First examples (1/5)

UR

i
R1
E C Uc
g

R:R1

UR i
E Uc
S e:E 1 C:C1
i i

1
 First examples (2/5)
R:R1
R1 L1
UR i
E Uc
1
iR1
Se C:C1
C1 i i
Se
UL i
iC1

I:L1

Friction
R:f
Friction : f
FR
x Spring
Spring mg Fc
x1
k Se
x
1 x
C:k
Force
x FI x
Se:mg M I:M Inertia of mass
M
2
 First examples (3/5)
C:Ch
V2 V =V +V
1 2 3
Ch P V2
V1
P
Rv P
V3 Sf :V 0 R:RV
V1 V3
i i1
C
i = i1 + i2
i2
E i2
E R E
E
C Se:E 0 R
i i1

x2
Mc I:Mp C:1/k I:Mc
C:1/k
x1 x3 x2
x1 1 1
Mp Se:Fr
x1 0 x2
Se:Fr
3
 First examples (4/5)
P2 P1 R:R1
Pressure loss

PR1
P1 P2
Hydraulic losses 1 C:Ch
Q Q

k x FR R:f
ma FC
mb I:mb I:ma
Fb 1
R:fb R:fa
mb f ma Fa Fb Fa
x a
x
rk
x b

fa Se:F b 1 1 Se:F a
fb
0 4
Bond Graph model of an hydraulic system (5/5)
USER

PI De1 On-off De2 u3

u1

C:C1 R:R1 C:C1 R:R2

2 4 6 8
1 3 5 7 9
MSf 1 0 1 0 1 Se 1

Tank1 Valve1 Tank2 Valve 2

Pump
On-Off

T1 T2

Outflow to consumer
Vo
PI

QO
5
 Exercises (1/3)

u DC 1 2 Rack F Piston P Cylinder Penv

1 Shaft 2
+ &
Motor Gear V Q Q0
i Orifice

Electrical Rotary Mechanical Mechanical Mechanical Pneumatic

& Rotary Rotary & Rotary &
Mechanical Translation Pneumatic

6
 Exercises (1/3)

I : Lr I : J mot I : mcrem
C : C cyl R : Rorif

1 2 2 Fm F P
1 GY 1 0 1 TF 1 TF 0 1 Se : - Penv
ir :k 1 2 : rp V : Ap P Q0

C : 1 / k sh
R : Rr R : Bmot

DC Motor Shaft Rack + Gear Piston Cylinder+Orifice

7
 Exercises (2/3)
L1 iL1 R2
iR1
0

m
R1
iR2
E C1 L2
iC1

R:R 1 C:C1 I:L 1 I:L 2

uR1 iC1 uL1 iL1 UL2

iR2
E uC1 uC1 UET UST
S e:E 1 0 1 TF 1
iR1 iR1 iL1 iL1 iR2
:m iR2
UR2

R:R 2
8
 Exercises (3/3)

R 2 C2 L2

i3 R3 i6
i1 L1

m
R 1 i4
C1 i5
E
i2

R1 L1 R2

iR2 SF
iR1

SE C1 C2 SF

iC1
iC2

9
How to construct Multiphysic Systems
 Building Mechanical Systems
1. Fix a reference axis for velocities
2. Consider all different velocities ( absolute velocities for massandinertia andrelative
velocities for others).
3. For eachdistinct velocity, establish a 1-junction, Attachto the 1-junction corresponding
Bond graph elements
4. Expressthe relationships betweenvelocities. Add0-junction (used to represent those
relationships) for each relationship between 1-junctions
5. Place sources
6. Link all junctions taking into account the powerdirection
7. Eliminate any zero velocity 1-junctions and their bonds
8. Simplify bond graph by condensing 2-ports 0 and 1-junctions into bonds : for example :
1 ⎯ 0 ⎯ 1 is replaced by 1 ⎯ 1

11
 Mechanical and electrical analogy
J1 J2
c  cf  ct c2 ,  2

f I:J C:1/K I:J2

K
 ct 2
Se:c(t) 1 0 1 Se:c2(t)

cf

R:f
J1  L1 UR  c f J 2  L2
i 2  i2
f R

c E c2  U 2
1
C ct  U c
K
12
 Junctions Analogy
❑ Electrical circuits
▪ 0-junction: Kirchoff’s currents law
▪ 1-junction: Kirchoff’s voltage law

❑ Mechanical systems
▪ 0-junction : Geometric compatibility for a situation involving a single force and several
velocities whichalgebraically sum to zero
▪ 1-junction : Dynamic equilibrium of forces associated with a single velocity (Newton’s
lawwhenan inertia element is involved)

❑ Hydraulic systems
▪ 0-junction : Conservation of volume flow rate
▪ 1-junction : requirementthat the sumof pressuredropsaroundacircuit involving a
single flow must sum algebraically to zero.

