eS 0 ee Chapter 5 Use of Noninertial Coordinates 5.1 Introduction ‘Abond graph model may become nonlinear, {a) Ifthe constitutive parameters of /, C and R elements or fields are made to fluctuate with states of the system, ‘(b) If the moduli of the two port elements 7F and GY are made to fluctuate with states of the system, or/and, chia (6) Ifthe sources are made to fluctuate with states. he low cs ‘incorporation of nonlinear system behavior are based on a that bond graphs essentially represent the system theoretic ge between storers, dissipaters and importers through the behavior arises due to the: “constitutive properties of140 BOND GRAPH IN MODELING, SIMULATION AND FAULT IDENTIFIC ATION §.2 Principle of material objectivity With the above modeling attitude we proceed to model systems where noniner, lcordinates may be gainfully used. A combination bf moninertial and inew, coordinate may also be used to create system models. The I slgnific principle of constitutive theories of materials called principal of material obje< i (39). We present here a discrete simple version of this principle suitable for our purpo. Say we have a compliant field element as shown in Fig. 5.1. .Ue oF Noneee nia Conenmeares 147 a) his boring as it is very simple and more significantly Db) the complications in modeling noninertial cox compliant elements as they need only» coordinates. The real complexities arise due to inertial elements ates do not arine with transformations of A system mexieler may freely deal with compliant and also purely dissipative ctcments through coordinate transformation With this background we now proceed to model systems in noninertial frame. S3 Mapping back to inertial frame142. Bown Grannis Mooennc, Siu ation AND FAULT IDENTIFICATION on and / i Let X00 Y be the inertial frame of reference with unit vects be unit vector in the direction: of ot rer sind, yer cos0. be differentiated with respect to time 1jpop 668 ection 2.10) When there isa causa tions can not be ¢ paving structures a Feat, show how one May create an alten causal loop. Let in the Fig. th geondinates of point O be x, and y, (though in the Fig. 5.3 point 0 i itdoes not matter). Let the length Om at any time be L Sediabie junction (see e coord: "3 Xm and setke the origin, but 2 2 =p —%o)" +(¥m- 0)" a). ee Now one may proceed to create the bond graph model. All that one has to do is to qeate a junction structure which relate the flow variable i», jm .andi (see Fig 5400).SDELING, SIMULATION AND 144. Bond Grarit iy Move observe the coordinate point andl and ¢ The elements ( suitably initialized. he transformer module are as follows L= YQ ~%0)" +i ~ Yo) ies Q3-Vo y= Se and a= x, and y,, may be treated as parameters. vA Expriple 2: A slightly modified ve VY Fig. 5.5. The expression or the length of the pendulum is B= Om 30)? + Onno Where x» and yq are the coordinates of mass point coordinates of hinge on the body M. The expression for rate of change of L is as follows. ) . (ig iy) + Sm 5, ~ jiUse OF NONINERTIAL CooRDINATES 145 in this model yy =0.The junction representing the above relation with all other the bond graph model of the system as shown in Fig 5.6. elements completLT IDENTIFICATION o ULATION AND PAU! IN MODELING, ‘SIM! 146 BOND Grarnt! gl (ow Fig. 5.8 Let us draw the view of the disk and the mass point as seen from top. The a¢ beam is represented by two orthogonal springs as shown in Fig. 5.8. The axes are inertial, o is the equilibrium position of mass point beam is unstrained. The axes < x 0’ y > are fixed on the turn table. é is the ge Position (x, y) of the mass point. R, is the distance Oo’. X = Ry cos +x cos6 ~ y sind Y = RysinO +x sin@—y cose [* Differentiating both the equations