M.D.
Bryant ME 344 notes 9/28/05
State Equations
State equations & mixed domain systems
State Equations from Bond Graph
Extraction of state equations
BG Example: Sliding & Rolling Carts
Signs in State Equations via Arrows & Causality
BG Example: Oscillator from Psuedo Source
BG Example: Automotive drive train with
derivative causality
M.D. Bryant ME 344 notes 9/28/05
State Equations
State Equations from Bond Graph
.
State equations: x = f(x,t)
Set of 1st order ordinary differential equations
Independent variable: t
Dependent variable(s):
x = energy variables (p, q) 's
Left side: time derivative term
Bond graph
Efforts & flows labeled in terms of energy variables
Arrows indicate power flow directions
Causal strokes assigned via procedures & priorities
M.D. Bryant ME 344 notes 9/28/05
State Equations
Extraction of state equations
Identify state variables (energy variables)
p↔I
q↔C
State equations from Independent Energy
Storage Elements (IESE)
IESE = I's & C's with integral causality
Dependent ESE = I's & C's with derivative causality
Each IESE ⇒ state equation:
system order = number IESE
Derive state equations
On bonds to
.
I: eI = p , fI = f(p)
.
C: fc = q , ec = e(q)
Mult-port storage devices depend
on multiple p's and q's
R: BG causality ⇒ e = e(f) or f = f(e)
M.D. Bryant ME 344 notes 9/28/05
State Equations
Junctions: 0 (or 1)
• Most equations revolve about junctions
e
in
0
f in e
in
1
f in
• Unique input bond to junction
0 junction: lone RAM 1 junction: lone HOSE
M.D. Bryant ME 344 notes 9/28/05
State Equations
Common Quantity on Junctions
0 junction: effort ein on lone RAM 1 junction: flow fin on lone HOSE
• If I off 0 junction , or (C off 1 junction), apply common, i.e.,
. .
equate p (or q) from I (or C) to input bond common ein (fin) on 0 (1):
p˙ = ein q˙ = f in
• Since common ⇒ equality, signs always +
!
M.D. Bryant ME 344 notes 9/28/05
State Equations
Balances over Junctions
e f
2 2
e e
in 3
1
f in f
3
• Sum flows (efforts) over 0 (1).
• Input bond flow (effort) on left side:
+ fin = ∑ fi , over 0 (+ ein = ∑ ei , over 1)
i≠input bond i≠input bond
− left side: input bond contribution fin (ein ) with plus sign
− right side: other bond contributions fi 's (ei 's) with sign convention:
+ if arrow/causal stroke configuration agrees with input bond
- if arrow/causal stroke configuration disagrees with input bond
∑ Arrow Causal stroke configurations
arrow/causal stroke touch arrow/causal stroke do not touch
M.D. Bryant ME 344 notes 9/28/05
State Equations
Balances Over Junctions with C on 0 & I on 1
f e
2 2
e(q) . e
C .
q
0 f I
p
1
3
3 f(p)
• Sum flows (efforts) over 0 (1).
• If C off 0 junction , or (I off 1 junction), apply balance, i.e.,
q˙ = " f 2 + f 3 p˙ = e2 " e3
!
M.D. Bryant ME 344 notes 9/28/05
State Equations
sources prescribe e(t), f(t)
converters TF, GY "pass" variables
Note:
all ESE (C's & I's) efforts & flows in terms of q's & p's
BG causality ⇒ form of e's & f's on other bonds (e.g., R 's)
Philosophy:
Bond graph = map
follow to treasure (state equations)
circuitous routes, but directions clear!
M.D. Bryant ME 344 notes 9/28/05
State Equations
BG Example: Sliding & Rolling Carts
x1, v1
k x2, v2
F(t)
v(t)
m1
Fµ
b
m2
C: k R R: b
Fµ ( p /m - p /m1) p /m2- p1 /m1
2 2 1 2
. b{ v(t) - p / m2} v(t) - p2/ m2
2
k x1 x1
F(t) 1 1 0 Sf : v
Se : F 0 v(t)
. .
p/m p p/m p
1 1 1 2 2 2
I: m1 I: m2
2 I's & 1 C, all in integral causality ⇒ third order system ⇒ 3 state equations
M.D. Bryant ME 344 notes 9/28/05
State Equations
.
∑ C: equate flow x1 to common flow on 1 (off input bond = lone HOSE)
. p1
x1 = m
1
123
input bond flow (HOSE)
∑ I: sum efforts over first 1:
.
p1 = + F(t) - k x1
123 123 123
input bond (HOSE): +: arrow touches causal -: arrow doesn't touch causal
arrow touches causal agrees with input bond disagrees with input bond
+ Fµ
123
+: arrow touches causal
agrees with input bond
Note: Fµ = (common effort on 0) = effort on lone RAM (from R).
