50 Chapter 2

puter programs that allow you to draw the bond graph and have the computer
generate the equations and simulate the system. The equations, being in state
space form, are easily used as model blocks in Matlab. In fact, for many advanced
control strategies, where state space is the representation of choice, bond graphs are
especially attractive because the set of equations that result are in state space form
directly from the model. Several useful constitutive relationships for developing the
state space equations are given in Table 7.

2.6.2 Mechanical-Translational Bond Graph Example

To illustrate the basics, let us review to the basic mass-spring-damper system already
studied using Newtons laws and energy methods. For the general system, eort and
ow variables are associated with each bond. For the mechanical system these
become force and velocity. To begin, locate common velocity points and assign
these to a common 1 junction. If there are any common force points, assign them
to a 0 junction. In the mass-spring-damper system in Figure 20, all the components
connected to the mass have the same velocity and there are no common force points.
The bond graph simply becomes the mass, spring, damper, and input force all
connected to the 1 junction since they all share the same velocity. The resulting
bond graph is given in Figure 20.
The bond graph notation clearly shows that all the component velocities are
equal. To assign causality, begin with Se (a necessary causality assignment). This
stroke does not put constraints on others so assign I to have integral causality. This
can then be extended to the other bonds since the 1 junction is only allowed one ow
as a cause (I) with the rest as eects (R, C, Se ). All causal strokes are assigned and
integral causality throughout the model is achieved. Now the equations can be

Table 7 Equation Formulation with Bond Graphs

Integral Causality Derivative Causality

Element Linear Nonlinear Linear Nonlinear

0 Junction e1 e2 e3    NA NA NA
f1 f2 f3 0
1 Junction e1 e2 e3 0 NA NA NA
f1 f2 f3   
R e Rf e ef NA NA
f 1=Re f f e

C e q=C fdt=C eq e f dt f Cde=dt f dqe=dt

I f p=I e dt=I f f p e Idf =dt e df p=dt

Additional Equation Helps

States are always written as the momentum or displacement variable; rst

Useful derivative equals a function of the other states and inputs.
identities dq=dt f (ps, qs, inputs) dp=dt f (ps, qs, inputs)
dpi =dt ei qi =C dqi =dt fi pi =I