Chapter 5

Chapter 5
Modeling in Noninertial Coordinates

5.1 Introduction
A bond graph model may become nonlinear,
(a) If the constitutive parameters of I, C and R elements or fields are made to

fluctuate with states of the system,
(b) If the moduli of the two port elements TF and GY are made to fluctuate with
states of the system, or/ and,
(c) If the sources are made to fluctuate with states.
All these ways of incorporation of nonlinear system behavior are based on a

modeling philosophy that bond graphs essentially represent the system theoretic
topology of power exchange between storers, dissipaters and importers through the
constraint structure. Nonlinear behavior arises due to the constitutive properties of
the elements representing each of these aspect. In our opinion this is an extremely
candid stand point and a very healthy approach to system modeling. Nearly the
entire range of systems of engineering significance may be modeled this way.
In this book we decided to deviate from some conventions which are used by many
bond graphers. We do not propose to use the two-port elements MTF and MGY, so
called modulated transformer and gyrator. We maintain that all transformers and
gyrators are modulated. Incidentally in many cases these modulations may be
constant functions and thus just scalar values. We thus use the generic name of these
two-port elements namely TF or GY. Moduli are indicated as constants or as
functions of time and states of the system along with other parameters.
The cases where constitutive relation of an element or field cannot be directly

expressed through fluctuation of its parameter, a local structure may be created,
constituted of a suitable junction, an activated version of the element, acting as an
observer and a modulated source which is a function of the observed state returning
the signal, which the element would have returned. Such a composite structure may
be treated as realization of a nonlinear element.
MODELING IN NONINERTIAL COORDINATES 140
5.2 Principle of material objectivity
With the above modeling attitude we proceed to model systems where noninertial
coordinates may be gainfully used. A combination of noninertial and inertial
coordinate may also be used to create system models. There is a very significant
principle of constitutive theories of materials called principal of material objectivity
[39].
We present here a discrete simple version of this principle suitable for our purpose.
Say we have a compliant field element as shown in Fig. 5.1.
Fig. 5.1 Fig. 5.2
If point O is shifted to O’ by a force F , then the relation between the force and
deformation is written as,

 Fx 
  K xx K xy  x 
      .
 Fy 
   K yx K yy  y 
A three dimensional version may, however, likewise be imagined.
Now say, we view the phenomenon from a rotating coordinate shown in Fig. 5.2,
which has turned by an angle θ and has angular velocity ω and an angular
acceleration.
The displacements seen from the rotating coordinates are x' and y' and the
components of force are Fx  and Fy  . Using simple geometrical relations it may
be shown that

 Fx  
 T  K xx K xy  x
          ,
 Fy  
   K yx K yy  y 
141 MODELING AND SIMULATION OF ENGINEERING SYSTEMS THROUGH BOND GRAPHS
cos  sin  
where     .
 sin  cos 
One may ask what is so great about it? Just wait! The new relation between force and
displacement as seen from a noninertial rotating frame depends only on the
orientation angle  between the coordinate systems and not on the angular velocity
or the angular acceleration or any other higher derivatives. How the creators of
constitutive relations for continuous media exploit this principle is beyond the scope
of this discussion. But two messages are very clear.
(a) It is boring as it is very simple and more significantly,

(b) the complications in modeling noninertial coordinates do not arise with
compliant elements as they need only simple transformations of
coordinates. The real complexities arise due to inertial elements.
A system modeler may freely deal with compliant and also purely dissipative
elements through coordinate transformation.
With this background we now proceed to model systems in noninertial frame.
5.3 Mapping back to inertial frame
Say the mass points move in such manner

that relations between the descriptions of
motions of mass points in noninertial
coordinates and their velocity components in
suitably oriented cartesian frames may be
obtained by geometrical arguments then a
structure of modulated transformer may be
created to depict these relations. The inertial
element may now be appended to 1-junctions
depicting the components of cartesian
velocities. The compliances and dissipators
may be suitably appended to the junction
depicting noninertial coordinates where they
originally belong in the model or other
suitable combinations of these velocities.
Following examples illustrate this approach. Fig. 5.3
Example 1: Let us consider a pendulum created by attaching a small massive body

