a symmetric C - field with constitutive

equations as

 e1   K11 K12 . . . K1n   q1 

     
e2   K12 K 22 . . . K 2n  q 2 
 .   . . . .   . 
     .
.  . . . .  .
.  . . . .  .
     
en   K1n K 2n . . . K nn  qn 

A time independent, positive definite and symmetric [K] leads to a conservative and
potential field. The symmetry of [K] is known as Maxwell's reciprocal relation. Often it is
up held as a property of conservative fields. Let it be re-emphasized that it is a
property of potential fields which may even be nonconservative if it varies with time.

6.2 Nonpotential fields

There are situations in physical systems where the generalized efforts, even being
functions of generalized displacements, are not obtainable from the gradient of any
potential function. One such situation is shown in Fig. 6.2.

Fig. 6.2
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 180
A light shaft resting on identical rigid bearings carries a disc of mass m at the centre.
Let its symmetric motion be considered such that the disc whirls around an
equilibrium position without tilting, thus without experiencing gyroscopic torques.
Let it be assumed that the disc experiences two types of damping forces - one due to
surrounding air, which in linear approximation, may be assumed to be proportional
to the absolute velocity of the mass centre, and the other due to the stretching rate of
the material of the beam, or so called material damping. This force, again in linear
approximation, may be assumed to be proportional to the motion of mass centre as
observed from a rotating frame fixed to the shaft with one axis aligned along its
length. In addition to these two forces, a restoring force proportional to the
displacement acts due to the elasticity of the shaft along with the unbalance force
vector. The action and frame affiliations of all forces are shown in Fig. 6.3.
The aerial damping coefficients is taken
as α = Ra / 2, such that effective damping
coefficient in all direction is Ra. Likewise
material damping coefficient in rotating
frame is taken as μ = Ri / 2, such that its
effective value in all direction is Ri. The
stiffness is assumed to be  = KS / 2, such
that stiffness KS is experienced in all
directions. The force due to aerial
damping is straight forward and may be
expressed as


 Fx 
  x 
   Ra  
Fig. 6.3  F
 y   y fixed frame

It is the internal damping which needs some considerations. The force generated by
the internal damper is proportional to the velocity of the mass centre as observed in
the rotating frame. Thus


 Fx 
  x 
   Ri  
 F
 y   y  rotating frame

If the final equation of motion is to be written in fixed frame then the above relation
should be written in terms of velocity and displacement in fixed frame. Thus


 Fx 
  x  – Ri   x
   Ri    
 Fy 
   y  fixed frame  y  fixed frame
181 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

 x 
= Ri   –
 y  fixed frame
 0  Ri   x 
   
 Ri 0   y fixed frame

The first term is usual damping force. It is the second term in the above expression
which interests us.

   0
 F2 x  Ri   x 
Let     R     .
0   y
 F2 y 
   i

If we rewrite it by representing F2 x  e1 , F2 y  e2 , x  q1 and y  q 2 and

Ri    then e     q 2  1  q1 2  0. 3  .
It is easy to verify that  × ē ≠ 0

Infact, (  × ē )1 = ε123(0) + ε132(0) = 0 ,

(  × ē )2 = ε213(0) + ε231(0) = 0 ,
and (  × ē )3 = ε312(–η) + ε321(+η) = –2η ,
or ×ē = –2η  3 ,

which is not zero. Thus the force field ē is nonpotential.

In fact, in any physical situation where the matrix relating generalized displacement
vector and effort vector is not symmetric, the field is nonpotential in nature. For
nonlinear relations the situation has to be ascertained by taking curl of the force
vector. As any general matrix may be expressed as sum of symmetric and
antisymmetric matrices, any force field may as well be separated in two components,
one potential and other nonpotential.

Let us consider another system. A rigid rotor is supported on a pair of hydrodynamic

bearings, as shown in Fig. 6.4 and Fig. 6.5.
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 182

Fig. 6.4 Fig. 6.5

If the stiffness coefficients are evaluated for small transverse motions around the
equilibrium state of the rotor, determined by the load and angular speed of the rotor,
the matrix turns out to be a real general matrix. The resistive field matrix, however, is
symmetric and positive definite and thus always dissipative.