13
 CHAPTER 3

CAUSALITY ANALYSIS

14
 Causalities
❑ Definition
▪ Causal analysis is the determination of the direction of the efforts and flows in a BG
model. From causal BGwecan directly derive an equivalent block diagram. It is
algorithmic level of the modeling.

❑ Problematic Importance of causal proprieties

▪ Simulation
▪ Diagnosis & Supervision
▪ Controllability
▪ Observability
▪ Monitoring

15
 Conventions
e
f
A B A e B

(a)

f e

B A f B
A

(b)

The causal stroke is placed near (respectively far from) the bond graph
element for which the effort (respectively flow) is known.

Cause/effect relation : effort pushes, Effort pushes

response is a flow
Indicated by causal stroke on a bond
Flow points 16
 Remark about Causality
 The orientation of the half arrow and the position of the
causal stroke are independent

e System A impose effort e to B

f
A B A e B
f

e System A impose flow f to B

e
A B f
A B
f

17
 Causality for Basic Multiport
 Required causality
e e
Se  Sf 
f f
The sources impose always one causality, imposed effort by effort sources
and imposed flow by flow sources.

 Indifferent causality (applied to R element)

e e FR −1 f
i = FR −1 ( e )
R Conductance causality
1
f i= u
R
f FR
e
e
R e = FR ( f ) Resistance causality
f u = R.i

18
 Integral & Derivative Causality
Preferred (integral) Derivative
causality causality
e
C C
f
 −1  de 
=
(
e = FC  fdt

) f e 

f FC 
 
dt
 e d f
 1
 i = C. du
dt

 C
 u = i.dt  dt

e I
I f
e = F −1  df 
(
 f = FI  e.dt

) e f  I 
 
dt
 f d e
 1   dt
i =  u.dt u = L di
 L  dt
19
 1-Junction Causality
Causal Bond Graph model
Block diagram
Strong bond
e1
e2
f2 e2 = e1 + e4 − e3
e1 Causality e4
e3
1-Junction
1 e3 f1 = f 2
f1 f3
f2 f3 = f 2
e4 f4
+
f4 = f2
e1
e2 = e1 + e4 − e3
e4
e3
+
-
 f1 = f 2
f3 = f 2
 Rule f4 = f2

Only 1 bond without causal stroke near 1 - junction

20
 0-Junction Causality
Causal Bond Graph model Block diagram
Strong bond
f1
e2
f2 f4
f 2 = f1 + f 4 − f 3
Causality
e1 e3 0-Junction
0 f3 e1 = e 2
f1 f3
e2 e3 = e 2
e4 f4 e 4 = e2
+
f1
f 2 = f1 + f 4 − f 3
f4
f3
+
-
 e1 = e2
e3 = e 2
 Rule e4 = e2

Only 1 causal stroke near 0 - junction

21
 TF-element Causality
 2 CAUSALITY SITUATIONS

If e 2 and f 1 are known : If e 1 and f 2 are known :

e1 e2
e1 TF e2 TF
f1 :m f2
f1 :m f2

e1 e2
m  f2 = m. f1 f1 1 f2 f = 1.f

f1 f2 e1 =m.e2 m 1 m 2

m
e2 e2 = 1 .e1
e1 1  m
m 22
 GY-element Causality
 2 CAUSALITY SITUATIONS

If e2 and e1 are known If f2 and f1 are known

e2 e1 e2
e1
GY GY
:r :r
f1 f1 f2
f2
f2 e2 e2 f2
1/r
r
e1 f1
f1 e1 1/r
r
e1 = r. f2  f1 = (1/ r)e2
 
e2 = r. f1 f2 = (1/ r)e1 23
 Sequential Causality Assignment Procedure
❑ Apply a fixed causality to the source elements Se and Sf

❑ Apply a preferred causality to Cand I elements.

