Chapter 7 Structural Membe! 7.1 Introduction There are problems in system modeling where lumping of inertia and with which we are comfortable in rigid body dynamics, fails to catch the i dynamics of the system. For example in modeling an E.0.T crane, while the carriage can be represented by a rigid body, it will be improper to treat the girder in a similar. way. Situations like this often arise with systems consisting of long slender members whose flexibility plays an important role in the dynamics of the system. These members are essentially distributed parameter systems governed by partial differential equations and are lumped in space for finite approximation. Beams and columns are members with governing equations similar in forms and 7 exhibiting interesting dynamical behavior. This chapter discusses modeling of beams: through various levels of refinements followed by modal bond graph or finite mode analysis. The concept of space reticulation and modal bond graph can be extended to other distributed parameter systems as well. 7.2 Euler-Bernoulli beam model In the Euler-Bernoulli beam model, rotary inertia and shear deformation of the beam. are not taken into account. Since modeling of distributed parameter systems typically begin with finite approximation and hence space reticulation, we proceed with the governing equations in difference form.200 BOND GRAPH IN nG, SIMULATION AND FAULT IDENTIFICATION MODELING, SIMULATION Al APHID . mi ni it ross-sectional area 4 t with density, ¢ oulli beam elen ee 7.1. The governing na 1 ring, the influence of second and An Euler-Bern\ me cy is shown in Fig soe oe ufficiently small length Ax, igt follows, for s ly powers of Ax V (0+ Ax) V(x) = PAA IH), and V(x) where V is shear force and M is bending moment. The differential equation for transverse vibration is of pa Het) + EI (a1) =0 (73) To create a bond graph model we reticule a beam as shown i shows the interface shear forces. If we corresponding 0-junctions, (72) and is shown in Fig. Structure represent the vel corresponding inertia el in Fig. 7.2. The figure also Tepresent the interface shear forces by the bond graph model follows from equations (7.1) and 73. The L-junctions along the upper line of the ladder locities of the mass centers of the reticules to which lements are attached, The Vjunctions along the lower line en ent reticule interface rotations, The C elements at the O-junctions along the lower line model the flextural stiffnesses of derived from equation (73), the reticules the values of w hich maybe— “ Memners 2010 “, STRUCTURAL . hed 1: PA AX; Limis ‘ | 7 A yt #0. Witt vita eT a eS J aan | \W Nin ‘wile | Fig. 73 Bond graph of the space reticuled Euler-Bernoulli beam. =. = antes EL Axia Ox; 7.2.1 Implementation of boundary conditions We now consider implementation of boundary conditions and consequent reduction 72 %% of the model. Consider a cantilever beam as shown in Fig. 7.4(a). The bond graph =x model created for three reticules is shown in Fig. 7.4(b) along with source elements representing the end conditions of zero displacement and rotation at the left end and zero shear force and moment at the right end. Because of zero sources several bonds Become power less and can be removed leading to a reduced model as shown in Fig. 7A(c), Fig. 74(a)AULT IDENTIFICATION GRAPHIN MODELING, SIMULATION AND F) 202 BONDSreucTURAL Mempers 203 i TF ; | guna 0 > i SF SF=0 0 eee v I y T TF rE T T b y ie eee c h beam model model is ai improvement over the Euler-Bernoulli model in that it a though shear deformation is neglected. We model from a different consideration rather than the ming equations. Finite lumping however, done for1G, SIMULATION AND FAULT IDENTIFICATION 204 BoND GRAPH IN MODELIN' Yi Fon, ¥2 ip S 92 ea /| Min EI ) i ~_—— | ——+ Fig. 7.6 Beam element with generalised forces and displacements, A.beam element with shear forces and moments acting