80

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 Causal Bond Graphs
• Every bond defines two separate variables, the effort e
and the flow f.
• Consequently, we need two equations to compute values
for these two variables.
• It turns out that it is always possible to compute one of
the two variables at each side of the bond.
• A vertical bar symbolizes the side where the flow is being
computed.
e
f

•Mandatory Causality ( Sources, TF, GY, 0 and 1 Junctions)

•Desired Causality (C and I elements)
•Free Causality (R element)
 “Causalization” of the Sources

The flow has to be

computed on the right side.
U
Se i
0 U0 = f(t)

The source computes the effort.

u I0 = f(t)
Sf I0

The source computes the flow.

 The causality of the sources is fixed.

 Integral Causality (desired Causality)

e e 1
I
f f sI
1
f   edt
I
e
e
1
C
f f sC
1
e   fdt
C

Integral causality is preferred when given a choice

 “Causalization” of the Junctions

e2 e2 = e1
f2 e3 = e1
e1
0  f1 = f2 + f3
f1 e3
f3
Junctions of type 0 have only one flow equation, and therefore,
they must have exactly one causality bar.

e2 f2 = f1
f2
e1
1  f3 = f1
e1 = e2+ e3
f1 e3
f3
Junctions of type 1 have only one effort equation, and therefore,
they must have exactly (n-1) causality bars.
 Simulation Using “20-SIM”

• 20-SIM- A simulation software for bond graph models

• Developed by Twente University
 Mechatronic system example

System Ideal physical model

Complete bond graph of the system Simplified bond graph

Assignment: Simulate the system using 20-sim
94
 Embedded System

• Any system/device that has a computer in it but is not itself

a general- purpose computer.

• It has hardware as well as software and it is a part of a

larger system and is expected to function without human
intervention.

• An embedded system is expected to respond, monitor, as

well as control external environment using sensors and
actuators.

95
 Hardware Integration
Electric motor-drive control application

96
97
 Hall effect-based
voltage and current transducers

98
99
100
Signal conditioning circuit

101
Isolation circuit (Opto-couplers)

102
Protection circuit

103
Power supplies

104