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Introduction to bond

graph theory
Second part: multiport field and
junction structures, and
thermodynamics
Multiport fields
We will look at multiport generalizations of C, I and R elements.
Used mainly for sets of bonds
C-fields f2
e2 with geometrical properties.
e
e1 en
f1
C
fn
n
f
C
State variables q1 , q2 , . . . , qn Allows easier displaying
of individual causalities

q̇1 = f1 e1 = φ1 (q1 , . . . , qn )
q̇2 = f2 e2 = φ2 (q1 , . . . , qn )
.. ..
. .
q̇n = fn en = φn (q1 , . . . , qn )
Energy is computed as
Z tX
n
H(t) = H(t0 ) + ek (τ )fk (τ ) dτ
t0 k=1

Changing t → q yields the line integral


Z
H(q) = H(q0 ) + e(q̃) dq̃ γ is any curve connecting q0 and q
γ

However, this must be independent of the


particular curve connecting q0 and q!

Barring topological obstructions, this is equivalent to

∂φi ∂φj exactness of the 1-form given by e


= , i, j = 1, . . . , n
∂qj ∂qi
Maxwell reciprocity condition e = dφ
stiffness form compliance form
Linear case: q = Ce
e = kq
all integral all differential

Mixed forms are also possible, but for a given system


some of the forms, including the compliance one, may not exist.
The above nomenclature extends to the nonlinear case as well.
In the linear case, exactness of e implies that
the matrices k and C, if the latter exists, are symmetric.
The available forms determine which causal patterns are admissible.
⎛ ⎞
e 2 f2 2 0 2 all-integral is possible
k = ⎝ 0 1 1 ⎠ det k = 0 all-differential is not
e1 e3
C 2 1 3
f1 f3 furthermore . . .
⎛ ⎞ ⎛ 1
⎞⎛ ⎞ e 2 f2
q1 0 −1
2 e1
⎝ q2 ⎠ = ⎝ 0 1 −1 ⎠ ⎝ e2 ⎠ e1 e3 is possible
e3 1 1 0 q3 C
f1 f3
C-fields given from the beginning as a set of
effort-displacement relations at n ports are called explicit.

Implicit C-fields are obtained when several C-elements


are assembled by way of a power continuous network.

Implicit C-fields can be reduced to implicit form. In the process, some


elements with differential causality may be hidden from the port interface.

C3
P1 C1 C2 P2
C : C1 C : C3 C : C2
C3
P1 C1 C2 P2 3 5 4
1 6 7 2
P1 0 1 0 P2

e1 = e6 = e3 f6 = f 5 = f7 e4 = e7 = e2
f3 = f1 + f6 e5 = −e6 − e7 f4 = f7 + f2

q̇3 = f3 q5 = C3 e5 q̇4 = f4 f1 = i 1
1 1 f2 = i 2
e3 = C1 q3 f5 = q̇5 e4 = C2 q4

µ ¶
q3 q4
q5 = C3 e5 = C3 (−e6 − e7 ) = −C3 (e3 + e4 ) = −C3 +
C1 C2
µ ¶
q̇3 q̇4
q̇5 = −C3 +
C1 C2
¶ µ
q̇3 q̇4
q̇3 = f3 = f1 + f6 = i1 + f5 = i1 + q̇5 = i1 − C3 +
C1 C2
µ ¶
q̇3 q̇4
q̇4 = f4 = f2 + f7 = i2 + f5 = i2 + q̇5 = i2 − C3 +
C1 C2
à !µ ¶ µ ¶
C3 C3
1 + C1 C2 q̇3 i1
C3 C3 =
C1 1 + C2
q̇4 i2
µ ¶ µ ¶µ ¶
q̇3 1 C 1 C2 + C1 C 3 −C1 C3 i1
=
q̇4 C1 C 2 + C 2 C3 + C 1 C 3 −C2 C3 C1 C 2 + C2 C3 i2

We introduce new state variables q1 , q2 such that q̇1 = i1 = f1 , q̇2 = i2 = f2 .

Using q3 = C1 e3 = C1 e1 , q4 = C2 e4 = C2 e2 , and integrating in time:


µ ¶ µ ¶µ ¶
e1 1 C2 + C3 −C3 q1
=
e2 C 1 C2 + C2 C 3 + C 1 C3 −C3 C1 + C3 q2
µ ¶ µ ¶µ ¶
e1 1 C2 + C3 −C3 q1
=
e2 C 1 C2 + C2 C 3 + C 1 C3 −C3 C1 + C3 q2

k
This is a 2-port C-field in stiffness form.

e1 e2

f1
C f2

They are just a convenient


The state variables q1 , q2 do not parametrization ³of the R3 ´surface
correspond to physical charges.
q5 = −C3 Cq31 + Cq42