with respect to time, X= {-(Ry +x)sind~ yeoso }6+ xcoso— sina, ¥ = (Ry +x)cosd — ysing }6+ sind + soso. These relations may now be represented. usin, % transformers with fluctuating moduli as shown inUse oF NoniNeRTIAL CoonDINATES 147 \t\ nse we ae or t 1 ° o a Bs Ry as Mi wi nett JFy ws, OI ig ey JTF at) 1x y _ fo coe b a ‘ psy “hy O-—r CK C2ky s | RR, SRS SFo) ef mt Fig. 5.9 Where K, K, = stiffnesses of the beam in radial and transverse directions, (t)= regular speed of drive motor, My =—(Ry +x)sind-ycos®, py = (Ry +x)cosO-y sind, Hs =0080, py =sin®, us=-sin@ and pg =cosO. ‘The angle @ is the stored state of C/0 which is flow activated where as x and y are” stored states of C6 and C7 respectively. The absolute Positions of the mass point observed by flow activated C8 and C9. $ Example 4: ‘There are some systems where the constrained motion noninertial coordinates cannot be related to inertial coo dinates. | between velocitiesse ante FAUT Romser er ms ones Gann MEIN, SEAT Fig. 5.10 Say mass of the rod is m and its moment of inertia about a centr perpendicular to the plane is J. As per the above description - components of the centre of mass may be written as, ¥=vcos@ and X=v sin@ ‘The bond graph for the system may now be drawn as shown in Fig be reduced as shown in Fig. 5.12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 P = (Xc —Xy)* + (Yx- Yo)". Differentiating with respect to time H=(Xc-Xp)(ke-Xa)+ Ua -FeN ts —%e) (Xo -Xp) +e End point velocities are iene wPine0shy; tyke, taboos and Yo=Yy, +2 Ly sin 0); Yy= Ym, —04 Ly sin 8 - Where Xq,,p,+¥m, and ¥, are the motions of the mass centers. Thus the | graph model would now be as shown Fig. 5.14.ATION AND FAULT IOPSTIFICAT; 150 Bonn GRAFH IN MODELING SIMU! aa Y x # TE L 100801 Ly sin Oy: TRY te tan) pave ee lta ee on c cd, 3 er ei | mee Gi a OE ee Fig. 5.14 Where jy =~ 2-0 2% : Yo 6)" +(0, =O, My m a 0; ; +O) -@ 9 =O, and 0, =0,,——— Usk OF NONINERTIAL COORDINATES 151 adel as drawn in Fig. 5.12 and Fig, 5.14 has differential causality on ‘The bond graph me possible to arrive at the system ome inertial elements, Two approaches are equations for these models, (a) Using direct step by step process with differential causality as discuss of deriving system equations for models ed in Chapter ~3. ) Inserting suitable pad structures consisting of compliant and resistive io cloments as discussed earlier. xample & Let us consider two masses, shown in Fig. 5.15 attracting each other as c per inverse of the square of the distance between them. This is a model of two Peed coupled stars. If one of the mass is made much heavier than the other it may pewell serve as a model of the Sun and a Planet, : Yo! + c Fig. 5.15 f The force of attraction is F =~ LMM, PB a Now r? = (Xi¢—3n)°+(Yu Ym)»yw AND FAULT searit w MODELING SIMULATIC IN AND 152 BoND GRAI 1M ep Man i ‘ ey F | if Wp tee cab lin > we foo \ a TEL 0 Tn —— ca hin iin pe \« , :m Lim Fig. 5.16 From this follows the bond graph model shown in Fig. 5.16 Qs Oy Q6-Dy where yy = = - and = = eOs-0;)? +(5-O4) Qs -O1)? +(- OP? 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 oni! which rotates an eccentric mass m, as shown in Fig. 5.17. This is a good example interaction between a vibrating structure and a system exciting it.1:Jm Fig. 5.18 (Up) transverse stiffness (Ky) and ‘in this model. The reader may the armature of the motor mntric arm are incorporated the model if any of these aspects is missing, ¢ an example on directional handling of a ear [59, 60) Figure 5.19 model of a car with front wheel steering angle 0. The cornering ‘ls are C, and C; respectively. w and v are the of mass in the body fixed frame. @ is the cornering forces due to side slip. ‘The rotary