If the aforesaid stiffness matrix is decomposed into its symmetric and antisymmetric
components, the symmetric part turns out to be positive definite and thus
conservative and derivable from a quadratic potential function. The antisymmetric
component relates to nonconservative phenomenon (in addition to the resistive field)
occurring in the system. As the very cause of the fluid film stiffness is the
nonconservative action of smearing and squeezing of the viscous lubricant in the
clearance space, the existance of an antisymmetric component is not unexpected. Still
there is a basic difference between the nonconservative nature of the resistive field
which is always dissipative, and this nonpotential field. The resistive field tries to
impede the motion of the bearing centre by additional smearing and squeeze action.
The nonpotential displacement dependent field on the other hand diverts the power
of the drive spinning the rotor, to influence the transverse motion of the rotor.
Exactly the same role is played by the field generated due to the internal damping
discussed earlier. These nonpotential fields very seriously influence the dynamics of
the rotor systems discussed above. They infact lead to instability in such systems
beyond certain speed of the rotor. For details, reader may refer [29, 45, 57].

There are several physical situations where nonpotential fields assume the central
role in the determination of dynamic stabilities. The flow induced oscillations of tube
banks [56], flutter in aerodynamic structures and structures acted upon by follower
forces are some such examples [2].
183 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

6.3 Multidimensional generalization of nonpotential fields

Taking cue from the nonpotential field for internal damping of a rotor one may
propose a multidimensional version of it for a linear case as follows. Let ē = a  q ,
where a is a parameter vector. Using permutation symbols

e   i j k a j qk i
i 1, n
j 1, n
. (6.1)
k 1, n

The fact that this field is nonpotential may be ascertained by evaluating the curl of ē.

n n n n n

e  
i 1 m 1 l 1 k 1 j 1
i jk
 qj
 k l m al q m   i ,

or
e  
j 1 m 1
i j k k l m m j al i .

k 1 i 1
l 1

The following identity may be gainfully used

 k 1
i jk  k l m  i l  j m  i m  j l , (6.2)

where  i j is Kronekar's delta i.e.,

 i j = 1 if i = j ,

= 0 if i ≠ j .

By the use of the identity (6.2),

n n
e   
j 1 m 1
il  j m  i m  jl  m j al  i   
j 1 m 1
il  j m  i m m j  jl  al i
l 1 i 1 l 1 i 1
n n
  
j 1 i 1
ii  j j  i j  jl  al i  
l 1
 n  1  i l al  i

l 1 i 1
n
 i 1
 n  1 ai  i .

The constitutive relation of this field may be expressed in matrix form by introducing
an antisymmetric matrix defined as

n
Ki j  l 1
i l j al . (6.3)

The antisymmetry of matrix Ki j may immediately be shown by the definition of the

permutation symbol ei j k .
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 184
6.4 Bond graph models of nonpotential fields

For linear cases the nonpotential field expressed as

n
e  
i , j , k 1
i jk a j qk  i , (6.4)

is the minimal one. It is minimal in the sense that it does not contain any component
which may be derived from the gradient of a potential function. This fact is
demonstrated by its description in matrix form (6.3). The associated matrix is
antisymmetric. The basic ideas for bond graph representation of nonpotential fields
would now be developed through this form.

Displacement dependent potential fields may be modeled using usual C - fields of

bond graph theory for at every instant of time definite stored energy may be associated
with them. On the contrary displacement dependent nonpotential fields cannot be
associated with any definite value of stored energy as the net energy transaction
depends on the history or path of displacements. In the following we will show that
such force fields may still be modeled using junction structures of activated two-
ports and usual C elements and fields.

To start with, let us consider a single parameter field to render two dimensional
dynamics embedded in a three dimensional space. Say the single parameter is a3 in
the form (6.1). Thus the effort vector may now be written as

e   a3 q 2 1  a3 q1 2 . (6.5)

Let us consider an underlying potential field with potential function as

1 2 1 2
V q   q1  q 2 .
2 2

This potential function will lead to a diagonal C - field or two separate C elements
with unit parameters. The effort described in eqn. (6.5) may be now synthesized as
shown in Fig. 6.6.
185 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

Fig. 6.6

The activated two-ports and the bonds account for import of power from exogenous
tank sources upholding the nonpotential nature of the field.