(treated as point mass) to a massless contraption by a spring of stiffness K and a
damper Rr as shown in Fig. 5.3.
Let X O Y be the inertial frame of reference with unit vector i and j in the direction of
X and Y axis respectively. Let ēr be unit vector in the direction of stretching of r, and
ēθ a unit vector at quadrature to it.
Coordinates of the mass point m in the inertial frame are
x  r sin  , (5.1)
y  r cos  . (5.2)
The equations (5.1) and (5.2) may be differentiated with respect to time to give the
relation between the velocities r and  and the inertial components x and y  .
  r
x  sin   r cos   

y
  r
 cos   r sin   


. (5.3)
The basic task needed to create a bond graph is over. We may now proceed to create
the junction structure depicting these velocity relations as shown in Fig. 5.4a.
Fig. 5.4.a
The flow activated elements C6 and C7 are observers for the rotation θ and radial
length r and should be initialized to account for the initial configuration of the
system before the integration is performed. The C3 element represents the action of
the spring in the contraption. The initial displacement value to this element would be
(ri - r0) where ri is the initial total length of the contraption and r0 is its relaxed length,
when the spring is unstretched.
But wait, there is something wrong!! In this model the junction structure forms a loop
and each junction in the loop is determined by an internal bond i.e. on each junction
one of the internal bond is its strong bond. Such a loop of junctions is called a causal
loop (see section 2.10). When there is a causal loop in a bond graph model its system
equations can not be derived. However, this model may be salvaged by use of
padding structures at a suitable junction (see sec. 8.2.2).
We now, show how one may create an alternative model which does not have a
causal loop. Let in the Fig. 5.3 the coordinates of mass point be x m and y m . Let
the coordinates of point O be xo and yo (though in the Fig. 5.3 point O is at the
origin, but it does not matter). Let the length Om at any time be L.
Then,
L2  ( x m  xo ) 2  ( y m  y 0 ) 2
dl ( xm  xo ) ( ym  y o )
or  x m  y m .
dt L L
Now one may proceed to create the bond graph model. All that one has to do is to
create a junction structure which relate the flow variable x
 m, y  (see
 m , and L
Fig 5.4(b)).
Fig 5.4(b)
The activated C elements are incorporated in model to observe various

displacements which are needed in the model description. The element C5 observes
the instantaneous distance Om and thus Q5 should be initialized as the length at the
outset of simulation.
The elements C12 and C13 observe the coordinates of the mass point and should be
suitably initialized.
The expressions for the transformer module are as follows.
L (Q12  xo ) 2  (Q13  y o ) 2 ,
Q12  x o Q13  y o
1  and 2 
Q5 Q5
xo and y o may be treated as parameters.
Example 2: A slightly modified version of the above system is shown in Fig 5.5
Fig. 5.5.
The expression or the length of the pendulum is
L2 = (xm – xM)2 + (ym – yM)2 ,
Where xm and ym are the coordinates of mass point m and xM and yM are the
coordinates of hinge on the body M.
The expression for rate of change of L is as follows.
dl ( xm  x M ) ( y  yM )
 ( x m  x M )  m ( y m  y M ) .
dt L L
In this model y M  o .The junction representing the above relation with all other
elements completes the bond graph model of the system as shown in Fig 5.6.
Fig 5.6.
The activated elements integrate various displacements. Q4 and Q6 give coordinates of

mass point m, Q5 is the length of pendulum and Q7 is the X coordinates of the body
M. All these states need initialization. We hope from these two examples reader will
understand the role objectivity principal.
Example 3 : A slender beam carrying a heavy small mass m is fixed on a turn table
as shown in Fig. 5.7. The turn table of rotary inertia Jt is coupled to a constant speed
motor through a flexible coupler with torsional stiffness of Kt and torsional damper
of Rt.
Fig. 5.7 Fig. 5.8

Let us draw the view of the disk and the mass point as seen from top. The action of
beam is represented by two orthogonal springs as shown in Fig. 5.8.
The axes <XOY> are inertial, o’ is the equilibrium position of mass point when the
beam is unstrained. The axes < x o’ y > are fixed on the turn table. ő is the general
position (x, y) of the mass point. Ro is the distance O o’.
X  R0 cos  x cos  y sin  

 . (5.4)
Y  R0 sin   x sin  y cos 
Differentiating both the equations with respect to time,
X     R0  x  sin   y cos     x cos   y sin  ,

