TOPIC 1 INTRODUCTION AND REVIEW

ENGI9496 Modeling and Simulation of Dynamic Systems

Topic 1 Introduction and Review of Undergraduate System Dynamics

Date:

Course Goals: Improve your ability to generate and simulation system models, and increase
your insight into numerical simulation challenges and troubleshooting simulation output.
Major Concept: Mechanical, Electrical, Thermal, Hydraulic systems are unified by the fact that
their components exchange, dissipate and supply energy.
Power P = dE/dt
Modeling and simulation for most people is restricted to systems within their specific area of
expertise. For example
automotive engineers typically use ADAMS for multibody system modeling
electrical engineers may write their own Matlab code for motor models
In this increasingly interdisciplinary age, accurate and efficient modeling and simulation-based
design is easier if you
have knowledge of other domains
understand what the different domains have in common.
THE GENERAL MODELING PROCESS
When you take a physical system and turn it into a system of equations, heres what you really
do (example: mass hanging from a rubber tube)
1. Define system boundaries (boundary conditions are essentially inputs from the external
environment)
2. Reticulate (divide) continuous physical system into discrete lumped components.
Many simplifying assumptions will be made, sometimes unconsciously.
3. Define constitutive laws (equations) for each element
4. Bond elements by gathering constitutive laws and arranging the equations in correct
input-output form, noting variables that are shared among different elements.

TOPIC 1 INTRODUCTION AND REVIEW

ADVANTAGES OF BOND GRAPHS

Mechanical engineers may be comfortable discussing masses, springs, and dampers, while
electrical engineers may be comfortable with inductors, capacitors and resistors. However, they
are using the same set of dynamic elements!
The bond graph formalism presented in this course and in the text uses the energy-based
analogies between different types of engineering elements to represent all types of systems using
the same general elements.
An electrical, thermal, hydraulic, or mechanical bond graph uses the same symbols, and
therefore combining bond graphs of a motor, linkage, and pump can be done seamlessly, and
equations can be derived systematically for the entire system.
Other advantages:
some systems are difficult to represent schematically with circuit diagrams
generalized loops and nodes that are visible on electrical circuit diagrams are not easy to
visualize in mechanical systems
for hydraulic systems, the equivalent element to a mass is a long thin pipe how do you
show this hydraulic mass on a diagram?
visual inspection of bond graphs can alert you to algebraic loops or implicit equations
that are more difficult to integrate numerically
insight into power-conserving nature of many physical transformations
We can express power as the product of generalized effort and flow
P = e(t)f(t)
Generalized quantities that can be defined specifically for each energy domain.
effort e
flow f
momentum p (integral of effort)
displacement q (integral of flow)
What bond graphs make very clear:
You can identify power variables (always 2 of them) where two physical components are
connected
Elements are connected at ports
When two components are joined, the two complementary power variables are
simultaneously constrained to be equal for both components

TOPIC 1 INTRODUCTION AND REVIEW

GENERALIZED ELEMENTS
Any dynamic lumped-parameter system can be modeled using the following set of generalized
elements:
Kirchoffs loop (all elements have same flow, efforts sum to zero)
Kirchoffs node (all elements have same effort, flows sum to zero)
Dissipator (dumps energy to environment)
Potential energy storage device (energy is a function of displacement)
Kinetic energy storage device (energy is a function of momentum)
Source (of effort or flow, prescribed from the environment)
Transformer (relates effort to effort, flow to flow; either within or between two different
energy domains)
Gyrator (relates effort to flow, flow to effort)
The following are examples of electrical, mechanical and hydraulic systems that would have the
same equation structure and response these systems are dynamically identical.
Mechanical System

Electrical System

Hydraulic System

State equations derived in lecture.

ENGI9496 Modeling and Simulation of Dynamic Systems

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