Chapter 9 Multi bond graphs 9,1 Introduction si bond graphs have the same status in bond graph theory as vectors have in y are very useful in modeling systems where there exist some sort of Mult in the various subsystem clusters, in accordance with Breedveld [55, 56, 97, 58, 59], Bonderson’s method of rn of the multi bond, by two parallel lines with one power orientation ropresentat i faltarrow as shown in Fig. 9.1, is proposed. the two parallel lines offer the opportunity to indicate the dimension (number of scalar bonds 7 in represented by a multi bond) by a number written between the lines, The multi bond graphs are compact representation of large systems with Fig. 9 identical subsystems. Many physical aspects of the systom may get obscured in a multi bond graph. They turnout to be of great value at the stage when the initial ideas are being formulated. However, it is advisable that a multi bond graph should be ultimately changed into a usual scalar bond graph for detailing and simulation. In this book we have not used multi bond graph for representing system models, 9.2 The various multi bond graph elements Multi bond graph has its own grammatics of representing system elements, junctions and transformers or gyrators different from those for scalar bond graph discussed. earlier. This grammatics is discussed below in detail. 9.2.1 The single port elements hown below. os bond graph notation for single port elements (SE, SF, 1, C, R) . ‘g. 9.2, A represents the bond number and m indicates the dimension. The “ond graph equivalents are shown in Fig. 9.3.260 BOND GR”) ODELING, SIMULATION AND FAULT IDENTIFICATION M ,, SIMUL sp GRAPH IN ON 2-2 ae : a : 1 $l aa iin A =A : , sex | oe : Fig. 93 i Fig. 92 9.2.2 The junction array rae 1, 0) is shown below. In Fig. 94 4 i e junction array (1, Ld, Multi bond graph EE Sea nis the dimension. It should be noted that Wu . . Band C are the bon ae those bonds of the multi ponds oe by the junction junction array connect: Be tt ithe Hoel lle ACAI Ge mal bn ey, hi Te Aa? have to be identical. The scalar bond graph equivaen connected to a junction is shown in Fig. 9.5. 7 ian ; he Fig. 94 Fig. 95 9.2.3 Direct sum of multi bonds Direct sum of multi bonds is introduced to represent the composition of multi seat analogous to the direct sum of ae Vector spaces in linear algebra. Direct Sum is represented by a transverse line to the multi bonds which take part in the ‘summation. Orientation and causality are maintained but the composition (out of sealar bonds) and order of the multi bonds may be changed. A direct sana shown in Fig. 9.6(a), A Fig. 9.6(a) a naa MY BS weed to doc pooe SG BAAS TO compo foresee m8 in whichie aire sum may be used in a multi Braph for composition and deco a ™Position of multi bonds. Figure Fig. 9.6(0) sho™®Muti BOND GrarHs 261 rt of a multi bond graph where direct sum is used both ways, for composition as Mijas decomposition. The multi bond GY and field elements used in Fig. 9.6(b) are explained below. Fe Am 1 AFR FL 1A ee in [NO Satire 1 Be nist n Prem \ GY W=ar\ 1 =m FL nga 6, Fig. 9.6(b) 9.2.4 The transformer and the gyrator Both the transformer (7F) and the 8yrator (GY) are in the form of transformation matrices. They have two ports and each port may or may not have the same dimension. In a transformer the distributor is a 1-junction and the summer is 0- junction. The following 3x2 transformer may be considered as an illustrative example. The multi bond representation of the transformer is shown in Fig. 9.7 and the scalar equivalent with distributors and summers is shown in Fig. 9.8, Bo nhs Fig. 9.7IN MODELING, SIMULATION AND FAULT IDENTIFICATION ee ING, 262 BOND GRal distributor and the summer are 1-junctions. The foljoy the ti J Ina gyrator ceaiered as an illustrative example where Fig. 9.9 shows th, a gyrator aa of the gyrator and the scalar equivalent with distribuon st bond repress é summers is shown in Fig. 9.10. aun fea a2 ov ss Al ; f a —b1 =e =| a x 1a an - 1 Fig. 9.9 Fig. 9.10 In both the previous examples, all the bonds of the matrices are present. In such a situation the transformer or gyrator matrix is said to be dense. If some of the bonds do not exist, then the matrix is said to be sparse. The only constraint for a sparse matrix is that none of the summers or the distributors should be de-linked or else the entire bond graph collapses. 