Y    R  x  cos  y sin     x sin   y cos  .
0
These relations may now be represented using a junction structure consisting of

transformers with fluctuating moduli as shown in Fig. 5.9.
Fig. 5.9
Where Kx , Ky = stiffnesses of the beam in radial and transverse directions,
  t   regular speed of drive motor,
1   R0  x  sin   y cos  ,  2   R0  x  cos  y sin  ,
 3  cos  ,  4  sin  ,  5   sin  and  6  cos  .
The angle θ is the stored state of C10 which is flow activated where as x and y are
stored states of C6 and C7 respectively. The absolute positions of the mass point are
observed by flow activated C8 and C9.
Example 4: There are some systems where the constrained motion is such that the
noninertial coordinates cannot be related to inertial coordinates. However, a relation
between velocities may be written down. Such systems are called `Nonholonomic'
systems.
Let us take one such system. Say a rod moves on an inclined plane such that the
velocity of the centre of mass of the rod is always directed along its axis as shown in
Fig. 5.10. Such constraints are called knife edge constraints.
Fig. 5.10 Fig. 5.11
Say mass of the rod is m and its moment of inertia about a centroidal axis
perpendicular to the plane is J. As per the above description the inertial velocity
components of the centre of mass may be written as,
Y   cos  and X
   sin 
The bond graph for the system may now be drawn as shown in Fig. 5.11. which may
be reduced as shown in Fig. 5.12.
Fig. 5.12
The element C4 stores θ which is used to modulate the transformers in the models.
Example 5: Consider two rods moving on an inclined plane with knife edge
constraints. One end of one of the rods is connected to that of the other rod by a
linear spring of stiffness Kc and damper Rc. The system is shown in Fig. 5.13.
Fig. 5.13
The bond graph models of individual rods would be just like the one presented in
the previous example.
The question now is that how to incorporate the connecting spring. The length of the
spring is given by l2 = (XC – XB)2 + (YB – YC)2. Differentiating with respect to time
   
l l   X C  X B  X C  X B   YB  YC  YB  YC ,
  
 X  X B  X C  X B  YC  YB  YC  YB
l  C

or .
 X C  X B  2  YC  YB  2
End point velocities are
X C  X m 2   2 L2 cos 2 ; X B  X m1  1L1 cos1 ,
and YC  Ym 2   2 L2 sin  2 ; YB  Ym1  1 L1 sin 1 .

Where X   
m1 , X m2 , Ym1 and Ym2 are the motions of the mass centers. Thus the
bond graph model would now be as shown Fig. 5.14.
Fig. 5.14
Q8  Q6
Where
1  ,
(Q8  Q6 ) 2  (Q7  Q9 ) 2
Q9  Q7
2  ,
(Q8  Q6 ) 2  (Q7  Q9 ) 2
 1  Q5 and  2  Q10 .
The bond graph model as drawn in Fig. 5.12 and Fig. 5.14 has differential causality on
some inertial elements. Two approaches are possible to arrive at the system
equations for these models.
(a) Using direct step by step process of deriving system equations for models
with differential causality as discussed in Chapter – 3.
(b) Inserting suitable pad structures consisting of compliant and resistive

elements as discussed earlier.
Example 6: Let us consider two masses, shown in Fig. 5.15 attracting each other as
per inverse of the square of the distance between them. This is a model of two
isolated coupled stars. If one of the mass is made much heavier than the other, it may
as well serve as a model of the Sun and a Planet.
Fig. 5.15
GMm
The force of attraction is F   er .
r2
Now r   X M  xm    YM  y m  ,
2 2 2
XM   
 xm  X M  x m   YM  y m  YM  y m 
and hence r  .
XM  xm    YM  y m 
2 2
Fig. 5.16
From this follows the bond graph model shown in Fig. 5.16
Q5  Q7
where
1  and
(Q5  Q7 ) 2  (Q6  Q8 ) 2
Q6  Q8
2  .
(Q5  Q7 ) 2  (Q6  Q8 ) 2
Example 7: A massive block resting on a spring and a damper is restrained to move

in vertical direction. A DC motor with permanent magnetic poles is mounted on it,
which rotates an eccentric mass me as shown in Fig. 5.17. This is a good example of
interaction between a vibrating structure and a system exciting it.
Fig. 5.17
The vertical velocity of mass me is y m  YM  r cos wt   0 
Now we may go ahead to make a bond graph model to this system.
Fig. 5.18
The rotary inertia of the armature of the motor (Jm) transverse stiffness (Ktr) and
damping (Rtr) of the eccentric arm are incorporated in this model. The reader may
ascertain what happens to the model if any of these aspects is missing.
Example 8: This is an example on directional handling of a car [59, 60]. Figure 5.19
shows the bicycle model of a car with front wheel steering angle δ. The cornering
coefficients of the front and rear wheels are C1 and C2 respectively. u and v are the
axial and transverse velocities of the car centre of mass in the body fixed frame. ω is
the angular velocity of the car. FC1 and FC 2 are the cornering forces due to side slip.
Fig. 5.19
Velocities normal and tangential to the plane of rotation of the front wheels are
1n     l1  cos   u sin 
1t      l1  sin   u cos   u for small δ.
For the rear wheels  2 n      l 2  ,  2t  u
Cornering force on a pneumatic tyre for small side slip can be given as Fc = Cα,
where C is the cornering coefficient and α is the side slip as shown in Fig. 5.20.
Fig. 5.20
In terms of wheel velocities cornering force, for small α, can be written as

