Principles of

Engineering System Design

Dr T Asokan

asok@iitm.ac.i
n
Principles of
Engineering System Design

Bond Graph Modelling of

Dynamic systems

Dr T Asokan

asok@iitm.ac.i
n
Physical System Modelling
Bond Graph Method
The exchange of power between two
parts of a system has an invariant
characteristic.
The flow of power is represented by a
Bond
Effort and Flow are the two
components of power.
Classical approach for modeling
Bond Graph Modeling
of physical system

Physical System
Physical System

Engineering Model
Engineering Model

Differential Equations
Bond Graph

Block Diagrams
Software(Computer
Generated Differential Equations)
Simulation Language
Output

Output
 Generalised
Variables
Power variables:
Effort, denoted as e(t);
Flow, denoted as f(t)
Energy variables:
Momentum, denoted as p(t);
Displacement, denoted as q(t)

The following relations can be derived:

Power = e(t) * f(t)

p = e q = f
dt
dt
Energy Flow
The modeling of physical systems by means of bond graphs
operates on a graphical description of energy flows.

e
P=ef e: Effort
f
f: Flow

The energy flows are represented as directed harpoons. The

two adjugate variables, which are responsible for the energy
flow, are annotated above (intensive: potential variable, e)
and below (extensive: flow variable, f) the harpoon.
The hook of the harpoon always points to the left, and the
term above refers to the side with the hook.
October 2, 2008
Modeling: Bond Graph Basics
effort/flow definitions in different engineering domains
Effort e Flow f

Electrical Voltage [V] Current [A]

Translational Force [N] Velocity [m/s]

Rotational Torque [N*m] Angular Velocity

[rad/sec]
Hydraulic Pressure [N/m2] Volumetric Flow
[m3/sec]
Chemical Chemical Potential Molar Flow
[J/mole] [mole/sec]
Thermodynamic Temperature Entropy Flow
[K] dS/dt [W/K]
Modeling: Bond Graph Basic Elements
I for elect. inductance, or mech. Mass I

C for elect. capacitance, or mech. compliance C

R for elect. resistance, or mech. viscous friction R

e e e2 =
TF represents a transformer 1 TF 2 1/m*e1
f1 = 1/m*f2
f1 m f2

GY represents a gyrator e
GY
e f2 = 1/d*e1
1
f1 d 2
f2 f1 = 1/d*e2

SE represents an effort source.

SE

SF represents a flow source. SF

Modeling: Bond Graph Basic Elements
Power Bonds Connect at Junctions.
There are two types of junctions, 0 and 1.

5 4

1 0 3 11 1 13
2 12

Efforts are equal Flows are equal

e1 = e2 = e3 = e4 = e5 f11 = f12 = f13

Flows sum to Efforts sum to

zero zero
f1+ f2 = f3 + f4 + f5 e11+ e12 = e13
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
0 U0 = f(t)
Se i

The source computes the

effort.
u I0 = f(t)
Sf I0

The source computes the

flow.
The causality of the sources is
fixed.
Causalization of the Passive Elements
u u

i
R i
R
u=Ri i=u/R

The causality of resistors is

free.
u u

i
C i
I
du/dt = i / di/dt = u / I
C
The causality of the storage
elements is determined by the
desire to use integrators instead of
differentiators.
Integral Causality (desired Causality)
e
I
e 1
f f sI
1
f edt F ma
I
e
e
1
C
f f s
1
e fdt
C
C

Integral causality is preferred when given a

choice.
Causalization of the Junctions
e2 e2 = e1
f2
e1
0 e3 = e1
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 e3
f3 = f1
e1 = e2+
f1 e3
f3
Junctions of type 1 have only one effort equation,
and therefore, they must have exactly (n-1)
causality bars.
Modelling Example Mechanical Systems
Mass, Spring and
Damper Syetms x m x 0
R
F
M C

FR

Equation Governing the system F Fm

Mxm Rx m Kx m F Fk
Bond Graph model
Velocity
Reference
Junction
Mass I Velocity=0
for this case
Se 1 0 1 Sf