The bond graph model of the rotor shown in Fig. 6.2 and Fig. 6.3 may be created
using such a representation as shown in Fig. 6.7.

Fig. 6.7

A multidimensional nonpotential field would become fairly complex with large

number of transformers fanning out. A three dimensional version with three
parameters a1, a2 and a3 is shown in Fig. 6.8.
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 186

Fig. 6.8

6.5 Alternative representation of nonpotential fields

The representation created in the previous

section is well within the basic framework
of bond graph theory. The action of a
nonpotential field is accomplished by
combining storage C elements (or diagonal
C - field) with unit parameters and a
junction structure with activated two—port
transformers and bonds. We will call this
junction structure as Structure Linking Tank
Source (in short SLITS). The SLITS re-
emphasises existance of an unmodelled
tank source of power behind a nonpotential
field. A SLITS is determined by n- Fig.6.9
parameters in a n-dimensional nonpotential
field. The -
set of C elements or a potential C - field attached would be called Potential Under
Layer (PUL). Thus the structure of a nonpotential field in its minimal form becomes
as shown in Fig. 6.9. If SLITS are incorporated as macro–structures, then modeling
187 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

nonpotential fields becomes somewhat tractable by attaching the PUL to it, which has
simple morphology.

6.6 An unorthodox extension of C - field

Let us assume a field Cn which does not store energy but simply stores states, which
are integration of vector flow at its ports (or bonds) and returns vector valued
function of this state vector as effort vector. In particular for linear model this vector
valued function may be linear combinations of elements of state vector expressed in a
matrix as follows.

  
t
Q 
  
f d ,

e   K  Q .

(6.6)

Now if the [K] matrix is chosen to be the antisymmetric matrix given in eqn. (6.3)
then the action of a minimal nonpotential field can be expressed without any
ambiguity (see Fig. 6.10). Considering the procedure for generating system equations
there is no difference in treating this field and a linear potential C - field, as for linear
potential field also the state vector is integrated flow vector and returned effort
vector is obtained by operating on a matrix by this state.

Thus for practical bondgraphy a general field may be expressed by a general real
matrix, where as symmetric or antisymmetric matrices may be used for potential or
minimal nonpotential field. The extended C - field then becomes as shown in Fig.
6.11.

n
Ki j  
k 1
 i k j ak [K] a general matrix

Fig. 6.10 Fig. 6.11

However, a modeler should always keep in mind that an antisymmetric matrix is

equivalent to a composition of SLITS–PUL structures deploying a tank source of
power. In the case of rotation of shafts these tank sources are the drives spinning the
rotor and in tube–banks and flutter this source is the flowing fluid.
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 188
Using the generalized C - field the bond graph model of the rotor with rotating
damping (or internal damping, Fig. 6.3) may be created as shown in Fig. 6.12.

Fig. 6.12

6.7 Rotor on hydrodynamic bearings

The whirl dynamics of a rigid rotor on two hydrodynamic bearings as shown in Fig.
6.13 and Fig. 6.14 may be modeled as shown in Fig. 6.15.

Fig. 6.13
189 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

Fig. 6.14

Fig. 6.15

Here M is the mass of the disk, Ixx , Iyy and Izz are its principal moments of inertia. The
gyrator modulus  = Ixx  .
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 190
The fluid film forces on the rotor, for small vibration are accounted through fields C3
– 4 and R5 – 6 due to left bearing and C7 – 8 and R9 – 10 due to the right bearing. Let
bearing radius (for both bearings) be Rb, let the radial clearance be c and length be lb.
The viscosity of the lubricant be η. The operating eccentricity ratio, ε0 may be
obtained by solving the load equation [29]

1   Rb lb3  0
Mg  .
2 
4c 2 1   02
2
 
 2 1   02  16  02 
The attitude angle φ is obtained as

 
 1   02 
  tan 1  .
4 0 
 

The elements of stiffness matrix in s-r coordinates (Fig. 6.14) are given by

Mg
K ss  4 F  0  ,
2c
Mg 1  2 02
K sr   F  0  ,
2c  1   2
0 0

1   02 Mg 1   02
K rs 
Mg
F  0  and K rr  8 F  0  ,
2c 0 2c 1   02

where   
F   0    2 1   02  16 02  1 / 2
.