Casuality ⇒ R accepts flow fµ from 0, returns effort Fµ to 0
⇒ Fµ = Fµ ( fµ )
Sum flows over first 0 for flow on R (blocks sliding with friction µ):
p2 p1 p2 p1
fµ = +m - m ⇒ Fµ = Fµ( m - m )
2 1 2 1
123 123 123
input bond (RAM): +: agrees with -: disagrees
arrow touches causal input bond
causality on R
p2 p1
R accepts flow ( m - m ) from 0------HOSE into R
2 1
p2 p1
R applies effort Fµ( m - m ) onto 0------RAM onto 0
2 1
M.D. Bryant ME 344 notes 9/28/05
State Equations
I: sum efforts over second 1; common effort on bond to 0's
set by input bonds (rams on 0's)
. p2 p1 p2
p2 = - Fµ( m - m ) + b( v(t) - m )
2 1 2
123 123 123
arrow touches arrow/causal don't arrow touches
causal touch, disagrees ⇒ - causal, agrees ⇒ +
sum flows over second 0 for flow on second R (dashpot with b):
p2
fb = -m + v(t)
2
123 123 123
arrow/causal arrow/causal arrow/causal don't touch
don't touch touch, disagrees ⇒ - agrees with input bond ⇒ +
p2
⇒ Fb = b( v(t) - m )
2
causality on R:b
p2
R accepts flow ( v - m ) from 0------HOSE into R
2
p2
R applies effort b( v(t) - m ) onto 0------RAM onto 0
2
M.D. Bryant ME 344 notes 9/28/05
State Equations
Signs in State Equations via Arrows & Causality
Power in = Power out
m n m n
in out in in
!P "!P k j =!e f k k " ! e out
j f j
out
=0
k =1 j =1 k =1 j =1
Common flow over "1" junction: f kin = f jout = f1
m n
in out
!e k " !e j =0
k =1 j =1
M.D. Bryant ME 344 notes 9/28/05
State Equations
Add Causal strokes / Lone Hose Input Bond on "In" Side
Input bond term on Left Side / moves others to Right Side:
n m
in out in
e = !e
p j" !e k
j =1 k =1
k#p
Consistent with rule of thumb:
input bond term on left side with + sign
others on right side, with sign
• + if arrow/casual stroke configuration matches input bond
• - otherwise (if arrow/casual stroke configuration disagrees)
M.D. Bryant ME 344 notes 9/28/05
State Equations
Add Causal strokes / Lone Hose Input Bond on "Out" Side
out out
e1 ep
in . .. out
e .
.. en
1 .
... 1
in
ek
.. .
in
em
Input bond term on Left Side / moves others to Right Side:
m n
out
= ! e " ! e out
in
e p j k
k =1 j =1
j#p
Consistent with rule of thumb:
input bond term on left side with + sign
others on right side, with sign
• + if arrow/casual stroke configuration matches input bond
• - otherwise (if arrow/casual stroke configuration disagrees)
"0" junction (flows f replace effort e), similar rule of
thumb for signs applies
M.D. Bryant ME 344 notes 9/28/05
State Equations
BG Example: Oscillator Equations via Psuedo Source
Limit: b → 0, F → 0
kx
1 . C: k
x
.
p/m p
I: m
. p .
x =m p =-kx
Differentiate first, substitute second into first
.
.. p k
x = m =-m x
M.D. Bryant ME 344 notes 9/28/05
State Equations
BG Example: Automotive drive train with derivative causality
I: I f I: I ds1 C: k I: I ds2 I: I sw
. . . .
. hds2 h / I
h hf / If hds1 hds1 / I ds1 k !1 !1 ds2 ds2
hsw h sw / I sw
f
e1 e2
T(t) 1 1 0 1 TF: n 1 R: b
Se : T TF: ng ds
5 ESE, 3 IESE ⇒ third order
Extract state equations
∑e 's over first 1:
. .
hf = T(t) - ng { hds1 + k θ1}
123 123 144424443
arrow touches arrow/causal arrow/causal disagrees ⇒ - ; e1 = ng e2 from TF ;
causal, input agrees ⇒ + on second 1, input bond (lone HOSE) gives
.
(lone HOSE on 1) e2 = { hds1 + k θ1 } from effort balance
.
NOTE: This is not a valid state equation. The hds1 term from the
Inertance I:Ids1 in Derivative Causality left a derivative term on right side.
WILL SHOW HOW TO HANDLE LATER.
∑ Eliminating derivative causality:
Return to the element in derivative causality, Inertance I:Ids1 .
.
The hds1 term came from the effort side of the bond to I:Ids1
Trace the origin of the other quantity, the flow.
Following hoses from I:Ids1 through TF:ng to I:If in integral causality:
M.D. Bryant ME 344 notes 9/28/05
State Equations
Equate flow on second 1 to flow on input (hose) bond:
hds1 hf hf dhds1 Ids1 dhf
Ids1 = ng I ⇒ hds1 = ng I Ids1 ⇒ dt = ng I
f f f dt
Substitute into first equation:
. 2 Ids1
hf {1 + ng I } = T(t) - ng k θ1
f
.
Want only hf on left side of state equation. Solve:
. 2 Ids1
hf = {T(t) - ng k θ1 }{1 + ng I }-1
f
∑f 's over first 0:
. hf hds2
θ 1= ng I -I
f ds2
144424443 14243
arrow causal agree arrow/causal disagree
input (RAM) flow from first 1 flow from input bond, 3rd 1
bond (follow hoses)
ng from TF
M.D. Bryant ME 344 notes 9/28/05
State Equations
∑e 's over third 1:
. . hds2
hds2 = k θ1 - nds { hsw + b [ nds I ]}
ds2
123 14243 144424443
arrow/causal agrees, +; disagrees, -; nds from TF ;
touch (lone HOSE) effort from input bond, effort on input bond of fourth 1
. hds2
first 0 - e = - hsw - b [ nds I ];
ds2
hds2
flow nds I on R:b off fourth 1,
ds2
which comes from third 1 through TF
.
NOTE: This is not a valid state equation. The hsw term from the
Inertance I:Isw in Derivative Causality left a derivative term on right side.
∑ Eliminating derivative causality:
Return to the element in derivative causality, Inertance I:Isw .
.
The hsw term came from the effort side of the bond to I:Isw
Trace the origin of the other quantity, the flow.
Following hoses from I:Isw through TF:nds to I:Ids2 in integral causality:
hsw hds2
Isw = nds I
ds2
dhsw dhds2 Isw
Differentiate & solve: dt = nds dt Ids2
Substitute & solve
. 2 hds2 2 Isw
hds2 = {k θ1 - b nds I } {1 + nds Ids2 }-1
ds2
