M.D.

Bryant

ME 344 notes State Equations

9/28/05

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 State Equations

9/28/05

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 State Equations

9/28/05

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: C: eI fc . = p , fI = f(p) . = 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 State Equations

9/28/05

Junctions: 0 (or 1)
Most equations revolve about junctions

in

f in

in

f in
Unique input bond to junction 0 junction: lone RAM

1 junction: lone HOSE

M.D. Bryant

ME 344 notes State Equations

9/28/05

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):

= ein p
Since common " equality, signs always +

= f in q

M.D. Bryant

ME 344 notes State Equations

9/28/05

Balances over Junctions

in

e 1 f

3 3

f in
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 State Equations

9/28/05

Balances Over Junctions with C on 0 & I on 1

e(q) q

f(p)

Sum flows (efforts) over 0 (1). If C off 0 junction , or (I off 1 junction), apply balance, i.e.,

= " f2 + f3 q

= e2 " e3 p

M.D. Bryant

ME 344 notes State Equations

9/28/05

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 State Equations

9/28/05

BG Example: Sliding & Rolling Carts

x1, v1

k m1 F m2

F(t)

x2, v2 v(t) b

C: k

R: b

F /m1 /m1) p /m2- p /m2- p ( p 1 1 2 2 . k x1 x1 Se : F F(t) 1 . p/m p 1 1 0 1

b{ v(t) - p / m2} v(t) - p2/ m2

2

v(t)

Sf : v

. p/m p 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 State Equations

9/28/05

" 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)
123 +: arrow touches causal agrees with input bond

- k x1
123 -: arrow doesn't touch causal disagrees with input bond

123 input bond (HOSE): arrow touches causal

+ F

123 +: arrow touches causal agrees with input bond

Note: F = (common effort on 0) = effort on lone RAM (from R). Casuality " R accepts flow f from 0, returns effort F to 0 " F = F ( f ) Sum flows over first 0 for flow on R (blocks sliding with friction ): f = p2 +m 2
123 +: agrees with input bond

p1 - m 1

" F

p2 p1 = F( m - m ) 2 1

123 input bond (RAM): arrow touches causal

123 -: disagrees

causality on R

p2 R accepts flow ( m 2

p1 - m ) from 0------HOSE into R 1 p2 p1 R applies effort F( m - m ) onto 0------RAM onto 0 2 1

M.D. Bryant

ME 344 notes State Equations

9/28/05

I: sum efforts over second 1; common effort on bond to 0's set by input bonds (rams on 0's)

p2

p2 p1 - F( m - m ) 2 1
123 arrow/causal don't touch, disagrees " -

p2 + b( v(t) - m 2

123 arrow touches causal

123 arrow touches causal, agrees " +

sum flows over second 0 for flow on second R (dashpot with b): p2 fb = -m + v(t) 2
123 arrow/causal don't touch 123 arrow/causal touch, disagrees " 123 arrow/causal don't touch agrees with input bond " +

" Fb

p2 = b( v(t) - m 2

causality on R:b p2 R accepts flow ( v - m 2 ) from 0------HOSE into R ) onto 0------RAM onto 0

p2 R applies effort b( v(t) - m 2

M.D. Bryant

ME 344 notes State Equations

9/28/05

Signs in State Equations via Arrows & Causality

Power in = Power out

m in k k =1 n out j j =1 m

!P "!P

=!e f
k =1

in in k k

out " ! e out f =0 j j j =1

Common flow over "1" junction:

f kin = f jout = f1
n

!e
k =1

in k

" !e
j =1

out j

=0

M.D. Bryant

ME 344 notes State Equations

9/28/05

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 p j 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)

e = !e

" !e

M.D. Bryant

ME 344 notes State Equations

9/28/05

Add Causal strokes / Lone Hose Input Bond on "Out" Side

e1 e
in 1 out

ep 1

out

ek

... in

.. .
em
in

Input bond term on Left Side / moves others to Right Side:

out p

= ! e " ! e out j
k =1 j =1 j#p

in k

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

..

. . ..

en

out

M.D. Bryant

ME 344 notes State Equations

9/28/05

BG Example: Oscillator Equations via Psuedo Source

Limit: b % 0, F % 0
1 . p kx . x C: k

p/m

I: m

p =m

=-kx

Differentiate first, substitute second into first

..

p = m

k =-m

M.D. Bryant

ME 344 notes State Equations

9/28/05

BG Example: Automotive drive train with derivative causality

I: I f . h Se : T T(t) I: I ds1 C: k I: I ds2 . hds2 h / I ds2 ds2 1 TF: n
ds

I: I sw . hsw h sw / I sw 1 R: b

hf / If 1 e1 TF: ng e2

. . hds1 hds1 / I ds1 k !1 !1 1 0

5 ESE, 3 IESE " third order Extract state equations

#e

's over first 1: hf

T(t)
123 arrow/causal agrees " +

- ng

hds1

+ k &1}

123 arrow touches causal, input (lone HOSE on 1)

144424443 arrow/causal disagrees " - ; e1 = ng e2 from TF ; on second 1, input bond (lone HOSE) gives . e2 = { hds1 + k &1 } 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 State Equations

9/28/05

Equate flow on second 1 to flow on input (hose) bond: hds1 Ids1 hf = ng I f " hds1 hf = ng I f Ids1 dhds1 " dt Ids1 dhf = ng I f dt

Substitute into first equation: . 2 Ids1 hf {1 + ng I } = T(t) - ng f Want only hf hf

k &1

on left side of state equation. Solve: 2 Ids1 k &1 }{1 + ng I f }-1

= {T(t) - ng 's over first 0:

#f

& 1=

hf ng I f

hds2 -I ds2

input (RAM) bond

144424443 14243 arrow causal agree arrow/causal disagree flow from first 1 flow from input bond, 3rd 1 (follow hoses) ng from TF

M.D. Bryant

ME 344 notes State Equations

9/28/05

#e

's over third 1: hds2

k &1

- nds

{ hsw

hds2 + b [ nds I ds2

]}

123 14243 arrow/causal agrees, +; touch (lone HOSE) effort from input bond, first 0

144424443 disagrees, -; nds from TF ; effort on input bond of fourth 1 . hds2 - 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 Isw hds2 = nds I ds2 dhsw dt = nds dhds2 Isw dt Ids2

Differentiate & solve: Substitute & solve hds2

2 hds2 = {k &1 - b nds I ds2

2 } {1 + nds

Isw Ids2

}-1