The dependent state variable has been hidden away from the port interface.
I-fields f2
e2
e
e1
f1
I
en
fn
n
f I
State variables p1 , p2 , . . . , pn

ṗ1 = e1 f1 = φ1 (p1 , . . . , pn )
ṗ2 = e2 f2 = φ2 (p1 , . . . , pn )
.. ..
. .
ṗn = en fn = φn (p1 , . . . , pn )
Energy:
Z ∂φi ∂φj
= , i, j = 1, . . . , n
H(p) = H(p0 ) + f (p̃) dp̃ ∂pj ∂pi
γ
independence of γ
V2
Rigid bar with mass m, length L and
moment of inertia J respect to the CM. V1
CM
We consider only vertical displacements
and small rotations around CM. F2

F1

Under these assumptions, this can be described as an


explicit I-field, with constitutive relation

µ ¶ Ã 2 2
!µ ¶
1 L 1 L
V1 m + 4J2 m − 4J2 p1
= 1 L 1 L
V2 − + p2
m 4J m 4J
IC-fields ṗ1 = e1 f1 = φ1 (p1 , . . . , pI , q1 , . . . , qC )
.. ..
. .
eI ẽ1 f˜ ṗI = eI fI = φI (p1 , . . . , pI , q1 , . . . , qC )
1
fI
e1 ẽC q̇1 = f˜1 ẽ1 = φ̃1 (p1 , . . . , pI , q1 , . . . , qC )
IC .. ..
f1 f˜C . .
q̇C = f˜C ẽC = φ̃I (p1 , . . . , pI , q1 , . . . , qC )

Maxwell reciprocity equations

∂φi ∂φj ∂ φ̃i ∂ φ̃j


= , i, j = 1, . . . , I = , i, j = 1, . . . , C
∂pj ∂pi ∂qj ∂qi

∂φi ∂ φ̃j
= , i = 1, . . . , I, j = 1, . . . , C
∂qj ∂pi
A typical example of an IC-field is an electrical solenoid transducer.

A more academic example is

1 3 4 6
P1 0 GY 0 P2
..
2
m 5

C:C I :L

1
q̇2 = f1 − e6 To get an explicit IC-field, define
m state variables q, p such that f1 = q̇, e6 = ṗ
ṗ5 = e6
1
p = p5 , q = q2 + m p5

1 1
e1 = q− p
C mCµ ¶
1 1 1 Maxwell condition
f6 = − q+ + 2 p
mC L m C
R-fields Onsager forms
e2
f2 resistance form e = Φ(f )
e1 en
f1
R fn conductance form f = Φ−1 (e)

Mixed causality forms may also be possible

In the linear case, implicit R-fields without gyrators


or sources have Onsager forms with symmetric matrices.

If some (e, f ) pairs are interchanged in their causality from


an Onsager form, the corresponding matrix adquires antisymmetric
terms. Such contitutive relations are said to be in Casimir form.
e1
P1 1 R : R3
f1
Several forms are possible by
GY : m 0 R : R4
switching the causality around.
e2
P2 1 R : R5
f2

µ ¶ µ ¶µ ¶
e1 R3 + R4 m + R4 f1
=
e2 −m + R4 R4 + R5 f2

This Onsager form is not symmetric, due to the presence of a gyrator.


Junction structures
Assemblages of 0, 1, TF and GY elements which switch energy around.
Limiting cases of R-fields (without sources)which do not dissipate.

Unless modulated TF or GY elements are present, effort/flow


constitutive relations in a junction structure are always linear.

With an all-input power sign convention, the matrix


relating inputs to outputs must be antisymmetric.

Causality patterns are more restricted, though.

Junction structures without gyrators cannot accept


conductance or resistance causality on all ports.
P1 1
Pure conductance or resistance
forms are not possible.
m : TF 0 P3

GY ⎛ ⎞ ⎛ m
⎞⎛ ⎞
f1 0 −m e1

:r
r
P2 0 ⎝ e2 ⎠ = ⎝ m 0 −m ⎠ ⎝ f2 ⎠
f3 −mr m 0 e3

Multiport transformers are an special case of junction structures.


Through-power convention

P1 1 0 P3
With an all-input power
TF convention, (e1 , e2 , f3 , f4 ) would be
:m

obtained from (f1 , f2 , e3 , e4 ) with


1

an antisymmetric matrix.
P2 1 TF
.. 0 P4

m2
With the through-power convention, the matrix is symmetric
and can be decomposed into two matrices wich are transpose:
µ ¶ µ ¶µ ¶ µ ¶ µ ¶µ ¶
e1 1 1 e3 f3 1 m1 f1
= =
e2 m1 m2 e4 f4 1 m2 f2

M
.. The fact that the flow
TF transformation is given by M T
ensures the power continuity.
Multiport transformers need not have
the same number of inputs ans outputs.
Example: abc → dq transformation in induction machines.

