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Physics review & bond graphs: Mechanical Rotational

Example: Automotive drive train

vector mechanics approach

Bond Graph Approach

Physical Model
Map power flows in system

Compare
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Example: Automotive drive train

gearbox
shaft

drive shaft
motor

flywheel
wheels

Vector mechanics approach would consist of

• Physical Model
• Free Body Diagrams
• Physical Analysis
action/reaction

d(I ω) dh
• Euler's law: ΣT=Iα= =
dt dt

OR Dynamic equilibrium with inertial torque:

dh
TI = - dt ⇒ Σ T = 0 (rotational KVL)

• Constitutive equations / system elements

• Kinematics
⇒ Get Equations of motion
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Bond Graph Approach
• Physical Model

• Map power flows in system

• Physical Analysis
Causality
Dynamics
Kinematics
Constitutive equations

• Label efforts & flows on bonds in terms of energy variables

⇒ Equations of motion
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Physical Model
bearings:
dissipation
gearbox: converts
shaft rotational: torque to torque
inertia + compliance

drive shaft rotational:

inertia + compliance motor: torque source T(t)

flywheel: rotational inertia

wheels: rotational differential: converts
inertia + dissipation rotation to rotation

Map power flows in system

drive shaft drive shaft drive shaft
flywheel torsion inertia torsion stiffness torsion inertia wheel shaft inertia
I: I f I: Ids1 C: k I: I ds2 I: I sw

T(t) 1 TF: n g 1 0 1 TF: n 1 R: b

S e: T ds

gearbox drive shaft differential bearing losses

motor
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Power distribution junctions
:
I I f :
I I ds1 C: k :
I I ds2 :
I I sw

. . . .
. hds2 h / I
h f hf / I f hds1 hds1/ I ds1 k θ1 θ1 ds2 ds2
hsw h sw / I sw

T(t) TF: n R: b
Se : T 1 TF: ng 1 0 1
ds
1

"1" junction at each inertia:

• balances efforts (torques), i.e., incorporates Euler's (D'Alembert's ) law

∑ [ torque drops ] = 0
over inertia

• enforces kinematics: common flows (same angular velocities)

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Power distribution junctions
:
I If :
I I ds1 C: k :
I I ds2 :
I I sw

. . . .
. hds2 h / I
h h /I h h /I k θ1 θ1 ds2 ds2
hsw h sw / I sw
f f f ds1 ds1 ds1

T(t) TF: ng TF: n 1 R: b

Se : T 1 1 0 1
ds

"0" junction at compliance:

• common efforts (torques at ends) from free body diagram

• balances flows (angular velocities) θ̇1 = ω right − ω left

which incorporates kinematics of spring twist

θ1 = θright - θleft

T T

θleft θright
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Bond Graph Construction
• Physical Analysis

• Power Flow Map

• Include
Causality
Dynamics
Kinematics
Constitutive equations

• Label efforts & flows on bonds in terms of energy variables

I: I f I: Ids1 C: k I: I ds2 I: I sw

. .
. . .
h h /I k θ1 θ1 hds2 h / I hsw hsw / I sw
hf h f / If ds1 ds1 ds1 ds2 ds2

T(t) 1 0 1 TF: nds 1 R: b

Se : T 1 TF: n g
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Compare
system displacement momentum flow effort effort flow
type balance balance
general q p f e 1 junction 0 junction
Σe=0 Σf=0
electrical charge flux linkage current voltage KVL KCL
q λ i V
mech. displacement linear mom. velocity force d'Alembert translation
translation x p v F dyn. equil. kinematics
mech. angular disp. ang. mom. ang.vel. torque d'Alembert rotation
rotation θ h ω T dyn. equil. kinematics

Common relationships between variables:

dynamics on inertance (KE storage element) e = ṗ

kinematics on capacitance (PE storage element) f = q̇