C 
FC  C    .
u
That is cornering force can be modeled by a R element.
Acceleration of the vehicle in inertial frame is given by
 XYZ   xyz     xyz ,
or m u XYZ  mu  m  Fx ,
m XYZ  m  m u  Fy ,
or m u  Fx  m ,
m  F y  m u .
where Fx and Fy are the external forces in the axial and transverse directions of the
vehicle.
The above equations form the basis of the bond graph model shown in Fig. 5.21.
Cornering forces are the only external forces on the system. The pseudo forces m ω v
and m ω u are modeled using a gyrator. Q5 and Q6 records the X and Y positions of
the vehicle centre of mass.
Fig. 5.21
5.4 A pre-analysis of rate of change of generalized momenta
Often it is advantageous to analyze the acceleration of mass points directly in inertial

coordinate systems which are in coincidence with suitable noninertial frames at their
instantaneous postures. Often such an analysis is called direct analysis in noninertial
frame. We wish to make it clear that the components of acceleration analyzed are
inertial, only that they are evaluated in an inertial frame with which the noninertial
frame coincides. The equations of motion now may be adjusted such that a frame
emerges which relates a suitable rate of change of momentum equated to forces
external to the mass point (either exerted by other points of the system on it or the
true external efforts or both). In achieving this, some terms of the form m times
acceleration in the total expression may be given status of forces acting on the mass.
Such forces are called pseudo forces in mechanics.
Example 1: We consider the Example 1 of the previous section. The figure is redrawn
with the frames suitable for the present analysis.
Fig. 5.22
The acceleration in r - ψ frame may be written as
a  r er  r e  2r  e   2 rer .
The dynamical equation for the mass point will be
mr  m 2 r  Fr , (5.5)
mr
  2mr   F , (5.6)
where Fr and Fψ are the radial and tangential forces acting on the mass point.
These equations now may be redressed in several ways. One which is physically
appealing may be as follows.
mr  m 2 r  Fr , mr

  2mr  F ,
and finally
d  mr 
 m 2  Fr ,

d mr 2 
  ,
dt dt
Where τ ψ is the torque of the tangential forces about the pivot.
Now we call the momenta pr = m r and pψ = mr ψ. The bond graph model of the
2
system may now be created as shown in Fig. 5.23.
Fig. 5.23
An alternative way in which the momentum equation may be directly arrived at is

by using Lagrange's method. For a mass point or a rigid body or a system of them,
one may create an expression for kinetic energy. The following equation gives the
rate change momentum equated to the so called pseudo forces on these inertial
points or elements and the external generalized efforts exerted by other parts of the
system or external sources.
d  T   T 
    ei ; i  1 ,2 ,3 ,...... , n
dt  q   q 
 i   i 
Where qi’s are generalized coordinates and ei’s are generalized efforts.
Let us consider the system shown in Fig. 5.22. The expression for kinetic energy is as
follows.
T
1
2

m r 2  r 2 2 . 
The dynamical equations are
 d
 dt  mr
   mr 2
 Fr .



d
dt
 mr 
2    .
Thus we once again get the same bond graph model as shown in Fig. 5.23.
Example 2: Let us reconsider the system of the Example – 3 of the previous section.
Let the top view of the system be considered.
Fig. 5.24
The angular velocity vector  = Ω (t) k. The acceleration of the mass point o˝ in a
coordinate system co-oriented with rotating coordinate system
< xr o yr > is
a  x i r  y j r  2  k   x i r  y j r    k   k   x i r  y j r 
  k x i  y j    k  k  R i ,
r r 0 r
or
a  x i r  y j r  2  x j r  2  y i r    y i  2  x i  y j   2 R i
 x j 
r r r r 0 r
or 
a  x  2  y   0 r  
 y   2 x   2 R i  y  2  x  
 x  2 y j .
r 
The dynamical equation as per the attitude already discussed may be written as
follow.
m x    
 y  2 m  y  m  2 x  m  2 R  F ,
0 x (5. 7)