on it in Eulerian as wal Newtonian convention is shown in Fig. 7.6. The stiffness of the beam element rel {| the generalized Newtonian forces to the generalized displacements at the ends of the element as given by equation (7.6). The stiffness matrix can be modeled as a 4 -port C- field storing energy due to the four generalized displacements shown in Fig. 7.7. of the "ment vector all other elements being 22 l wee other elements being Ni ae nee rs forces and moments on an element satisfying | M(x) gy 2 (x) 20) (2) i In terms of flexural tigi equation (7.8).ee srrucrurat Memon 205° 12 @ 12 6 gi} 61 4? 61 2F K (78) l ] Pl-12 -6 12 61 6! 2 6 4 A bond graph model of the beam element can now be created by lumping the element inertias at the ends of the element and appending them to the I-junctions representing displacements and rotations at the ends of the element. Cascading of several element bond graph modules leads to the space reticuled beam model. A cantilever beam with reticulation and lumping of inertia is shown in Fig. 7.8 and the bond graph model is shown in Fig. 7.9(a. ;—— h —_4+- —__ » —_+-___ 5 4, ESS mw T 2 3 4 Fig.7.8 Cantilever beam with space reticulation and inertia lumping. Fixed end lumped inertias are in differential causality since the flows are determined by the sources satisfying the boundary conditions. These can, therefore, be removed. Im, I:m, I:m3 I:mg aot t t t Ss ON A SF-—* 16, Top i. M 0 q t ie ih ih Tks i Ms Fig. 7.9(a) Differentially causatled model The integrally causalled bond graph is shown in Fig. 7.9().06 BOND GRAPH IN MODELING, SIN ATION AND FAULT IDENTIFIGS DDELING, SIMUL u 206 Bo I:my Im3 I } t I i F 1 masot Iyy nly sli PN. Mee Fig. 7.9(b) Integrally causalled model. Lumped linear inertias may be obtained as m= 2A +h) | 2 Where pis the density of the material and 4 is the cross- ional area. Estimation of lumped rotary inertia may be arrived at as follows oM + OM. ax 7)STRUCTURAL MEMBERS 207 | .ctional area about the neutral axis. where is the second moment of the beam cross-se Taking cue from equation (7.11) rotary inertia may be lumped as follows. ) (th Sp [xaae, J,=P z5 ra 7.4 Modeling of a beam column ‘The governing equation of a beam column may be written as (+h) =p 1th pe and Jy=p Ty. e EI 3 =M(x)-Fy (7.12) where M (2) is the moment of the transverse forces and Fis the axial load. The model of the beam column follows from the beam model with a transformer structure to apply the moments due to the axial load at the I-junctions representing the rotation of the beam elements. Figure 7.11(a) and Fig. 7.11(b) shows a beam column and the corresponding bond graph. The 0-junction with the SE element is a distributor for the axial load. The transformer structure originating from this junction models the moments due to the axial load at the reticule interfaces. Moment due to F at the interface between the i th and (i+1) reticule can be given as, - F {yr+ yi.) (Ax/2)}. The corresponding transformer modulus is - (Q, + Q i (Ax/2)} where Q, is the displacement of the mass centre of the i th reticule and Qj. ,- is the rotation at the interface of the i th and (i+1) reticule, Fig-7.10a) viteicnanaensanill caer ee eas208 BOND GRAF! nv Move MULATION Al ULT IDENTIFICATION NG, SIMULATION AND FA LING, ae se OC Fig. 7.11(b) 7.5 Timoshenko beam model ‘The effect of shear is considered in this model. Infact, it may be treated as a Rayleigh beam considering additional deformation of the element due to shear force (see Vaz (72). From variational Principles, the Timoshenko model can be written as Slice {ete-y}] =p ras »(x,1) } Ee 2 a 13) i BLT 02 5()-}-p ay. (7.13) it where 9 is the an ‘ | factor depending a Geformaton due to bending, G is the shear modulus, ki84 ae relation betw, I shape and is used for averaging the fen the pe and is us for shows Timoshenko mane (O° aNd shear angle fy the cross-section. Figure 712 clement with