Theory BG
Theory BG
Theory BG
Summary of today
• Analogies among physical domains
• Bond graphs
Electrical circuits
Hydraulics
Mechanics – translational
Thermal systems
Mechanics – rotational
Electrical circuits
Basic quantities:
• Current i(t) (ampere)
• Voltage u(t) (volt)
• capacitance
Z t
d 1
C u(t) = i(t) ⇐⇒ u(t) = i(s)ds
dt C 0
u1 = ru2
1
i1 = i2
r
u1 i1 = u2 i2 ⇒ no power loss
• gyrator
u1 = ri2
1
i1 = u2
r
u1 i1 = u2 i2 ⇒ no power loss
Electrical circuits
Example
Basic quantities:
• Velocity v(t) (meters per second)
• Force F (t) (newton)
F (t) = bv(t)
Mechanical – translational
F = F1 + F2
v1 = v2
F1 = F2
v = v1 + v2
Mechanical – translational
`2
F1 = − F2
`1
`1
v1 = − v2
`2
• pulleys
1
F1 = F2
2
1
v1 = − v2
2
Mechanical – rotational
Basic quantities:
• Angular Velocity ω(t) (radians per second)
• Torque M (t) (newton · meter)
• torsion of a body
Z t
1 d
M (t) = ω(t) ⇐⇒ M (t) = k ω(s)ds
k dt 0
M (t) = h(ω(t))
Mechanical – rotational
M = M1 + M2
ω1 = ω2
M1 = M2
ω = ω1 + ω2
Mechanical – rotational
Transformations laws for M (t) and ω(t)
• gears
M1 = rM2
1
ω1 = − ω2
r
• “gyrator”
My = rωz
1
ωy = − Mz
r
Flow system
Basic quantities:
• Flow Q(t) (cubic meters per second)
• Pressure p(t) (newton per square meter)
p(t) = Rf Q(t)
|{z}
flow resistance
Flow system
1
T (t) = Lf Q2 (t)
2
• potential energy (fluid in a tank)
1
T (t) = Cf p2 (t)
2
• energy loss due to flow resistance
Z t Z t
T (t) = P (s)ds = p(s)Q(s)ds
0 0
Flow system
Interconnection laws for p(t) and Q(t)
• series connection
p = p1 + p2
Q1 = Q2
• parallel connection
p1 = p2
Q = Q1 + Q2
Flow system
p1 = rp2
1
Q1 = Q2
r
where r = A2 /A1
Analogies among physical domains
transformer:
1
p= F
A
Q=Av
• Mechanical (rotational) – Electrical
gyrator:
M =ki
1
ω= u
k
Analogies among physical domains
e
−−−*
f
u F M p T
−−* −−−* −−−* −−−* −−*
i v ω Q q
Bond graphs for energy exchanges
e2 f2
....
...
e1 .......
.
......
s
f1 ...
....
en fn
f1 = f2 = . . . = fn =⇒ common flow
e1 + e2 + . . . + en = 0
outgoing harpoon at ej : change sign to ej in the summation
Bond graphs for junctions
e2 f2
....
...
.
e1 ......
....... p
f1 ..
...
...
en fn
e1 = e2 = . . . = en =⇒ common effort
f1 + f2 + . . . + fn = 0
outgoing harpoon at fj : change sign to fj in the summation
Bond graphs for transformer and gyrators
e e
−−−1−* TF −−−2−*
f1 f2
1
e2 = ne1 , f2 = f1
n
• bond graph for gyrator: GY - junction
e e
−−−1−* GY −−−2−*
f1 f2
1
e2 = rf1 , f2 = e1
r
Both conserve power
Bond graphs and ports
Edges (bonds) of the bond graph are connecting points (or ports) of the
system. The number of ports can be
• one port: Se , Sf , C, I, R
• two ports: T F , GY
• multiport: s-junction, p-junction
Example: electrical circuit / hydraulic system
Example: electrical circuit
Example: electrical circuit
Example: an hydraulic system
Example: an hydraulic system
State space description
ẋ = f (x, u)
| {z }
integral causality
Causality
Causal strokes
• “A sets e and B sets f ” (i.e., A is of C and Se types)
2. C and I type
3. transformers
4. gyrators
Causality, cont’d
• Causality at junctions
1. s-junctions
2. p-junctions
Causality, cont’d