Table Of ContentWolfgang Borutzky E ditor
Bond Graphs for
Modelling, Control
and Fault Diagnosis
of Engineering
Systems
Second Edition
Bond Graphs for Modelling, Control and Fault
Diagnosis of Engineering Systems
Wolfgang Borutzky
Editor
Bond Graphs for Modelling,
Control and Fault Diagnosis
of Engineering Systems
Second Edition
123
Editor
WolfgangBorutzky
Bonn-Rhein-SiegUniversityofApplied
Sciences
DepartmentofComputerScience
SanktAugustin,Germany
ISBN978-3-319-47433-5 ISBN978-3-319-47434-2 (eBook)
DOI10.1007/978-3-319-47434-2
LibraryofCongressControlNumber:2016955827
©SpringerInternationalPublishingSwitzerland2011,2017
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartof
thematerialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation,
broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation
storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology
nowknownorhereafterdeveloped.
Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication
doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant
protectivelawsandregulationsandthereforefreeforgeneraluse.
Thepublisher,theauthorsandtheeditorsaresafetoassumethattheadviceandinformationinthisbook
arebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor
theeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforany
errorsoromissionsthatmayhavebeenmade.
Printedonacid-freepaper
ThisSpringerimprintispublishedbySpringerNature
TheregisteredcompanyisSpringerInternationalPublishingAG
Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland
Foreword
Prof. Borutzky has asked me to write a foreword to this second edition of the
book Bond Graph Modelling of Engineering Systems. This put me in mind of
the time when Ronald C. Rosenberg and I, as Assistant Professors at MIT, used
to stop at a bar in Harvard Square to wait for the traffic to subside on our way
homefromwork.(Ron’sdoctoralthesisresultedintheENPORTprogram,thefirst
bondgraphprocessor,which,althoughrestrictedtolinearsystems,wouldsolvethe
problems associated with differential causality in simulation.) We often discussed
whattechnicalareasweshouldworkoninthefutureandwecametotheconclusion
that bond graphs, recently invented by our advisor, Prof. Henry M. Paynter, were
worthyofbeingbetterknowntothegeneralworldratherthanjusttoMITgraduate
students.
The result was our first book intended for self-study of bond graph methods,
Analysis and Simulation of Multiport Systems: The Bond Graph Approach to
Physical System Dynamics, The MIT Press, 1968. When the book was finished,
Prof. Paynter asked us if he could provide a Foreword in the form of a Historical
Note. We naturally agreed and the result is a fascinating two page history of
Paynter’sthoughtstarting,hesays,inhighschool.Hispersonalreferencesgoback
to the 1950s, but his references to chemical structure graphs go back another 100
years.
HisfinalparagraphofhisHistoricalNoteisasfollows:
ThusweredevisedonApril29,1959,thetwoideal3-portenergyjunctions(0,1)torender
thesystemofbondgraphsacompleteandformaldiscipline.Thecompletesystemwasthen
firstpublishedin1961.
Asyoucansee,Prof.Paynterwasthinkingofhisreputationinthefuture.
The publication mentioned was the MIT press book Analysis and Design of
EngineeringSystems,1961,wasinfactapaperbackcompilationofclassnotestaken
by a graduate student and, as Paynter admitted, the glued together book tended to
fallapartasitspageswereturned.(Thiswasagreatdisadvantagetoslowlearners.)
Thus, bond graphs remained for a while only known to those who had studied at
MIT.
v
vi Foreword
ProfessorPaynterwouldcertainlybegratifiedtoseetheinterestinbondgraphs
thathasdevelopedinthepast60years.Thepresentvolumeisatestimonytolarge
number of researchers who are presently contributing to extensions of bond graph
techniquesandtonewapplicationareas.Healsomightbesurprisedtolearnthathis
“complete and formal discipline” has been extended in directions he never would
havethoughtpossible.
Thereis,ofcourse,somedangerinextendingbondgraphtechniquestoinclude
idiosyncratic notation and manipulations that apply to ever more special cases. In
theearlyyears,thoseofusinterestedinpromotingbondgraphmethodshadtofight
thosewholikedtheforce-currentanalogybetterthantheforce-voltageanalogysince
they produced bond graphs with 0’s and 1’s and I’s and C’s interchanged, which
provided a barrier to those newcomers interested in learning the benefits of bond
graph methods. This volume is an example of the correct approach in which the
authors take pains to make clear why special notation or special manipulations on
a bond graph are necessary to provide insight into problems which don’t yield to
standardbondgraphtechniques.