m y   
 x  2 m  x  m  2 y  F .
y (5. 8)
d
or  m  x   y    m  y  2 m  y  m  2 x  m  2 R 0  F x (5.
dt
9)
d
dt
 
m y  
 x    m  x  2 m  x  m  2 y  F y (5.
10)
The equations (5.9) and (5.10) may be readjusted as follows.
d
 m x e   m  y  m  2 x  m  2 R 0  F x ,
dt
d
 m y e   m  x  m  2 y  F y ,
dt
where x e  x   y ,
y e  y   x .
Thus the bond graph model may now be drawn as shown in Fig. 5.25.
Fig. 5.25
We leave it to the reader to approach this problem through Lagrange's equation.
5. 5 Dynamics of rigid bodies
The Euler's torque-moment of momentum rate theorem for a system of particles may
be written as
m n
 r  F
dH
 i  i j
dt
i 1 j 1
where  i are the torques, are the forces on the particles, r j are the
Fj
displacement vectors from the origin of a suitable coordinate fame. This equation is
valid for the following three coordinate frames.
(i ) (i ) (i ) (i ) (i ) (i )
1. Fixed inertial frame  O ,X ,Y ,Z  or in short  O , X .
2. A nonrotating frame with its origin traveling with the center of mass of the
(c ) (c) (c) (c) (c) (c)
system,  O ,X ,Y ,Z  or in short  O ,X .
3. A nonrotating frame with its origin accelerating towards the center of mass
of the system.
A rigid body is a system of particles with the constraint that the distance between
any two particles remains unchanged. In the following we will consider the torque-
moment of momentum rate equation of a rigid body in the following two sets of
coordinate frames. These two frames are most significant for engineering system
dynamics.
(i ) (i ) (c ) (c )
(a) Either  O ,X  or  O ,X  frame momentarily oriented along
the principal axes of the body.
(i ) (i ) (c) (c)
(b) Either  O ,X  or  O ,X  frame having one of the axes
momentarily coincident with the axis of spin of a symmetric body or a
gimbal frame.
(i ) (i ) (c ) (c )
Analysis of torque equation in O ,X  or  O ,X  frames are
essentially similar except that for full dynamic analysis additional equations for
(c) (c)
translatory motion should be incorporated when  O ,X  frame is used.
(i ) (i )
O ,X  is suitable for a body with a point fixed in inertial frame. Thus in the
analysis of torque-moment of momentum rate equation we drop the frame
designation (i) or (c) and both the inertial frame and the nonrotating frame
cotravelling with centre of mass would be designated as < O, X >.
Analysis in a frame momentarily oriented in the principal directions: Let a body of

principal moment of inertia Ixp, Iyp and Izp as shown in Fig. 5.26 (a) be considered. <
O, xp , yp , zp > are the principal axes and  is the angular velocity of the body in an
inertial frame with components ωxp, ωyp and ωzp along the principal directions. The
moment of momentum of the body in the body engraved principal direction frame
would be
 I xp 0 0   xp 
   
H  0 I yp 0   yp  .
 0
 0 I zp   
 zp 
(The fact that even body engraved coordinate is associated with moment of
momentum may appear paradoxical but it is so in rotational dynamics.)
Fig. 5.26 (a)
Now the derivative of this moment of momentum in the nonrotating but

momentarily oriented along the principal direction frame < O, X > is given as follows.
 dH   dH 
        O, x  .
  H
 dt   O, X   dt   O, x p 
p
Thus the torque equation in < O, X > frame becomes
 
   O, X    dH 
dt
   O, x  ,
  H
p
   O, x p 
which in component form is as follows.

