Introduction

Lagrange
Formulation

Bondgraph
Bondgraph
Methodology
Methodology
Modeling and Simulation
MEIE5121/MCTE4150
State-Space &
Simulation

System Models
Hydraulic Systems
: Mechanical
Systems II

Linearization

Laplace
Transform and
Transfer
Function
& Stability

MCTE4150/MEIE5121 Modeling & Simulation

 Hydraulic Systems

One category of system that is important in engineering and can be modeled

using the BG tools learnt so far is commonly known as hydrostatic. These are
systems composed of pumps, motors, pipes, valves, filters and accumulators,
that use nearly incompressible fluids such as water and oil. Such systems
have high pressures and low fluid velocities so that static pressure dominates
the dynamic pressure

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid Flow Store
In general
e   (q )
C
h
If linear
e
q

 fdt
C C

Q1 Q2

p 21  p 2  p1
Flow rate  Q 
d
  d 
Ah  A h  h 
Q
dt dt A

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid Flow Store
What if the cross sectional area is not
constant ???
e   (q ) C
Capacitance of a V-shaped Trough

Q  0.5 DhL   0.5(2h tan( )) hL  

d
dt
d
dt
d 2
dt

h tan( ) L 
 tan( ) L  
d 2
dt
h ....

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid resistor
Fluid kinetic energy conversion to thermal energy
R and hence dissipate power can happen in a number
of ways:

(1) Viscous forces between fluid and retaining

medium

(a) Flow through porous medium, D'Arcy Law P21  R f Q

128L
(b) Laminar flow through capillary pipes (Re small) P21  Q
d 4

where:
P21 is the pressure difference between the two ends,
L is the length of pipe,
μ is the dynamic viscosity,
Q is the volumetric flow rate,
d is the pipe radius.

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid resistor

R
(1) Viscous forces between fluid particles

3
(a) Flow through long pipes (Re large) P21  aQ Q 4


(b) Flow through orifices P21  2 2
QQ
2C A
d 0
x

Q1
Q2

P1 P2

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid Effort Store

In general f   (e)
I
If linear
f 
P

 edt
I I
l

Q1 Q2
p1 p2

dv
F  A( p2  p1 )  Al.
dt
dv
p21  ( p2  p1 )  l.
dt

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid effort Store

f   (e)
dv
p21  ( p2  p1 )  l.
dt
I f 
P

 edt
I I
Q
But, v
A

l
If 
A

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid circuit construction

1. For each distinct pressure pot a 0-junction

2. Insert R, C and I between appropriate 0-
P0
junction using a 1-junction
Cf Valve
3. Assign power signs so that elements react to
pressure difference
4. Attach any pressure, or flow sources
Qi P1 5. The 0-junction for atmospheric pressure can
P0 be eliminated if ‘gage” pressures are to be
used
6. The graph can be simplified if possible
Rf

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid circuit construction

P0

Cf

Qi P1
P0

Rf

MCTE4150/MEIE5121 Modeling & Simulation

Fluid circuit construction

MCTE4150/MEIE5121 Modeling & Simulation

Draw a bondgraph for the following system

MCTE4150/MEIE5121 Modeling & Simulation

Fluid circuit construction

MCTE4150/MEIE5121 Modeling & Simulation

 Another way

P0

Cf

Qi 1 P1 C
P0

Sf
Rf R

MCTE4150/MEIE5121 Modeling & Simulation

Another way (another example)

MCTE4150/MEIE5121 Modeling & Simulation

MCTE4150/MEIE5121 Modeling & Simulation
MCTE4150/MEIE5121 Modeling & Simulation
 Fluid circuit construction

P0

If
Cf

pump p(t) Cf
P2 P3

P1
P0 valve
Rf

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid circuit construction

P0
A
If
Cf

pump p(t)
P2 P3

P1 If
P4
P0
Rf

MCTE4150/MEIE5121 Modeling & Simulation

 Fluid circuit construction
P0
A
If
Cf

pump p(t)
P2 P3

P1 If
P4
P0
Rf

MCTE4150/MEIE5121 Modeling & Simulation

Fluid circuit construction

MCTE4150/MEIE5121 Modeling & Simulation

 Example
In the Hydraulic system a fluid pump is Cf

represented by a pure pressure source and

dissipater. The pump drives a piston which
in turn is connected to a mechanical load
represented by a mass m and friction b. m

The bond graph of that system is as shown Rf If

b
cross sectional area A
pressure
•From the Bond graph extract the source

differential equations representing the

R I
model of the system and write them in the I

state space form

x  Ax  Bu 2 6
10

Se 1 1 3 0 5 1 7 TF 8 1
TF relation e8=Ae7, f 8=(1/A)f 7
9
4

R
C

assuming the volume of water in the tank (q4) is the output.

•What will be the steady state value of the volume in the tank if the input is a unit step
input??

MCTE4150/MEIE5121 Modeling & Simulation