Energy-Based Modeling of Complex Systems – Solution 1

Solution 1 – Bond Graphs

1.1 Two Mass System

a) The bond graph for the two mass system is depicted in Fig. 1. It can be drawn step by step as follows.

• The voltage source is clearly represented by the effort source, where u0 is imposed to the electric
circuit.
• The currents (= flows) at the elements in series connection in the electric circuit are equal, while
the sum of their equally oriented voltages adds to zero (Kirchhoff’s voltage law, KVL). Therefore,
the I- and R-elements for the inductance and resistance are interconnected by a 1-junction.
• The motor is an electromechanical converter, whose equations can be written in the form

ε1 = kM φ2
ε2 = kM φ1 ,

which is represented by the two-port element gyrator (GY).

• The equations for the mechanical transmission

1
ε1 = ε2
n
1
φ2 = φ1 ,
n
corresponds to the two-port element transformer (TF).
• The first inertia, represented by an I-element is driven by the difference of the torques at the left
and the right side, which is (constant angular velocity) realized by a 1-junction.
• The velocity difference ωA − ωB is generated using a 0-junction (constant torque).
• Spring and damper torques are separated with a 1-junction (constant relative velocity). Spring and
damper are represented as C- and R-element.
• The second inertia is represented just as the first one.
• Finally, a 1-junction is included to revert the torque and to represent the imposed load torque as
and effort source with value −τL . According to the convention, if −τL ωB > 0, then power is
supplied (from the attached load system) to the two mass system. Accordingly, if τL ωB > 0, the
two mass system does work against the environment.

Figure 1: Bond graph for the two mass system.

© Prof. Dr.-Ing. habil. Paul Kotyczka 1

Chair of Automatic Control
Technical University of Munich
Energy-Based Modeling of Complex Systems – Solution 1

b) The bond graph in Fig. 2 now contains the causal strokes. They are drawn according to the following
considerations:

• Effort and flow sources have a fixed causality. While Se imposes the effort to the connected
subsystem, this is opposite with Sf.
• Storage elements have a (preferred) integral causality. This means that the connected bond imposes
the port variable to the element which is to be integrated. Therefore we draw a causal stroke at
the I-element (where for example the torques are integrated to give the momentum) and not a
causal stroke at the C-element, where the flow is integrated (e.g., the difference angular velocity
to give the torsion angle).
• At the gyrator, the connected bonds have opposite causal stroke. In the considered motor, the effort
variables uM and τM are set by the gyrator’s equations and imposed to the connected subsystems.
• At the transformer, the connected bonds have the same causal stroke. The gearbox for example
simply transmits the “ingoing” torque from the left (after skaling with n) to the right, where it
applies to the connected subsystem.
• At the 1-junction, all bonds have a causal stroke except one. For example consider the mesh of
the electrical circuit: iL , which is the current through the coil (assuming as a given flow) is the
same through the other series interconnected elements.
• Finally, at the 0-junction the opposite situation is true: Only a single bond has a causal stroke: For
example the sum of spring and damper torques applies both to the left and the right of the flexible
shaft.

Figure 2: Bond graph for the two mass system containing causal strokes.

1.2 Quarter Car Model

a) The bond graph for the quarter car model as depicted in Fig. 3 is constructed as follows:

• The gravitational force on the body mass acts as an effort source. mb gvb is the power extracted from
this source, which is supplied to the system (in accordance with the orientation of the force/velocity
arrows in the schematic diagram).
• In the dynamic regime, the difference between mb g and the forces Fsb and Fdb applied to spring
and damper, accelerates the mass. The difference of forces is build with the 1-junction (constant
velocity vb ).
• The power transmitted to the wheel mass is (Fsb + Fdb )vw , which implies the occurrence of the
difference velocity at the 0-junction.

