Systematic Bond Graph generation for Hydraulic Systems

Below a recommended systematic procedure for the generation of hydraulic system models.
Step 1. Recognize the q Kq y
elements that make up the system.
Here the hydraulic inertias are
are (I) elements that store kinetic I, R C R
energy, the tanks are (C) elements
that store potential energy and the I, R SE
valves are the (R) elements that
dissipate energy.
Fig 1. Schematic of a hydraulic system

Step 2. Superimposing the

construction of the bond graph
on the physical system, now a 1
junction is used to represent 1 1
each distinct volume flow rate
(1 juctions represent the
summation of pressures)

Fig 2 1 junctions represent each distinct flow

Step 3. Attach to the 1

junctions the physical elements 1
that experience the distinct
volume flow rates. These
include the sources and sinks.
Note the activated bond on the
1 1
SE, indicates that no pressure is
exerted into the system at the
discharge point.

Fig 3 Attach physical elements to the 1 junctions

 1

Step 4. Represent the 1

differences between volume flow
rates with 0 junctions. Keep in
1 0 1 0 1
mind the sign conventions. These
differences relative volume flow
rates are also represented with 1
junctions.
Fig 4. Use 0 junctions for the differences of flows

1
Step 5 Attach the
elements that experience those
relative volume flow rates. 1 0 1 0 1
Those are also represented by 1
junctions. Do not worry about
bond numbers and causal marks
at this point.
Fig 5. Attach elements that experience volume flow differences.
Here the two C elements representing the tanks.

Step 6 Check that the power flow

directions are complete and enter the
bond graph in CAMPG. At this point
any through power bonds may be
simplified as a single bond but it is not
required. The bond numbers and the
causality will be assigned
automatically.\

Fig 6. Complete the bond graph power flow.

 Some observations for hydraulic systems. First the 1 junction represents the locations
where the flow is the same but represents the summation of pressures keeping mathematical
consistency with the actual directions of the flows. Consistent with the physics, at a 1 junction,
the sum of the pressures has to be equal to zero. The 0 junctions are the place where the
pressures are the same but the sum of the volume flow rates are equal to zero.

The bondgraph model is superimposed on the physical system in Fig 24 to 27. This figures
show the reader how close bond graph modeling is to the physics of the system. The principle is
valid also for mechanical and electrical systems, but intentionally waited until this example to
give it more relevance and show it alone.

The process presented above is completely consistent with that for the mechanical and
electrical systems shown above. The idea here is that a common systematic procedure
establishes a systematic bond graph modeling generation process for mechatronics systems,
which have components different in nature. This procedure is as close as possible to the physics
of real physical systems. Therefore, the principle established here allows us to model very
diverse and complex systems. At this point in the modeling process, we have built a skeleton of
the real systems without considering whether the systems are linear or non-linear. Such
consideration is entered once the skeleton of the model and its explicit differential-algebraic
equations have been automatically generated using the CAMPG software.