The damping matrix elements are given by

Rss  2 K rs /  , Rsr  Rrs  2 K ss /  ,

and Rrr  2 K sr /  .

One may notice that Ksr ≠ Krs thus the displacement dependent C - fields due to fluid
film forces are not conservative or nonpotential.

The fluid film stiffness and damping matrices may now be transformed to y-z
coordinates as follows.
191 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

 K yy K yz 
   R   K  sr  R 
1

 K zy K zz 

 R yy R yz 
   R   R  sr  R  .
1
and 
 R zy R zz 

The coordinate transformation matrix [R] is given by,

sin  cos  
 R     .
  cos  sin  

As already discussed this nonpotential nature of C - fields renders instability after a

limiting value of rotational speed of the rotor, .

The reader may find extremely interesting discussions on these aspects of rigid as
well as flexible rotors in the reference [26]. In this work one may also find
nonconventional ways of stabilizing such rotors on fluid film bearings and methods
to arrest the growth of whirl orbits. The work gives deep insight into the nature of
nonconservative or nonpotential fields and their dynamical implications.

6.8 Incorporating drive dynamics in rotors with regenerative fields

Forces produced by nonpotential fields are often called regenerative. Unlike potential
forces which deliver no net energy to a system after the system completes an orbit in
its configuration space, these forces either pump or extract net energy over an orbit.
In two dimensional configuration space network done by such a force over an orbit is
given by

E
e  dq   e  dq
orbit orbit
 Green's theorem
.
circumference area

As for nonpotential forces × ē ≠ 0, there is net work done by the force field over an
orbit. Bond graph models of rotors with regenerative nonpotential fields arising due
to internal damping in the shaft or due to hydrodynamic forces when created either
using SLIT – PUL structure (as in Fig. 6.7) or using generalized C - fields (as in
Fig. 6.12 and Fig. 6.15) leave no scope for incorporation of drive dynamics since shaft
rotational speed is not represented by any junction. In this section we present a
modeling scheme which incorporates a 1-junction to distribute the angular speed of
the shaft. To such a junction a flow source having value equal to the angular speed of
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 192
the shaft may be appended if the shaft is driven by a robust synchronous drive.
Alternatively entire dynamic model of the drive may be appended.

Let us consider a shaft with internal damping. The bond graph model for such a
rotor shown in Fig. 6.7 and Fig. 6.12 may be alternatively drawn as shown in Fig. 6.16.

Fig. 6.16

In the model of Fig. 6.16 the effect of unbalance is not incorporated. If the centre of
gravity of the disk is not on the axis of the shaft as shown in m Fig. 6.17, the
components of the velocity of the mass centre of the disk may be written as follows.

x m  x    sin( t   )

y m  y    cos( t   )
and .
193 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

Fig. 6.17

The bond graph model incorporating the influence of disk eccentricity is shown in
Fig. 6.18.

Fig. 6.18
The dynamic response of an unbalanced shaft with internal damping is as shown in
Fig. 6.19.
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 194

Fig. 6.19

The resonance is at damped frequency ωd. The resonance amplitude is large but
bounded. After a shaft speed ω* the system becomes unstable and remains unstable
at all speeds higher than ω*. The speed ω* is given by

Ks  Ra 
* 1  .
m  Ri 

This phenomenon was first reported by Kimball [34], readers may also refer [16, 69,
74].

If internal damping Ri is zero then ω* goes to infinity and this regenerative instability
does not occur in the shaft at any speed. However, if Ri is finite and Ra is zero then ω*
coincides with ωcr = K s / m and the shaft would be unstable after the critical speed
of the shaft.