▪ Withsimulation,weprefer to avoiddifferentiation.In otherwords,withtheC-elementthe effort-
out causality is prefered and with I -element the effort in causality is preferred.

❑ Extend the causality through the nearly junction , 0, 1, TF an GY

❑ Assign a causality to Relement which have indifferent causality .

!!! It these operations give a derivative causality on one element, It is usually better
to add other elements (R) in order to avoid causal conflicts. This elements must
have a physical means (thermal losses, resistance …).

24
 Covering Causal Path
❑ Causal path Definition
▪ Acausal path betweentwoports is analternation of bondsandbasic bondgraph
elements (named nodes) such that (i) all nodes have a correct and complete causality, and (ii)
two bondsof the path have in the same nodeopposite causal stroke direction.

▪ Simple direct Causal path : covered following only one variable (effort or flow).

e
1 0 1
f

▪ Indirect causal path : one element (R,C, I) should be crossed along the path
Passive element (R, C, I

e f
e
0 1 0
f f
f
▪ Mixad causal path : it comprises a gyrator (GY) imposing the change of followed variable
e e
1 GY
f
f
25
 Element Bond graph Causal equation Bloc diagrams Rule

Effort f
System
Output of Se (of Sf) is an
SUMMARY
source Se:e e known effort (flow) and is an
Se:e
input for the system.
Flow e System Rule : The causality is
source Sf:f f known Sf:f compulsory

f2 (-) Only one effort is allowed to

e2 = e1  be an input. All others are
e2 f 2 e = e f3 (+) f1
outputs (here e1 ).
e1 e3  3 1 f4 (-)
Junction 0 0 e = e
f1 f3  4 1 e2 = e1 e2 Rule: Only one bond have
causal stroke near a 0
f 4 e4  f 1 = − f 2 + f 3 − f 4 e1 e3 = e1 e3
junction.
e4 = e1 e4

e2 (-) Only one flow is allowed to be


an input. All others are outputs
e 2 f2  f 2 = f1 e3 (+) e1
e1 e3  (here f1 ).
Junction 1 1  f 3 = f 1 , e4 (-)
f1 f3 f = f Rule: Only one bond have
 4 1 f 2 = f1 f2
not a causal stroke near a 1
f 4 e4
e1 = −e 2 + e3 − e 4 f1 f 3 = f1 f3 junction.
f 4 = f1 f4

e1 = me2 m 0 
e1 TF e2  f = mf , e2
 0 m
e1
Only one effort and one flow
 2 1 f
 
f
may be inputs
f 1 :m f 2 1 2
e = 1 e 1
TF
 2 m 1
e1 0 e2
m  Rule : One causal stroke
e1 TF e2  1  1 near TF
:m  f1 = f2, f2 0 
f1 f2  m  m f1

e1 e2 e1 = rf 2 f2
r 0
e1
GY e = rf , Two efforts or two flows
0 r
f1 :r f2  2 f1 e may be inputs
 
1
f = 1e 2

GY  2 r 1 e1 1 f2
0
 r  Rule : Two causal stroke or
e1 e2  1
GY f = 1e , no one near GY
e2 0  f1
f1 :r f2  1 r 2  r

e
C:C1 e =  C ( fdt ) =  C (q ) f  C ( fdt) e Integral causality:
C f effort is an output

e
C:C1
f =
d
( −1
C
(e )) e d
( (e))
−1
C
f Derivative causality : flow
dt dt is an output

e f =  I ( edt ) =  I ( p ) e  I ( edt )
I:I1 f Integral causality :
f
( ( f ))
flow is an output
d −1
e e=
( (f ))
I I
I:I1 dt f d −1 Derivative causality :
e
f dt I effort is an output
e Resistance causality:
R:R1 e = R( f ) f R ( f ) e
f output is an effort
R
f.
e. R:R
1 f =  −1 R (e) e  −1R (e) f
Conductance causality
: flow is an output
26
 BG Model & Causality Assignment
x x
k1
k1
Ma Mb F(t) Ma Mb
F(t)

R1
fa fb fa fb

27
 Electromechanical System
R:Ra

UR
IF

Se:U F 1
UI

I:La IF

28
 ¼ Vehicle/Robot: Longitudinal Dynamics
Car
Mcar
Car body

Suspension

Tire
Rst structure

Kst Tire
Mtire

Road

29
½ Vehicle/Robot

30
BG-to-Simulation

31