bending deformation and she! d ‘ection at a Section May be written as a wWhd-vep, 44)Srmuctumat Memoers 209 Fig. 7.12: Bending and shear effects in Timoshenko beam element The shear force and bending moment equations are given as V(x)=kG AB (7.15) M(x)= E12 y, (7.16) The unloaded static equations may be written from equation (7.13) as Eficat oye)! v}|-0- (7.17) al “Lae (7.18) gfa2v vcd . aL ax" | In order to find a C - field relationship, we introduce an intermediate deformation variable z (having no physical significance in particular) such that z= y(x,1)-B, (7.19) (7.20) It may be remembered that an unloaded beam element has same value of shear force and thus the same fall along. Hence, from equations (7.14), (7.15), (7-18) and (7.20). Ve) 16. 4f 2 (ut) -w} =e : 72) From equations (7.16) and (7.20)MODELING, SIMULATION AND FAULT IDENTIFI 210 BONDGRAPHIN M(x)= Ew = 61 near force V(x) and M (x) in the variable z (x) are 2 expressions for sh a) m in real displacement y (x). of Euler-Bernoulli bea (7.22), the elements of a C- field can be worked out as in om (7.21) and eae ~ field relates the forces and moments to the the Rayleigh beam. The C deformations as A This C - field can be used to model individual elements of a reticuled in Fig. 7.13. However, these must be cascaded to arrive at the int Further this model must have representation for actual deformation » (@% C - field is defined by equation (7.23). Once unloaded beam el considered we may proceed to bring in the reticulations in finite length introduce local coordinates s for each element which may be related coordinate as follows. where x; is the distance of the i th element from the global origin. The limits are 0) G)B, and 226 e460), 5 (Ar +5 ODP + FH) By on yb): F(x), i where f= yy, By, Brey, By =O, (x) ok and Fj (x)= = ax Rotary inertia of an infinitesimal beam element is P1.d.x as seen from equation uty. Therefore, total Kinetic energy of the beam element replfe avo (220 la. ax ae ‘ LAs, a) url Where fy “[b AOE (spr a(a)K5 ()}a is obvious that Ay = My, im . matrix, [My isthe consistent ina” I, My>0, and (A4) is a positive d Braph of the beam element j inertia matrix of the i S shown in Pig, ofthe 4 field, The corresponding &srnucrurat Memoens 217 Fig. 7.17 7.7 Modal bond graph for continuous systems ‘The idea of modal bond graph proposed by Margolis [42] is elaborated in this section, The equation of motion of continuous system for linear vibrations takes the following form for one dimensional spacial domain and one dimensional amplitude of oscillation. Ant, (ye) a7 2D Bea) J (:1)5 xx), (7.44) where L is a linear operator of the form stag (xt), 1 >0. Py pei La, (1) —+ a9 (4) Peed an at) tan OS The expanse of the domain could be a < x < b. To solve equation (7.44) the boundary condition at x = a and at x = 6 ought to be prescribed along with the initial value of ; the function y(x,0). The operator is said to be self-adjoint over a space of functions G be over the domain (a, b) with definite boundary condition at a and b if the following is satisfied. fel1( Mac Prlendul elena. with both slat y(ayeG. For autonomous systems ho Ge scontinaestasiee the coefficient ace WOU cay218 BOND GraritN MODELING, SIMULATION AND FAULT IDENTIFICA Io Free vibration ofthe system would be represented by the following One may assume a solution of the form v(e)=¥(x) sin(orty). The resulting eigen value problem would then be (¥@))=10? ¥@). Substituting yo” =A, L(¥())=2 ¥ (x). © are the eigen values and “9 are the-corresponding eigen functions L(y, @))=2, ¥; (2). (7.48) L(y, (:))=4, ¥, (). (749) Multipying equation 748) by ¥(2) and integrating from a to b [5 eer 6) ae [x 6)2(, 6) Likewise multiplyi i Plying equation (7.49) by y, G) and integrating from a to b Liens, War= 2, fy, ()2(r, @) Jar. 75t) Subtracting 'B equation (7, (7.51 adjointness of ee ati Perator L we gy | “Wation (7.50) and using the property