WhenIcontemplatePaynter’scontributiontophysicalsystemdynamics,andof
thoseofpresentday engineers whocontinue toadvance bond graph techniques as
evidenced by the present volume, I think of the well-known quote from Goethe’s
Faust:
WasduererbtvondeinenVäternhast,erwirbes,umeszubesitzen.
(Thatwhichyouinheritfromyourfathers,youmustearninordertopossess.)
Theauthorsofthepresentvolumehaveclearlytakenthisadvicetoheart.
Davis,CA,USA DeanKarnopp
July2016
Preface
By the beginning of 2011, Springer published a compilation text of a number of
researchers from all over the world on Bond Graph Modelling of Engineering
Systems. The book covers theoretical and methodological topics as well as some
applicationsandtheuseofsoftwareforbondgraphmodellingandsimulation.The
aimwastopresentthestateoftheartinbondgraphmodellingbyaddressinglatest
developmentsandintegratingvariousworksinaunifiedmanner.Insummer2014,
theeditorwasinvitedtoprepareasecondeditionofthe2011compilationtext.Due
totheactiveongoingresearchofmycolleagues,theircommitment,theirexpertise,
and their contributions the outcome of this new book project, in my view, has
becomemorethanarevisionofthefirstedition.Thisnewbookagaincoverssome
theoretical issues, applications and software support as the first edition. However,
thefocusofthesecondeditionisonlatesttopicsaswellasonsubjectsthathaven’t
been covered in the first edition. Moreover, new young excellent researchers have
joinedtheteamtogetherwithco-authorswhohavebeenusingbondgraphintheir
researchandinteachingforalongtime.Therefore,theresultofthisprojectmaybe
consideredanovelbookthatreflectstheactiveresearchinthebondgraphmodelling
communityandlatestachievementsoverarathershortperiodofthepastfiveyears.
AnumberofthecontributedchaptershavearisenfromrecentlyfinishedPhDtheses.
Bond graphs were devised by Professor H. Paynter some 60 years back at the
Massachusetts Institute of Technology (MIT) in Cambridge, Massachusetts, USA,
and were developed into a methodology by his former PhD students Professor
D. Karnopp and Professor D. Margolis (University of California at Davis) and
ProfessorR.Rosenberg(MichiganStateUniversity,EastLansing,Michigan).Since
thenthebondgraphapproachtophysicalsystemmodellingandsimulationhasbeen
adoptedbymanyresearchers.Thecontributionstothisbookwelldemonstratethat
today, 60+ years later, the bond graph methodology has spread from MIT all over
theworldandissuccessfullyusedinvariousengineeringfields.
The book is organised into five parts. Each of them starts with an introduction
thatmotivatesthesubjectsandestablishesrelationsbetweenthechaptersofapart.
The contributed chapters show that bond graphs are more than just a method-
ology for modelling and simulation of multidisciplinary systems described by
vii
viii Preface
continuous time models. Beyond that application area, bond graphs can also be
used to represent hybrid models with continuous time and discrete state variables.
Furthermore,bondgraphmodellinghasprovenusefulincontrolandasonepossible
starting point for model-based fault diagnosis and fault prognosis in engineering
systems. These areas become more and more important with an increase of the
complexityoftoday’smechatronicsystemsandatrendtoatleastpartlyautonomous
systems. Representing hybrid models in a bond graph framework and bond graph
model-basedfaultdiagnosisandfaultprognosisaretopicsinthefocusofthisnew
book.Accordingly,thetitleofthefirsteditionhasbeenadapted.
Another topic that is not new but of still ongoing interest is the question of
howopenthermodynamicsubsystemswithcompressiblefluidflowandmechanical
subsystems described by a distributed parameter model can be integrated in a
lumpedparametermodelofacomplexoverallsystem.PartIIIpresentsanextension
of common bond graphs for modelling thermodynamic subsystems introduced by
ProfessorBrownthatcanbecombinedwithconventionalbondgraphsforotherparts
of an engineering system and is supported by a mature modelling and simulation
software environment newly developed over the past years. As to distributed
parametersubsystems,anapproachbasedonfinitesegmentsandanactivitymetric
is presented that aims at a lumped parameter model of reduced order sufficiently
accurate.
Part IV illustrates the remarkable wide range of applications in which bond
graphs have been used for modelling mechatronic systems of current interest by
contributed chapters ranging from a wheelchair, to robots for in vivo surgery, or
walking machines that can be used for operations in hazardous fields, to wind
turbinesintheareaofrenewableenergysources.