Sprin 1

g Damper
C R

System Equations

Final Bond Graph

I
Fm FR Fc F
1
em fm ec f c dt K x m dt x m
e eR C
Se 1 1 R
f1 fR Fc Kx m
ec fc
C
Simulation-Second order system
Modelling of underwater Robotic
systems
 Tx Fx Fbx
Tbx Linear velocity of the base MSe
MSe MSe Angular velocity to 1 point w.r.t MSe
1 first link of the
manipulator Inertial frame
MR Vx MR
Ixx+IaxI 1 Body fixed Body fixed I
m+max 1
wx angular linear
velocity velocity wz*(m+maz)
1 MTF MTF 0 MTF MGY wy*(m+may)
MGY
wz*(Izz+Iaz) MGY TFMV TFMV MGY
PV
wy*(Iyy+Iay)
wy wz 1 Vy Vz
Iyy+IayI 1 MGY 1 I Izz+Iaz m+may
I 1 MGY 1 I m+maz
wx*(Ixx+Iax) wx*(m+max)
MR Euler angle MSe
MR MTFTransformation MSe MR
MSe matrix Fby MR
MSe MSe MSe MSe Fbz MSe
Tby Fz
Ty Tbz Tz Fy
1

Euler angles
 Tip velocity 1
of the manipulator

Link
Pad
3 221 I TF
TF1 MTF MTF 0 Pad
Joint velocity
Se 1 1 TF 0 1 1 PV3 TFM3 Se
MR
TF2

TF MTF MTF 0 0 1 I
R TF3 AD
L3 PVM3 TFM3 m3+ma3
MTF
Se
Tip velocity 1
of Link2

I Link TF
2 221 TF1
Joint velocity
MTF MTF 0 Pad
Se 1 1 TF 0 1 1
PV2 TFM2 Se
MR
TF2

TF Angular velocity Pad

R TF3 from previous link MTF MTF 0 0 1 I
PVM2 TFM2 m2+ma2
MTF AD
L2
Se
Tip velocity 1
of link1

Iz1+Iaz1
I
Link1
1111 MR 1Wx1 angular velocity
of the manipulator
asffa
Wz1*(Izz1+Iaz1) Wy1*(Iyy1+Iay1)
angular velocity
of the manipulator
MTF MTF 0
11 MGY MGY PV1 TFM1
Pad
Se
1 1 MR
Wy1
MR 1 MGY 1 MR Pad
Wx1*(Ixx1+Iax1)Wz1 MTF MTF 0 0 1 I
PVM1 TFM1 m1+ma1
I I
Iy1+Iay1 Ix1+Iax1
Se
I TF
TF1
Joint velocity
Se 1 1 TF 0
TF2
Angular velocity
TF from previous link
R TF3
MTF

Tx Fx Fbx
Tbx
MSe MSe 1 1 MSe MSe
Angular velocity to Linear velocity of the base
first link of the point w.r.t
Inertial frame Vx
Ixx+Iax I Body fixed manipulator Body fixed m+maxI 1 MR
1 wx MR
angular linear
velocity velocity wz*(m+maz)
1 MTF MTF 0 MTF wy*(m+may)
MGY
wz*(Izz+Iaz)MGY MGY PV TF TF MGY
wy*(Iyy+Iay)
Vy Vz
wy wz 1 m+mayI 1 MGY 1 I m+maz
Iyy+Iay I 1 MGY 1 I Izz+Iaz
wx*(Ixx+Iax) wx*(m+max)
MR Euler angle MSe
MR MTFTransformation MSe MR
MSe matrix Fby MR
MSe MSe MSe
MSe Fbz
Tby MSe
Fz
Ty Tbz Tz Fy
1

Euler angles
 Advantages and disadvantages of modelling and
simulation
Advantages
Virtual experiments (i.e. simulations) require less
resources
Some system states cannot be brought about in
the real system, or at least not in a non-
destructive manner ( crash test, deformations etc.)
All aspects of virtual experiments are repeatable,
something that either cannot be guaranteed for
the real system or would involve considerable
cost.
Simulated models are generally fully monitorable.
All output variables and internal states are
available.
In some cases an experiment is ruled out for moral
reasons, for example experiments on humans in
Disadvantages:

Each virtual experiment requires a complete,

validated and verified modelling of the system.

The accuracy with which details are reproduced

and the simulation speed of the models is limited
by the power of the computer used for the
simulation.
 SUMMARY
Modelling and simulation plays a vital role in
various stages of the system design

Data Modelling, Process Modelling and Behavior

modelling helps in the early stages to understand
the system behavior and simulate scenarios

Dynamic system models help in understanding

the dynamic behavior of hardware systems and
their performance in the time domain and
frequency domain.

Physical system based methods like bond graph

method helps in modelling and simulation of muti-
domain engineering systems.