9.2.5 Field elements The field elements (F1, FC, FR) are multi / : t the eo 'R) are multi ports. Each port may or may not have iste a Both the / - fields shown in Fig. 9.11 are possible. The first /- field as the mension n at each port while the second / - field has different dimensions I, mt and 1 at the three different ports. ; Ses nic A Bo. SS n{C Fig. 9.11 = eeMutti Bonp GrarHs 263 9,3 Spatial mass spring damper system Consider a mass, anchored by three spring damper combinations in space in the X, ¥ and Z directions and subjected to a set of forces in these directions as shown in Fig. 9.12. Fig. 9.12 or eas sre2 51 IN AND FAULT IDENTIFICATION 11N MODELING, SIMULATION AND FAULT IDENTIFICATY SRAPH 64 BONDG' 0.4 semi-definite system finite free system shown in Fig. 9.14 can be represented by aie 0,15. The field elements C and R are represented by the C C R Ki i] ona [ Rx | [: Ky Ki | “RR s considered to be the unit symmetric matrix (US), the multi bong ¥ the mui bond graph of Fig. Matrices If fu. : ] graph can be represented in a compact form as shown in Fig. 9.16. 9.5 Enhanced semi-definite system The power of multi bond graphs would be apparent from this particular example The system shown in Fig. 9.17 is an extension of the system in Fig. 9.14. The mult bond graph in Fig. 9.18 is enhanced in its dimension but no further multi bonds are added. Fig. 9.17 Fig. 9.18 Even if the system is enhance enhanced only in dimensi beam shown in Fy. Fi mM in Fj P Tres St lance ieee The bond graph for the beam is shown it ought will coe tat Seem to be amenable to vectorizato® “Re Problem. It uses 9 nan ti bond graph of Fig. 9.21 is aval Held C element matrix which is sparse. ThsMutt Bonn Grarns 265 nota very efficient method. A more efficient method will be to use the concept of tensorial C element. ¥ ee AAI AIM FC Fig. 9.21 9.7 Beam with gyroscopic effect ‘The same philosophy is followed with the system shown in Fig. 9.22 as in the previous problem. The entire beam is divided into reticules. Each reticule exhibits morphological similarity with the other. The multi bond graph for this system is shown in Fig. 9.23. In this case too, the field C element is sparse and an efficient solution can be obtained by using the concept of tensorial C.266 BOND GRAPHIN MODELING, SIMULATION AND FAULT IDENTIFICATION 9.8 Representation of Moduli of Multi-port Transformer ang Gyratop Elements ‘context the orientation of TF indicate the flow relation between the me 7 In scalar ‘TF as follows a ay 4 4 G4 fy= uf and e= Hep. The relation maintains the conversation of power through the transformer, Orientation depends the way modeler wants to create these relations and hay, ing to do with power or casual orientation of the ports. For vector bond gag Grientation of modulus pays even more significant role. It relates a vector TF ca underlying scalar structure without which the moclel has no sense. Let us consider two examples when transformer causalities are co-oriented. The underlying scalar structure is ae ? S| 3 ae ye 4 3 =)MULTI BOND GrarHs 267 Fig. 9.26 Ble ele a{ULATION AND FAULT iN MODELING, SIM! 268 BOND GRAPH eer elie oli re ai-all a2 ais); BAAN a, an os % on dy ‘Thus the right side of eqn. (9.3) is equal to the left hand side of eqn. (9, 13), us be inadequate talking about the modulus of vector transf Be modulating matrix with an orientation. Out Thus it will assigning the GYRATOR: Gyrator’s moduli are not orientated. In scalar contest the gyri relation are symmetric. a Hoy 2 =Hh e=Hh For vector gyrators the underlying scalar structure is symmetric, see Fig. 9.28 and Fig. 9.29. [Al I= or Sal Fig. 9.28 au cy GY. a GY, pb, le yee“| MULIVBoND GrarHs 269. cof a-vector transformer When modulus orient ite directions, see Fig. 9.30 and Fig. 9.31, tation and causality ‘are in) bre $6.8 yi SEN rr yj ay Fig. 9.30270 BOND GRAPH IN MODELING, SIMULATION AND FAULT IDENTIFICATION Like wise a gyrator with element causal ports will lead to scalar situation, ie Fig. 932 and Fig. 9.33. rt eNorESS 1 Bos Fig. 9.32 au GY, 312 GY