ProfessorHenryPaynter,theinventorofbondgraphs,envisagedapplicationsof
bondgraphmodellingtochemistry,electrochemistryandbiochemistryalreadyback
in1992.Sincethennottoomanyresearchershaveusedbondgraphsformodelling
chemical reactions. One chapter in Part IV extends bond graph modelling even
to biomolecular systems of living organisms. As the latter ones are open systems
that are not at thermodynamic equilibrium, bond graph representations of their
biomolecular systems are not evident. The chapter introduces appropriate bond
graph variables. Molecular species are represented by a nonlinear C element and
reactionsbyanonlineartwo-portRelement.Asaresult,bondgraphmodellingasa
graphicalapproachgivesmoreintuitiveinsightthanpurelynumericalapproaches.
Astotheresultsofsimulationruns,ithasbecomecommonthatsomesoftware
providesapostprocessingmodulethatenablesavisualisationofmechanicalmotion
in 3D under different angles of views. The last chapter of this compilation text
presentsanovelapproachthatlinksabondgraphmodellingandsimulationprogram
to a program for the geometrical design of complex multibody systems such as
robotswithseveraldegreesoffreedomsothatthe3Dmotionofarobotisvisualised
simultaneouslywithsomelittledelaytoitsnumericalcomputation.
Although this contributed book aims to reflect the current state of the art in
bond graph modelling by presenting and discussing advanced recent topics, all
chapters have been written in such a way that newcomers to the methodology
Preface ix
with some knowledge of the basics may easily get into the vast fascinating and
open field of advanced bond graph modelling. Readers who may want to have a
closer look at bond graph fundamentals may find references to latest monographs
and textbooks. Furthermore, each chapter provides many references to conference
papers, journal articles and PhD theses on advanced topics. This multiple authors
bookwellcomplementslatestmonographsandtextbooksonbondgraphmodelling
andmayserveasaguideforfurtherself-studyandasareference.
Bond Graphs for Modelling, Control and Fault Diagnosis of Engineering
SystemscontinuesthepresentationofitspredecessortitledBondGraphModelling
ofEngineeringSystemsandlikethelatteroneaddressesreadersinacademiaaswell
as practising engineers in industry and invites experts in related fields to consider
the potential and the state of the art of bond graph modelling. It is hoped that the
bondgraphmethodologymaycontributetomoreinsightintophysicalprocessesand
tothedevelopmentofusefulmodelsintheirengineeringfield.
Acknowledgements
This volume would not have been possible without the commitment, the expertise
and the efforts of my colleagues. I would like to take this opportunity to thank
all my co-authors for their contributed chapters. Likewise, I wish to thank all
colleagueswhokindlytookthetimetoreadthechapters.Theirvaluablecomments
andsuggestionsaregratefullyacknowledged.
My special thanks go to Professor Dean Karnopp, University of California at
Davis, one of the leading pioneers of the bond graph methodology, who kindly
honoured all authors of this compilation text by writing the foreword with some
personalnotes.
Also, I appreciate the support this multiple author book project received from
Professors Yuri Merkuryev, Riga Technical University, Latvia; David Murray-
Smith, University of Glasgow, Scotland, UK; Ronald Rosenberg, Michigan State
University,EastLansing,MI,USAandGregorioRomero,UniversidadPolitécnica
deMadrid,Spain.
Last but not least, I wish to thank my Editor with Springer at New York, NY,
USA, Mary James, for her invitation to this book project, for her kind constant
support during this book project and Brinda Megasyamalan, Project Coordinator,
SasiReka,ProjectManager,forthecooperationthroughoutthebookproduction.
SanktAugustin,Germany WolfgangBorutzky
July2016
Contents
PartI BondGraphTheoryandMethodology
1 DecompositionofMultiports.............................................. 5
PeterC.Breedveld
2 AMethodforMinimizingtheSetofEquationsinBond
GraphSystemswithCausalLoops ....................................... 27
JesusFelez
3 Controlled Switched Structures for Bond-Graph
ModellingandSimulationofHybridSystems........................... 47
MatíasA.NacusseandSergioJ.Junco
4 DynamicCausalityinHybridBondGraphs ............................ 87
RebeccaMargettsandRogerF.Ngwompo
PartII BondGraphModellingforFaultDiagnosis,Fault
TolerantControl,andPrognosis
5 IntegratingBondGraph-BasedFaultDiagnosisandFault
AccommodationThroughInverseSimulation........................... 139
W.Borutzky
6 Model-Based Diagnosis and Prognosis of Hybrid
DynamicalSystemswithDynamicallyUpdatedParameters .......... 195
OmPrakashandA.K.Samantaray
7 Particle Filter Based Integrated Health Monitoring
inBondGraphFramework ............................................... 233
MayankS.Jha,G.Dauphin-Tanguy,andB.Ould-Bouamama
xi