m  n 
Ixp 
 x 
z  y I zp  I yp       x 
 r j

 Fj  .
p p p p
 
i 1  j 1 xp
m  n 
I yp 
 y   x  z I xp  I zp      i  y 
 r j

 Fj  . (5.11)
p p p p
 
i 1  j 1  yp
m  n 
I zp 
 z   y  x I yp  I xp     i  z 
 r j

 Fj  .
p p p p
 
i 1  j 1  zp
The equations (5.11) may be written as

I x p  x p   z p  y p I yp  I zp  Tx 
,

I y p  y p   x p  z p I zp  I xp  T y 
,

I z p  z p   y p  z p I xp  I yp  Tz 
,
m n
T  i 1
i  r
j 1
j  Fj .
Fig. 5. 26 (b)
The bond graph model for the gyrodynamics part of the system may be created as
shown in Fig. 5.26 (b). This structure is called Euler Junction Structure or EJS in short.
In Chapter - 8 a model of a robotic system is discussed. One may see use of several
EJS in this model.
Analysis in a frame with one axis momentarily coinciding with the axis of spin of
a symmetric body or a gimbal frame: Let us consider a symmetric rigid body
spinning about an axis. The axis of rotation also changes its orientation as shown in
Fig. 5.27(a).
Fig. 5.27(a) Fig. 5.27(b)
The coordinates < O (g), x (g) y (g) z (g) > are a gimbal frame with the zg axis along a
principal axis of the body which is also the axis of spin. Principal moment of inertia
of the body about zg gimbal axis is Izz = I2 where as the same about xg and yg are Ixx = Iyy
= I1 due to symmetry of the body. Angular velocity of the gimbal frame < O (g), x (g) >
with respect to the nonrotating frame < O, X > is
   x i   y j.
The spinning velocity of the body about the zg gimbal axis is . Thus the total angular
velocity of the body as seen from the frame < O, X > is
   x i   y j   k .
Thus the moment of momentum of the body in gimbal frame is
 
H g   x i   y j I1   I 2 k .
The rate of change of this moment of momentum vector as seen from < O, X > (i.e.,
nonrotating frame) is
 dH g   dH g 
       H g .
 dt   dt   g   g 
   O, X     O ,x 
 dH g 
 
Now as   O, X    dt  ,
   O, X 
      
  O, X    x i   y j I1   I 2 k   x i   y j   x i   y j I1   I 2 k ,
or   O, X   
  x i   y j I1   I 2 k   y  I 2 i   x  I 2 j.
Taking the pseudo torques and external torques on the right hand side of the
equality sign the above equation in component form is as follows.
I 1  x   x   y  I 2 , I 1  y   y   x  I 2 and I 2 

 
z .
The bond graph created from the above equations is shown in Fig. 5.27(b).
The bond graph structure shown in Fig. 5.27(b) may be called Half Euler Junction
Structure or HEJS in short.
Dynamics of a Symmetric top: Let us consider a symmetric top with the pivot point
fixed in inertial frame. The gravitational force vector through the centre of mass is
directed downwards as shown in Fig. 5.28. The gimbal frame < O (g), x (g) > and the
nonrotating frame < O, X > momentarily coincident with it have their origin at the
pivot point. < O, X (o )> is the observer frame in the inertial space.
Fig. 5.28
The bond graph for the basic gyrodynamics of the top in gimbal frame velocities is as
shown in Fig. 5.29(a).
Fig. 5.29(a)
Rx, Ry and Rz are the pivot resistances modeled in the gimbal frame. lc is the distance
of the centre of mass from the pivot point.
It may be of interest to obtain the motion of a feature point of the top in the fixed
observer frame < O, X (o) >. Let the feature point be the tip of the top A. The bond
graph of the top to track the motion of point A is shown in Fig. 5.29(b). Activated
elements C3 and C16 records the angular rotations  y and  x0 respectively. la is
the distance of the tip from the pivot point. Velocities of A in the X0, Y0 and Z0
directions are recorded by activated elements C10, C21 and C24 respectively.
Fig. 5.29(b)
Simulation results for a top with parameter values given in Table 5.1 and initial
conditions given in Table 5.2 are shown in Fig. 5.30 (a) and Fig. 5.30(b). Figure 5.30(b)
shows the falling of the top due to resistance in the spin axis.
Fig. 5.30(a) Fig. 5.30(b)
5.6 Another look at the objectivity of compliant fields
Let a system shown in Fig. 5.31 be considered. A massive particle of mass m is held
by two orthogonal sets of springs. The other ends of the springs are attached to a
rigid circular ring which is rotating at speed . We consider small motions of the
mass m and ignore the nonlinear effects due to tilts in the springs. The relation
between the displacements of the mass in the fixed coordinate system < O, xf, yf > and
that in the coordinate system < O, xr , yr > rotating with the springs is as follows.
Fig. 5.31
 x r   cos sin   
x f 

    . (5.12)
 y r    sin  cos   y f
 

Taking time derivative on both sides,

 x r   cos sin   
 x f 
    sin  cos  
x f 

          .
 y r   sin  cos  y f
 
  cos  sin   y f
 

(5.13)

x f 
 cos  sin    x r 
Now as     ,
y f
   sin 
 cos   y r 
(5.14)
we get
 x r   cos sin   
 x f 
    sin  cos  cos  sin    x r 
     y        
 y r    sin  cos   f 
   cos  sin    sin  cos   y r 
.(5.15)
 x r   cos  sin   
 x f 
   0 1  x r 
or          .
 y r    sin  cos   y f
 