Junction structures are also necessary to connect the bond graph


formalism with port Hamiltonian and Dirac structure concepts.
Thermodynamics from
the bond graph point of view
Pure substance with no motion, constant mass and
no electromagnetic or surface-tension forces:

internal energy u = u(s, v)


per unit mass
entropy volume
per unit mass per unit mass

Gibbs equation: du = T ds − p dv
absolute temperature pressure
∂u
T =
∂s
du = T ds − p dv ∂T ∂(−p)
∂u =
−p = ∂v ∂s
∂v

Maxwell relation for a 2-port C-field


with a power-through convention
T and p are efforts

T = T (s, v) constitutive for all-integral causality


equations
p = p(s, v)
T p
ṡ C v̇
ṡ and v̇ are the corresponding flows
In thermodynamics, mixed and all-derivative causality
is implemented by means of Legendre transformations.

entalphy h Gibbs equation

h = u + pv dh = du + p dv + v dp = T ds + v dp

h = h(s, p)

constitutive equations Maxwell condition


∂h
T =
T = T (s, p) ∂s ∂T ∂v
∂h =
v = v(s, p) v = ∂p ∂s
∂p

T p
mixed causality
ṡ C v̇
Helmholtz free energy f
Gibbs equation

f = u − Ts df = du − T ds − s dT = −s dT − p dv

f = f (T, v)

constitutive equations Maxwell condition


∂f
−s =
s = s(T, v) ∂T ∂p ∂s
∂f =
p = p(T, v) −p = ∂T ∂v
∂v

T p
mixed causality
ṡ C v̇
Gibbs free energy φ

φ = u + pv − T s dφ = du + p dv + v dp − T ds − s dT

= −s dT + v dp φ = φ(T, p)

Gibbs equation

constitutive equations Maxwell condition


∂φ
−s =
s = s(T, p) ∂T ∂v ∂(−s)
∂φ =
v = v(T, p) v = ∂T ∂p
∂p

T p
All-differential causality
ṡ C v̇
Any of the four formulations gives constitutive equations
which guarantee conservation of energy.

The computation path depends on the causality pattern.

For instance, assume the entalphy is given, h = h(s, p)


T p
ṡ C v̇

R ∂h
ṡ s= ṡ dt T =
∂s
h = h(s, p)
p ∂h
v =
∂p
∂2h ∂2h
v̇ v̇ = 2
ṗ + ṡ
∂p ∂s∂p
T
One can also give constitutive equations without
using any of the energy functions u, h, f or φ.

However, this can easily give impossible substances, which


violate the First Principle of Thermodynamics (energy conservation).

Ideal gas:
pv = RT

Since this is a pure substance of the type considered, another


constitutive equation is needed to specify the 2-port.

The remaining equation is related to the gas being mono- or diatomic.

Giving this second equation arbitrarily runs into the above problem.

It is better to start with two other relations and build


an energy function from them, incorporating pv = RT .
specific heat at constant pressure

∂h this makes sense since p is an


cp = input in the h(s, p) formulation
∂T
T is not a natural variable of h or u.
specific heat at constant volume

∂u this makes sense since v̇ is an


cv =
∂T input in the u(s, v) formulation

Together with pv = RT , we assume that cv


is a constant, determined by the particular ideal gas.

pv = RT
cp = cv + R
h = u + pv
∂u
cv =
∂T reference
u = cv (T − T0 )
temperature
cv constant

h = u + RT h is also function
of T alone
h = cp (T − T0 ) + RT0
∂h
cp =
∂T
cp constant
due to cp = cv + R

du dv dT dv
du = T ds − p dv ds = +p = cv +R
T T T v
µ ¶− cR
T v s v v
s = cv log + R log T = T0 e v
c
T0 v0 v0
integration of
the 1-form
dh dp dT dp
dh = T ds + v dp ds = −v = cp −v
T T T T
1 v dv v ³ cp ´ dv dp
= cp (p dv + v dp) − dp = cp + − 1 dp = cp + cv
RT T v T R v p
µ ¶− ccp
v p s v v
s = cp log + cv log p = p0 e cv
v0 p0 v0
integration of
the 1-form
µ ¶− ccp
s v v
constitutive equations for
p = p0 e cv
v0 a perfect gas in all-integral form
µ ¶− cR
s v v ṡ, v̇
T = T0 e cv
R, cv
v0 T, p
Exercise: compute the constitutive equations
for the other three causality patterns.

Chemical engineering:
transport phenomena

quantities of substances vary with time

Requires an extension of the basic


thermodynamic bond graph framework

stirred reaction tanks fuel cells Université Claude Bernard Lyon:


Bernhard Maschke & Christian Jallut

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