of self ba) 6 VY ()ae=o,srmucturat Memoers 219 If A, #4,, ther ¥, (x) Y, (x)dv=0 when i+ j (7.52) ! thus eigen functions of a self-adjoint operator are orthogonal for which eigen values are not equal ain an orthonormal set of functions as follows. One may obt Let ¢, (x)= ae) (7.53) for all §=1,2,3,..e00 + ; Then j 6, (x), (x) = 8, (754) for all j,7=1,23y.mns oe a rae a where 3, =4 lo if iaj 7.8 Transverse vibration of a uniform beam under transverse loads and moments Let us consider a beam subjected to distributed and concentrated transverse loads and moments as shown in Fig. 7.18. (sp S(K-x) FOut) — fs 5G-rp) | z et — Suitable end conditions Fig. 7.18220 Bono GRAPH IN MODELING SIMULATION AND FAULT IDENTIFICAT ING, SIMULAT 7 " eq s - Bernoulli beam may be written a i ation for Euler - Bernoulli , The equation of pple) pa a oo Pym), 1(,1) ax “Diba ax-a) AZ esbnalele(s A) -sfs-(s5+ =, a where E/is the flexural rigidity of the beam, p the mass density of the beam and a the area of cross-section of the beam. Materia The equation of motion of a free beam may be written as arnt) (xt) eee yt (756 Now assuming y(x,t)=¥(x)sit Leas »(si)=YG)sin(or+y) the eigen value problem takes the fallin ay 12H po62r(). (75), Denoting pa u? by Awe get yx ae a6) or 2b) 94), where y = paw?/z),SrructuraL Mempers 221 oth ends pinned pinned - — pinned (i) YO)=0 Both ends fixed as shown below | <+— fire fiee ——e (iv) Both ends guided as shown below. ~—j}-—— jj Fig. 7.22SIMULATION AND FAULT IDENTIFICATION 14 1N MODELIN 222. BoND GRAM" » combinations like, The operator is also self-adjoint for the com! (v) Pinned - fixed or fixed - Pin ned. (vi) Pinned -free ot free - pinned. 7 (wii) Pinned - guided or guided - pinned. (viiiy Fixed - free or free - fixed. (ix) _ Fixed -guided or guided - fixed. Let K4 = = paw? /El and let L be the length of the beam then the values ky for various eigen values for different end conditions along with eigen functions an normalizing integrations are given in the Table 7-1. In the Table 7.1 chx = cosh), she=sinh(x), ex=cos(x), sx=sin (x) and = KL for i=1,2,3,......0 ————__manir 71 ae TABLE - 7.1 Type of end fixing ¥i(z) WEifee (chr; — er;)(shKjx + sK;x)— fees (shr; — rj) (chKix + cK) pinned - pinned okie fixed - | (shr; — sr,)(ch Kix — cK,a)— . fixed (chr: = eri (shia — se) 7.853 | fixed - X (shr; + sr;)(chK;2 — cK x) — pinned K (chr. + er)(shKie— skeex) | 39266 | 7.0685 fixed - free (shr: + sri\(chija — cKjz)— (chri + eri)(shKiz — 5K; 1.8751 | 4.6941 ir) free pinned ne + richie + ckjx)— }—__| (i Fen)ishiiz + siz) | 3-926 | 7.0685 There are two 2 eto frequency rigi, body modes for free - free eo te ee beam, o(z) = + a | due) ale) he ty Dividing the ei ge Fanci Sea (6) one * 'S Biven, ms * mY oPtain crthonormatingy em (2) 0f Table 7:1 by a ed functions gin zi y the values in cola ys Now without any loss ©RUCTURAL MEMBERS 223 generality of the procedure any one of the end condition may be selected. Say we Ject a simply supported beam (Fig. 7.23) as an example. feet FOxKt) Fat) | SCS CCS CSC SSSI Fig. 7.23, The equation of motion would be feet (759) 700s | 1 Now let us assume a solution like : »(s)= 2,040), (7.60) at J where ¢,(x)are orthonormalized eigen functions for pinned-pinned end conditions. Each ¢,(x) satisfies following equation (7.61)224 BoND GRAPHIN MODELING, SIMULATION ANE SE: ['FG,1 9,00 4x I:pa > FAULT Mp(Xp.t):SE IDEN TIFIC Fig. 7.24on May) Mose STRUCTURAL MEMBERS 225, Substituting the expansion (7.60) in equation (7.59) and multiplying the resulting ‘equation by ¢, (x) and integrating both the sides with respect to x from 0 to L using. the conditions of orthonormality we obtain an infinite set of ordinary equations. (o ozs) t1 3 2,6) Car (okt “LHe ade Sima lnd AH : leer, Now say we restrict our finite mode analysis to incorporate N modes, then the above set of equation may be represented by a bond graph as shown in Fig. 7.24. Example: Consider a cantilever beam resting on an elastic foundation represented by spring - dashpot combinations carrying a motor driving a pulley, which in turn pulls 2 carriage on elastic supports with an extensible cord as shown in Fig. 7.25. A model of the system for small amplitude vibrations of beam and carriage rocking is shown. in Fig. 7.26. y me ved oo Yo ees ; 6 Kr @ MeeSTRUCTURAL MEMBERS 227 Anoteon structural modeling ie anted several models for distributed parameter system based on two We have re imping and modal analysis. In using finite lumping a large number { methods, finite are necessary even for accurate low frequency Tesponige, Increase in If | of reticulation® 2 riculation on the other hand produces inaccuracies in higher e } the number a also increases the number of states. Such models can, however, be frequencies ted in the overall system model. Implementation of boundary ra wily incorpo ea rss a0 22 ee h approach is accurate but the transformer moduli for modal Bias ae a catit aled ceparatsli-fac ere boundary conditions Table 71. For the same reason extension to overall system model is not oy Modal rticipa ed in Table 7.1. For \ straightforward. Vy A Lr xls were created without structural damping which is generally small, | allthe a bd incorporated by atiathing. @clemenis-tel the 1Gceeaeem representing cs of lamped or modal’ masses. Damping’ of cotationdl ata eaenite y aes can be achieved by appending C-I-R structure to the O-junetions to which the C elements representing flexural stiffnesses are attached. In Timoshenko beam model R elements should be attached to the I-junctions representing beam |) rotation. » Problems Pl. Make a bond graph model of | /--— 4——-+—— the beam shown in Fig. P7.1. RnR The beam segments are uniform with cross-sectional areas, flexural rigidities, and mass per unit length shown in the figure. Consider at least two beam elements for each segment. Fig. P71 Az. Elp-m: R Make 2 bond graph model of ‘he uniform strut subjected to a follower force as shown in Fig. P7.2. "3. Figure P73 shows the chassis of a vehicle on four suspensions. The four = bs the frame have the same cross-section. The suspensions do not aan torsion of the beams, F\ and F; are the loads supported by the ect h* # bond graph model to study vehicle response due to ground228 BoND GRAPHIN MODELING, SIMULATION AND FAULT IDENTINCATION }OND G i Fig. P72 P4, Make a bond graph model of the uniform beam shown in Fig. P74, bE Ah —4 Fig. P74 PS. Figure P7.5 shows an idealized mobile crane. The boom, assumed to be uniform, is actuated by a hydraulic cylinder and carries a tip load 1. The mass of the vehicle is Mf,and rotary inertia is J,. Make a model of the system.i STRUCTURAL Mentpens 229 The manipulator carries a tip load W. The links are uniform with flexural Ese a sectional areas A, and A, respectively. The 's ms, Make a model of the manipulator, rigidities E/, and £7, mass of the motor drivi Fig. P76 type problem , Fig. Pr7.1 shows the tubular chassis of a three wheeler. Make a Pri. Fig. Pr7. bond graph model of the structure. tv Fig. Pr. PA Make 4 boom inmodal oa % % Mobile crane of Fig, P75 withthe crane portion \AND FAULT IDENTIFICATION 230 BoND GRAPH IN MODELING, SIMULATION 's the trolley of an E,O.T crane moving along the girder. The by carriages moving on rails. Make a model i ri dynamic stresses in the girder due to load hoistin, ee Pr3. Fig, Pr7.2 shows girder is supported structure to find the trolley motion and carriage motion over rail joints. drum ——-(+) ]+— trolley girder ELA z 4 |. rope eT Pc = ob ie t J+—— load tail ——+| Fig. P7.2 Prd. Fig. 6.13 shows a flexi bear ‘ible rot it hydrodynamic bearings, Maken af eak?, disk at midspan supported b i the gyroscopic effect of th a bond graph model of th, pported by i} stifness of hydrodynamic hea E*PreSSIONS for fui pe roe aes ic bearii . luid fil ings are given in Steve Im forces and