inertia of damping (Ry) of the ecce! ascertain what happens to Example 8: Thi shows the bieycl coefficients of the front and rear whet axial and transverse velocities of the car centr: the angular velocity of the car. Fc, and Fe are Fig. 5.19 Velocities normal and tangential to the plane of rotation of the front wheels are Uy = (044 )cosd ~usind vy =(v+oh ) sind +ucosd =u for small 6. For the rear wheels Uy =(v-@ly ), Ua =oD GRAPHLIN MODELING, SIMUt ATION AND FAULT IDENTIFICATION Y , 154 Bi uumatie tyre for small side slip can be given a Cornering force 0” Pine ficient and a is the side slip as shown in Fig. san” where Cis the cornering coe! ‘direction of plane of rolling titeton of Fig. 5.20 In terms of wheel velocities cornering force, for small a, can be written as feaca-(2. ‘That is comering force can be modeled by a R element, Acceleration of the vehicle in inertial frame is given by WE=5, 50 x5, oF mil = mi—-mav =F, ae = m6 mab mF PAPAS Em eo.Use or NoniNERTIAL CoorpInaTes 155 wn in Fig. 5.21. >the basis of the bond graph model sh arese doled using a gyrator. 05 and (6 records the X and Y positions of he vehicle centre of mas the ve 4) ( TE:cos& Gy:mo eon s7FF KTRCOO | \ awe TF. ~ 4 (cr ca $402 b Srp £ hy re 0: sind f a SF'u 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ULT IDENTIFICATION 456 BOND GRAPH IN MODELING, SIMULATION AND FA\ consider the Example 1 of the previous section. The figure jg Example 1: We table for the present analysis. with the frames suit Fig. 5.22 ‘The acceleration in r - frame may be written as B= Fe, +r¥ ay + Diva —Wre,. ‘The dynamical equation for the mass point will be mi = my?r+F,, 65) PO CRY the 6.)Usk. OF NONINERTIAL COORDINATES 157 «the torque ofthe tangential forces about the pivot where Fy swe eat the momenta p,m and Pe = Zy. The bond graph model of the oan may now be created as shown in Fig. 5.23. stern ma mrt 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. Hepa Where 4's are generalized coordinates and e;'s are generalized efforts. Let us consider the system shown in Fig. 5.22. ‘The expression for kinetic energy isan 2, Ay?)8 1 TIDENTIFICATION 1 188 BOND GRAPH IN MODELING, SIMULATION AND FAUE \ Example 2: Let us reconsider the system of the Let the top view of the system be considered H Fig. 5.24 The angular velocity vector 2 = Q () k. The acceleration of the mass point 0” ina coordinate system co-oriented with rotating coordinate system is \ 1,49 j,+20kx(ki, +9 j,)+OkxQkx(xi, +yj,) | +2kx(i, ty J+ QkxQKx Roi, , i] ! ASS . : : 7 ai or an41 +9 J,+203j,-20 51, +03 f,-Qyi,-O7(xi, +y j,)-ARol, | repay Gtne Ee aia linet aa ad 205-Ay-0? x Roi, +(5420%+02-07»)), aa Pep ‘The dynamical i i paca “ar equation as per the attitude already discussed may be written as WEE! | / mb-Oy)-2ma +m? xem? Ry +k, 67 | (5+23)=-2m0Q54m02 | | )= 2m ivmey vty, 68) da or —{m(z-9 ) , dh I)}+m25~2mO5 2 | Y= 2mQS+mQ? x4 mo? RotF, 6» d ra a1" +8) nai--amaiemot DHF, «05 < Use oF NONINERTIAL COORDINATES 159 tions (5:9) and (6.10) may be readjusted as follows. a) The equal ih ~ Amie where ¥,=%-Qy, map ma? x+mO Rot Fre (mie =-mQ8+mQ? y+F ys Jez PtQx. ‘Thus the bond graph model may now be drawn as shown, in Fig. 5.25. -ma? SE:mQ?Ro wee bene, “yg 0g 1 ™ ye see i we © | GY:mQ | ri, +s/,) see a I [e se an ¢ -ma? 4» Obi, 2-0. Fig. 5.25 We leave it to the reader to approach this problem through Lagrange's equation. “ted 5. 5 Dynamics of rigid bodies ‘The Euler's torque-moment of momentum knkcier an of rate theorem for1) FAULT IDENTIFICATION LATION AN 160 BOND Grart IN MODELING, SIMULA! 