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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW
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ME8305/ENGI9496 Modeling and Simulation of Dynamic Systems
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Topic 1A – Introduction, Motivation, and Review of System Dynamics
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Course Goals: Improve your ability to model and simulate dynamic systems, and increase your
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insight into numerical simulation challenges and troubleshooting simulation output.
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Major Concept: Mechanical, Electrical, Thermal, Hydraulic systems are unified by the fact that
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their components exchange, dissipate and supply energy.
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Power P = dE/dt w
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Modeling and simulation for most people is restricted to systems within their specific area of
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 automotive engineers typically use ADAMS for multibody system modeling
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 electrical engineers may use PSpice for circuit models
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In this increasingly interdisciplinary age, accurate and efficient modeling and simulation-based
design is easier if you
 have knowledge of other domains
 understand what the different domains have in common
 understand “causality” – the inputs vs. outputs of elements and submodels
 can anticipate and address “causal conflicts” when assembling submodels

GENERALIZED ELEMENTS

Any dynamic lumped-parameter system can be modeled using the following set of generalized
elements:
 Kirchoff’s “loop” (all elements have same flow, efforts sum to zero)
 Kirchoff’s “node” (all elements have same effort, flows sum to zero)
 Dissipator (dumps energy to environment)
 Potential energy storage device (energy is a function of displacement)
 Kinetic energy storage device (energy is a function of momentum)
 Source (of effort or flow, prescribed from the environment)
 Transformer (relates effort to effort, flow to flow; either within or between two different
energy domains)
 Gyrator (relates effort to flow, flow to effort)

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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW
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THE GENERAL MODELING AND SIMULATION PROCESS
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When you take a physical system and turn it into a system of equations, here’s what you really
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do (example: crane cable suddenly stopping during a hoist)
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1. Define system boundaries (boundary conditions are essentially inputs from the external
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environment)
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2. “Reticulate” (divide) continuous physical system into discrete “lumped” components.
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Many simplifying assumptions will be made, sometimes unconsciously.
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3. Define constitutive laws (equations) for each element
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4. “Bond” elements by gathering constitutive laws and arranging the equations in correct
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input-output form, noting variables that are shared among different elements.
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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW

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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW
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CAUSALITY EXAMPLE WHEN ASSEMBLING SUBMODELS
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Causal conflicts must be resolved through model inversion,
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if possible.
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Mechanism

Introducing the CAUSAL STROKE

Causal Stroke tells you which of

the component’s equations
computes the effort, and which
computes the flow.

Where should the causal stroke go for the power bond

between the motor and mechanism?

Power Bond captures both

the effort and flow signal
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magnitudes from the
schematics above.
ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW

ADVANTAGES OF BOND GRAPHS

Mechanical engineers may be comfortable discussing masses, springs, and dampers, while
electrical engineers may be comfortable with inductors, capacitors and resistors. However, they
are using the same set of dynamic elements!

The bond graph formalism presented in this course and in the text uses the energy-based
analogies between different types of engineering elements to represent all types of systems using
the same general elements.

An electrical, thermal, hydraulic, or mechanical bond graph uses the same symbols, and
therefore combining bond graphs of a motor, linkage, and pump can be done seamlessly, and
equations can be derived systematically for the entire system.

Other advantages:
 some systems are difficult to represent schematically with “circuit diagrams”
 generalized loops and nodes that are visible on electrical circuit diagrams are not easy to
visualize in mechanical systems
 for hydraulic systems, the equivalent element to a mass is a long thin pipe – how do you
show this hydraulic “mass” on a diagram?
 visual inspection of bond graphs can alert you to algebraic loops or implicit equations
that are more difficult to integrate numerically
 insight into power-conserving nature of many physical transformations

We can express power as the product of generalized effort and flow

P = e(t)f(t)

“Generalized” quantities that can be defined specifically for each energy domain.
 effort e
 flow f
 momentum p (integral of effort)
 displacement q (integral of flow)

What bond graphs make very clear:

 You can identify power variables (always 2 of them) where two physical components are
connected
 Elements are connected at ports
 When two components are joined, the two complementary power variables are
simultaneously constrained to be equal for both components

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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW
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The following are examples of electrical, mechanical and hydraulic systems that would have the
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same equation structure and response – these systems are dynamically identical.
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Mechanical System
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Electrical System
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Hydraulic System

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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW
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GENERALIZED QUANTITIES IN VARIOUS ENERGY DOMAINS system elements from
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(reproduced from Karnopp, Margolis and Rosenberg text)
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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW

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ME8305/ENGI9496 TOPIC 1A – INTRODUCTION AND REVIEW

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