© Prof. Dr.-Ing. habil. Paul Kotyczka 2

Chair of Automatic Control
Technical University of Munich
Energy-Based Modeling of Complex Systems – Solution 1

• Splitting Fsb + Fdb into its components at the 1-function, the connected bonds represent the power
flows supplied to the spring and the damper. In particular in the C-storage element, the difference
velocity vb − vw is integrated to give the spring compression ∆sb , which, multiplied with kb , gives
the force Fsd the spring exerts to the connected masses in both directions. A corresponding rational
holds for the damping force Fdb = db (vb − vw ).
• The power flow at the wheel mass is modelled accordingly by a 1-junction and the I-storage element.
• The sum of velocities vw + vr (realized with a 0-junction) gives the relative velocity with which
the wheel spring is compressed, represented by the C-storage element.
• The last 0-junction reverts the sign of the velocity to represent the power flow Fr vr . Therein
Fr = Fsw is the reaction force of the “road” in upward direction against the spring, and Fr vr is
the power supplied to the quarter car model via the emulated road excitation.

Figure 3: Bond graph for the quarter car model.

b) Fig. 4 contains the bond graph with causal strokes. Just as for the two mass system, the causal strokes,
which represent the signal flow, can be drawn with the help of

• the fixed causality of the effort and flow sources,

• the preferred integral causality of I- and C-storage elements and
• the fact that 0-junctions have a single causal stroke, while at one junctions only one causal stroke
is missing.

Figure 4: Bond graph for quarter car model containing causal strokes.

© Prof. Dr.-Ing. habil. Paul Kotyczka 3

Chair of Automatic Control
Technical University of Munich
Energy-Based Modeling of Complex Systems – Solution 1

1.3 Heat Conduction

a) To verify the validity of the constitutive relation

Th
∆T = σh
λ
at the incoming power port of the RS element, the equation must simply be multiplied with λ to recover
Fourier’s law with ∆T = Th − Tc and with Φhc = Th σh = Tc σc the heat flow from hot to cold:

Φhc = Th σh = λ(Th − Tc )

Figure 5: Bond graph of the thermal interface as given in the lecture.

The incoming power to the RS element is

Th − Tc Tc
∆T σh = (Th − Tc )σh = · Th σh = (1 − ) Φhc = ηΦhc .
Th T
| {z h }
=η

By power continuity, the same must be true for the outgoing power:

Tc
Tc ∆σ = Tc (σc − σh ) = Φhc − Tc σh = (1 − )Φhc = ηΦhc .
Th

b) At the 0-junction on the left, the temperature Th remains the same at all connected bonds, while
at the 1-junction on the right, it is the entropy flow σc , which is the same. To keep the power flows
consistent, the respective third bonds, which connect to the RS element, have to be modified as depicted
below. The reversed orientation of these bonds takes into account that all power variables are positive,
corresponding to the scenario Th > Tc . See the redrawn bond graph below.

Figure 6: Bond graph of the thermal interface with permutation of 0- and 1-junction.

Finally, the RS element has to be adapted to (a) the different orientation of the positive power flow and

© Prof. Dr.-Ing. habil. Paul Kotyczka 4

Chair of Automatic Control
Technical University of Munich
Energy-Based Modeling of Complex Systems – Solution 1

(b) the different pairs of port variables at the connected bond. The two conditions, which have to be
satisfied are

∆T σc = Th ∆σ (Energy conservation)
∆T = kRS σc (Constitutive relation)

with the appropriate gain kRS . Validity of the first equation:

(Th − Tc )σc = Th (σc − σh )

−Tc σc = −Th σh .

Left and right hand side correspond are equally Φhc . The validity of the depicted RS gain is verified by
the simple calculation

∆T λ∆T Tc σc Tc
kRS = = = = .
σc λσc λσc λ

c) Take the second (the redrawn) bond graph and perform the following changes:

• Permute the temperatures, i.e., Tc ↔ Th (which corresponds then to Tc > Th )

• Due to the reversed power flow, substitute σc → −σh and σh → −σc .

With appropriate change of orientation of the bonds (accordingly putting σc instead of −σc etc. as
flow), you will recover the original bond graph representing heat conduction according to Fourier’s law.

© Prof. Dr.-Ing. habil. Paul Kotyczka 5

Chair of Automatic Control
Technical University of Munich