2!" > of in short <0" 5) 1. Fixed inertial frame <0 + veling, with the ¢ A nonrotating frame with its origin traveling, with ¥ 2." > or in short < \ o”"-.x system, or <0" ,X" > frame momentarily oriented along the principal axes of the body. (&) Either <0" .x"'> or <0'.x'> frame having one of the axes momentarily coincident with the axis of spin of a symmetric body or a gimbal frame. Analysis of torque equation in <0", > or <0" ,x" > frames are essentially similar except that for full dynamic analysis additional equations for translatory motion should be incorporated when <0", x" would be designated as < 0, x°>, Analysis in a frame momentarily ori rections: Let a body naly ' oriented in the principal directi Principal moment of inertia J, 1 yAnsee sa 2 oan TH lay by and ly as shown in Fig. : sete ze oi i the principal axes and @ is the Ca ae, body in an components w,., w, ae ( Sp and @» along the principal directions. moet ‘omentum of the body in the bod”, owen =f 'Y engraved principal direction frameass —_— i~ ‘. * Use oF NonINeRTIAL CooRDINATES 161 ma ‘ (The fact that even body engraved coordinate is associated with moment of \ romentum may appear paradoxical but it is so in rotational dynamics.) rary = Fig. 5.26 (a) Now the derivative of this moment of momentum in the nonrotating but wep mg, momentarily oriented along the principal direction frame <0, X> is given as follows. 4 emer —' al i (2) -(4) 3 dt )eg.x> \ tH )e0,5,> ‘ ws _ =" Thus the torque equation in < O, X°> frame becomes patties UF TT pend J =) di € a te east” ho.» ( dt ie > which in component form is as follows.|, SIMULATION AND FAULT IDENTIFICATION, MODELING, SIMULA 162 BOND GRAPH IN | The equations (5.11) may be written as | af Ixp: I+ looxp"—SEeyy i 1,05, =:,%, (tp- a Tine ieoetiag or 1. Uap — Lap + Ty (lap -Iyp)+Te> Iyp:I*— loys —> GY" 1p py = *PAxpioxp pT, SE: Ty SE:T, 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 < 9 Principal axis of the 1 @ yw, are a body which is also the imbal frame with the zy axis 8 of spin. Principal moment of iUse OF NONINERTIAL COORDINATES 163 sf the body about z, gimbal axis is /, = /; where as the same about xyand yp are Iee™ by zimbal frame < 0, x /, due to symmetry of the body. Angular velocity of the with respect to the nonrotating frame < 0, X b= bi+b,/ The spinning velocity of the body about the z, gimbal axis is Q. Thus the total angular velocity of the body as seen from the frame < 0, X > is @ = $149, /+Qk. Thus the moment of momentum of the body in gimbal frame is Fe =(xi+b,/)h + Qk The rate of change of this moment of momentum vector as seen from < O, X > (i.e, nonrotating frame) is (s Now as 70, x> dif, a f = +9xH,. ( at ils ), Jeo)< | ) t Jeo.x> Feoys = (8.1485 Jy + Ole k+(G, 146, de {(b. 46, I+ Oh k or Fors = (8148, J+ Qh k+by A i-$,Ql 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. Nb. =tp-by Ql, Moy =ty +b, Qh and HQ 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.[AND FAULT IDENTIFICATION: sparit IN MODELING, SIMULATION 164 BoNDG ‘et us consider a symmetric top with’ ead in inertial frame. The gravitational force VeSIee through the centre tds as shown in Fig. 5.28, The gimbal Seale wy nonrotating frame < 0. X momentarily coincident with it have thei 8 ir origin (0, X?> is the observer fr Dynamics of a Symmetric top: | a directed downwa! pivot point Fig. 5.28 he bond graph for the basic gyrod: velocities Ieee : yrodynamics of the top in gimbal frame Rg:R 41g AL Ry him Nye GY a | Lhee Us oF NONINERTIAT COORDINATES 165 zk R, and R, are the pivot resistances modeled in the gimbal frame, | is the distance x 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° >, Let the feature point be the tip of the top 4. The bond graph of the top to track the motion of point 4 is shown in Fig 5.29(b). Activated clements C3 and C/6 records the angular rotations $, and @,, respectively. /, is the distance