  1 0  y r 
(5.16)
 cos  sin   cos   sin  

Let      then   1   ,
 sin  cos    sin  cos  
Equation (5.16) may then be written as
 x r  
 x f 
   0 1  xr 
       y      . (5.17)
 yr  
 f 
  1 0  y r 
Now we proceed to make a bond graph model of the system with momenta of the
mass represented in inertial frame < O, xf, yf > and the compliance of the springs in
rotating frame < O, xr , yr >.The bond graph model is shown in Fig. 5.32.
Fig. 5.32
Element C5 observes the inertial displacement in xf direction and C6 observes the

same in yf direction. Element C8 observes the rotation  of the ring.
The relations of equations (5.12, 5.14 and 5.17) may be written as
Q3  Q5 
      , (5.18)
Q4  Q6 
Q5  –1 Q3 
      , (5.19)
Q6  Q4 

Q 3 
 
Q   0 1  Q3 
and       5       . (5.20)
 
Q4 
 
 Q6   – 1 0 Q4 
The equations of motion derived from the bond graph model of Fig. 5.32 would be
 p 1  –1  K xr 0  Q3 
       0 
K yr   . (5.21)
 p2   Q4 

Q 3 
 1 / m 0   p1    0 1  Q3 
              . (5.22)

Q4    0 1 / m  p2   1 0 Q4 
Equation (5.22) contains a term with  , the rate of rotation of the ring. This
equation does not look objective. Now, if we replace Q3, Q4 by Q5 and Q6, that is the
displacements in fixed frame using equations (5.18, 5.19 and 5.20), we get
 p 1  1  K xr 0  Q5 
       0      ,
K yr 
 p2   Q6 
(5.23)
and
 
  Q 5    
0 1  Q3  1 / m 0   p1    0 1 Q3 
              

Q6    – 1 0 Q4   0 1 / m  p2   – 1 0 Q4 
, (5.24)
Q 5   p1 / m 
or     .
Q 6   p 2 / m 
(5.25)
The equations (5.23) and (5.25) conform to a bond graph model shown in Fig. 5.33.
Fig. 5.33
As matrices   and   1 do not contain the rate of ring rotation  , the bond
graph model of Fig. 5.33 reveals the objectivity of the process. One could have
directly made the model of Fig. 5.33 by transforming the stiffness in the rotating
frame to the fixed frame by so called similarity transformation   1  K   
using the angle turned and never minding the rate at which it is turning.
Problems
P1. A body A of mass m1 restrained by a spring damper combination of stiffness

K1 and damping R1 and actuated by a force F(t) can move freely on a smooth
horizontal surface. A bob of mass m2 is suspended freely from A by a rod of
axial stiffness K2 and damping R2 as shown in Fig. P5.1. Create a bond graph
model of the system.
Fig. P5.1
P2. A torsional vibration absorber is shown in Fig. P5.2. System parameters are
shown in the figure. Make a bond graph model of the system.
Fig. P5.2
P3. Figure P5.3 shows an engine supported by identical spring damper

combinations. The crank with unbalance mr rotates with angular speed ω.
Make a bond graph model of the system.
Fig. P5.3
P4. Make a bond graph model of the system shown in Fig. P5.4. The two links of
lengths 2l1 and 2l2 are of uniform cross-sections and their inertia properties
are m1, J1, m2 and J2.
Fig. P5.4
P5. A heavenly body is idealized to be made of a heavy core of mass m1

supported within a crust of mass m2 by a cushion of liquid material
idealized by a set of orthogonal stiffness and damping as shown in Fig. P5.5.
Create a bond graph for planer motion of the bodies in space ignoring
gravitational interaction between m1 and m2.
Fig. P5.5
P6. The platform A of mass ma and rotary inertia Ja about the centroidal axis
shown in Fig. P5.6 idealizes the chassis of a vehicle on its suspensions. A
second platform B of mass mb and rotary inertia Jb is hinged to platform A at
H and is lifted by a hydraulic actuator as shown in the figure. Hydraulic oil
of bulk modulus Kb is fed to the actuator of bore diameter d by a positive
displacement pump. Draw a bond graph model of the system. Use pads
wherever necessary to remove differential causalities.
Fig. P5.6
P7. Figure P5.7 shows the bicycle model of a vehicle-trailer system. Inertia
properties of the two bodies and the cornering coefficients (C1, C2 and C3 of
the tyres are shown in the figure. Make a bond graph model to obtain the
system response due to a steering input. Assume viscous damping at the
hitch point and consider transverse stiffness of the tow bar to remove
differential causality.
Fig. P5.7
P8. A disk of mass m and radius r rolls on a rough horizontal plane as shown in
Fig. P5.8. Make a bond graph model to track the motion of the centre of the
disk. Assume that the inplane contact point force components are
proportional to the inplane contact point velocity components.
Fig. P5.8
P9. A rod AB of length l, supporting a spinning disk of mass m and radius r at