Simulation result for a slender shaft with disk at mid-span (and ignoring gyroscopic
effect) is shown in Fig. 6.20 for the following data.

mass of the disk = 10 Kg, external damping = 500 Ns/m,

shaft stiffness = 1.8 × 105 N/m, shaft angular speed = 314 rad/sec,
internal damping = 500 Ns/m, disk eccentricity = 1 × 10 – 3 m.

The thresh hold speed of instability, ω* = 268 rad/sec. The shaft is made to run at a
speed of 314 rad/sec at which it is unstable. Figure 6.20 shows a very rapid build up
of orbit size. The time of simulation is one second. The shaft would, however, breaks
much before. The effect of unbalance is infact completely drowned in the unstable
response.
195 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

Fig. 6.20 Unstable orbit of the rotor driven by a robust drive.

Now we enlarge this model. In place of a robust drive we incorporate a 2-phase 4 -

pole induction motor as shown in Fig. 6.21. The model of such an induction motor is
already discussed in Chapter - 4 of this book.

Fig. 6.21

In this model we also incorporate the rotary inertia of the rotor JD. The combined
bond graph model is shown in Fig. 6.22.
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 196

Fig. 6.22

The parameters of the induction motor and the supply used for simulation are as
follows.

Istat = 0.0048 H, Rarm = 0.568 ohms,

Iarm = 0.0025 H, Rstat = 0.550 ohms,
Lm = 0.100 H, supply frequency  = 314 rad/sec,
rotary inertia of the disk = 0.01 Kg.m2.

The bond graph model with above sets of parameters was simulated on the software
SYMBOLS. The response of the rotor with whirl orbit is shown in Fig. 6.23 for a
perfectly balanced rotor at supply voltage of 250 V. To initiate the simulation an
initial horizontal displacement of 5 × 10 – 6 m was given to the disk and the rotor was
given an angular momentum of 3.14 Kg m2 rad/s. This is done to reduce the
simulation time. Initial conditions however have no influence on the steady state
behavior of the rotor after elapse of sufficient time. Figure 6.23 shows that the
trajectory of the disk reaches a limiting orbit. This is due to the loading of the motor.
Another interesting feature is that the angular speed of the shaft gets entrained at 268
rad/s as shown in Fig. 6.24 (remember ω* = 268 rad/s).
197 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS

Fig. 6.23 Rotor orbit with ε = 0 Fig. 6.24 Variation of angular speed
and supply voltage 250 V. with ε = 0 and supply voltage 250 V.

Figure 6.25 shows the trajectory of the same rotor with unbalanced eccentricity ε =
1mm and supply voltage of 250 V. Figure 6.26 shows the variation in angular speed of
the shaft with all other conditions remaining the same.

Fig. 6.25 Rotor orbit with ε = 1mm Fig. 6.26 Variation of angular speed with
and supply voltage 250V. ε = 1mm and supply voltage 250 V.

Similar responses for reduced supply voltages of 100 V and 80 V are shown in
Fig. 6.27 through Fig. 6.30 with eccentricity of ε = 1mm . The unbalance response
remains bounded (Fig. 6.25). However, the angular speed of the shaft fluctuates
around the aforementioned speed ω*. As the supply voltage is reduced the orbit size
reduces with not only change in shape but also makes chaotic motion. The apple like
shape keeps turning at a slow rate. The angular speed of the shaft remains entrained
around the threshold speed.
 INCORPORATING DRIVE DYNAMICS IN ROTORS WITH REGENERATIVE FIELDS 198

At reduced supply voltages the shaft takes considerable time to reach the limiting
behavior. The responses shown in Figs. 6.27 through Fig. 6.30 are over small
durations after the limiting responses are reached. A prolonged run would show the
syndromes of chaotic behavior in the orbital responses with drifts at slow rate.

Fig. 6.27 Rotor orbit with ε = 1mm Fig. 6.28 Variation of angular speed
and supply voltage 100V. with ε = 1mm and supply voltage 100V.

Fig. 6.29 Rotor orbit with ε = 1mm Fig. 6.30 Variation of angular speed
and supply voltage 80V. with ε = 1mm and supply voltage 80V.