of the tip from the pivot point. Velocities of A in-the Ny ¥y and Zy directions are recorded by activated elements C/0, C2/ and C24 respectively. he Ra Ap SA 7, =. R:Rx R:Ry . ’ ert tate t ! : © Weostyeo%hyg t ts * * Fig. 5.29(b) _ 4 dae? “ a r Simulation results for a toy with parameter values ‘ conditions given in Table 52 ares gen .2 are shown in Fig. 5.30 Fig. (a) nd Fg, S30ih __ hows the falling ofthe top due to resistance in the spin axis. no i alee “laa ‘dade aeUT IDEN TIFICA THOn 166 BoND GRAPH IN MODELING SIMULATION AND Fal Table 62 ~~ Initial conditions es state ~ ” Tx Ag Pas A 203% 10 *Ag. Ps Ms a Ox Ou 24x10 ky me? 7x10?m x10 m 3.78 «107m 5.89% 107m cu(x,|_[cos@ sind) [xy aa yr} [-sin@ cose} |yyf : Taking time derivative on both sides, i,| [cos sind] [iy], g[-sind cosd ] [xy GLa sol Gr)(ome “eel Gy xy) _[eosd -sind] x, wows | fi Sat? ) ¥,|_[ cos@ sind] [xr]. [-sin@ cos ][cos@ —sine] [x, ret = r mee it (a a {i/fea ae eae [= wae | 7} 089 “Ghee 2G} Jed. ee anes a ore Equation (5.16) may then be written aspsttNG) SIMULATION AND FAULT IDENTIFICATION pun MODELING, 168 BOND GRA ph model of the system with mo éi y> and the compliance of ‘wn 1 is shown in Fig, 5.32 make a bond grai nertial frame <0, % Now we proceed to y, >The bond graph model mass represented in i rotating frame t (} t rf lt fe} Oa lea [?, SS h-bal'e" a Pp 0 1| fa and wi fa}ea[s, 0} lo > wallet ee {t. cor (Os| _fa/™ oe Loa)” (6.25) ‘The equations (523) and (5.25) conform toa bond graph model shown in Fig. 5.33. 1xjp-— em Sf 3] Fig. 5.33 Fas i ae [8] and [gif do not contain the rate of ring rotation 6, the bond graph ee a pao the objectivity of the process. One could have directly ma ig. 5.33 by transforming the stiffness in the rotating frame to the fee by 50 called similarity transformation {}"[x] fe] using the angle turned and never minding the rate at which it is turning.AND FAULT IDENTIFICATION =, SIMULATION 470 BoND GRAPHIN MODELING, SIMUL ATIO! Fig. P5.1 absorber is shown in Fig. P5.2. System parameters ay P2. A torsional vibration fake a bond graph model of the system. shown in the figure. M P3. Figure P5.3 shows an engit e Pe gine supported by identical spring damp ee The crank with unbalance m, rotates with anil ea bond graph model of the system. aUse oF NontnerriaL CoonpiNaTes 171 pa. Make a bond graph model of the system shown in Fig. P5.4. The two links of Jengths 2/; and 2/; are of uniform cross-sections and their inertia properties are my Jj, my and Jp, K M pies Gaon, Fig. P5.4 P5. A heavenly body is idealized to be made of a heavy core of mass m, supported within a crust of mass m, 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 m, and m:. Fig. P55 P6, The platform 4 of mass m, and rotaryp FAULT IDENTIFICATION MULATION AN MODELING: si 172 BoNDGRATH IN Fig. P5.6 . Figure P5.7 shows the bicycle model of a vehicle-trailer system. Inertia properties of the two bodies and the cornering, coefficients (C;, C; and C,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.Use OF NONINERTIAL COORDINATES: 173 \ Fig. Pr51 p12. A rod AB of length |, supporting a spinning disk of mass m and radius r at smidspan, 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. Pr5.2. The distance AC is 2! and the unstretched length of the spring is /. Make a bond graph model of the system.SIMULATION AND FAULT IDENTIFICATION 174 BOND GRAPH IN MODELING, Pr4. The essential structure of a certain type of aircraft turn i Fig. Pr5.4. Springs AC and BD are initially stretched an forces at 4 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 8raph model of the system to study its dynamics when the airplane is taking a turn of radius R with a speed V. indicator is shown in id exert equal vertical