midspan, has one of its ends held by a ball and socket joint while the other
end is anchored by a spring to the point C vertically above the joint as
shown in Fig. P5.9. The distance AC is 2l and the unstretched length of the
spring is l. Make a bond graph model of the system.
Fig. P5.9
P10. A light rod with a heavy disk of mass M is supported at its lower end by a
ball and socket joint and is driven by a follower torque as shown in
Fig. P5.10. The rod is attached orthogonally to two masses on a smooth
horizontal surface through spring damper combinations and a smooth
collar. The springs are unstretched in the vertical configuration of the rod.
Make a bond graph model of the system.
Fig. P5.10
P11. The essential structure of a certain type of aircraft turn indicator is shown in
Fig. P5.11. Springs AC and BD are initially stretched and exert equal vertical
forces at A and B when the airplane is traveling in a strait path. The uniform
disk of radius r and mass m spins with angular velocity . Make a bond
graph model of the system to study its dynamics when the airplane is
taking a turn of radius R with a speed V.
Fig. P5.11

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Chapter 5

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Chapter 5

Modeling in Noninertial Coordinates

A bond graph model may become nonlinear,

(a) If the constitutive parameters of I, C and R elements or fields are made to

(c) If the sources are made to fluctuate with states.

All these ways of incorporation of nonlinear system behavior are based on a

The cases where constitutive relation of an element or field cannot be directly

Fig. 5.1 Fig. 5.2

A three dimensional version may, however, likewise be imagined.

(a) It is boring as it is very simple and more significantly,

With this background we now proceed to model systems in noninertial frame.

5.3 Mapping back to inertial frame

Say the mass points move in such manner

Example 1: Let us consider a pendulum created by attaching a small massive body

Coordinates of the mass point m in the inertial frame are

The activated C elements are incorporated in model to observe various

The expressions for the transformer module are as follows.

xo and y o may be treated as parameters.

The expression or the length of the pendulum is

L2 = (xm – xM)2 + (ym – yM)2 ,

The expression for rate of change of L is as follows.

The activated elements integrate various displacements. Q4 and Q6 give coordinates of

Fig. 5.7 Fig. 5.8

X  R0 cos  x cos  y sin  

Differentiating both the equations with respect to time,

X     R0  x  sin   y cos     x cos   y sin  ,

These relations may now be represented using a junction structure consisting of

Where Kx , Ky = stiffnesses of the beam in radial and transverse directions,

  t   regular speed of drive motor,

1   R0  x  sin   y cos  ,  2   R0  x  cos  y sin  ,

 3  cos  ,  4  sin  ,  5   sin  and  6  cos  .

Fig. 5.10 Fig. 5.11

and YC  Ym 2   2 L2 sin  2 ; YB  Ym1  1 L1 sin 1 .

(b) Inserting suitable pad structures consisting of compliant and resistive

Example 7: A massive block resting on a spring and a damper is restrained to move

The vertical velocity of mass me is y m  YM  r cos wt   0 

Now we may go ahead to make a bond graph model to this system.

1n     l1  cos   u sin 

1t      l1  sin   u cos   u for small δ.

For the rear wheels  2 n      l 2  ,  2t  u

In terms of wheel velocities cornering force, for small α, can be written as

That is cornering force can be modeled by a R element.

Acceleration of the vehicle in inertial frame is given by

 XYZ   xyz     xyz ,

or m u XYZ  mu  m  Fx ,

m XYZ  m  m u  Fy ,

5.4 A pre-analysis of rate of change of generalized momenta

Often it is advantageous to analyze the acceleration of mass points directly in inertial

The acceleration in r - ψ frame may be written as

a  r er  r e  2r  e   2 rer .

The dynamical equation for the mass point will be

mr  m 2 r  Fr , (5.5)

mr  m 2 r  Fr , mr

system may now be created as shown in Fig. 5.23.

An alternative way in which the momentum equation may be directly arrived at is

The equations (5.9) and (5.10) may be readjusted as follows.

We leave it to the reader to approach this problem through Lagrange's equation.

5. 5 Dynamics of rigid bodies

Analysis in a frame momentarily oriented in the principal directions: Let a body of