This paper starts with a development of a simple, basic bond graph model of automotive power trains. The model contains key components needed to reproduce the dominant (shuffle) mode oscillations that are often observed in manual transmission vehicles. The basic model is illustrated with an example and supported by experimental data. Various extensions of the basic model are also considered, including four wheel drive vehicles and power trains with automatic transmissions. The modeling extensions were facilitated by a generic bond graph structure for planetary gears, which are appropriately modified for the present tasks. The derived models are useful for preliminary assessment of the effects of power train system/component design changes, and for power train control system design.

Bond graph modeling of automotive power trains

This paper presents a survey of the bond graph method from its conception and creation by Prof. Henry Paynter to the present. A thematic classification of the bibliographical material is given depending on whether work deals with the definition of theoretical details of bond graphs, applications of bond graphs to particular fields, or if it deals with a computer program developed using the bond graph theory. A list of journals which publish bond graph related articles, as well as textbooks is also presented. The survey, though exhaustive, does not pretend to be all inclusive. Some works may have been unintentionally omitted due to obvious limitations on accessing and listing all the relevant literature concerning the topic.

A survey of bond graphs : Theory, applications and programs

The bond graph notation is defined and its underlying port-concept is explained. Some manipulation techniques are demonstrated and its place in the process of modeling of dynamic system behavior is discussed.

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Modeling and Simulation of Dynamic Systems using Bond Graphs

The authors propose a pole placement control design to solve efficiently the problem of active control of longitudinal car oscillations. A simplified model including an approximation of the delay is derived from a nonlinear high order drive-train model. The controller is designed from a methodic choice of the closed loop poles location. It is then discretized using a time varying sampling period depending on the engine speed. The discrete controller is tested on the nonlinear drive-train model.

Active control of future vehicles drivelines

This bibliography augments and includes the bibliographies of V. D. Gebben, published in the Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol. 99, No. 2, pp. 143-145, 1977 and in the Journal of the Franklin Institute, Vol. 308, No. 3, pp. 361-369, 1979. The publications are listed alphabetically according to the year in which they have appeared.

Although the authors have tried to produce an exhaustive list of bond graph publications, it is most likely that there still are oversights. Since it is our intention to make periodical updates of the bibliography readers are invited to send full bibliographical details of any missing or new bond graph or related publication, to the following address: Twente University of Technology, Department of Electrical Engineering, P.O. Box 217, 7500 AE Enschede, The Netherlands.

D. Karnopp

Papers

Application of Bond Graph Techniques to the Study of Vehicle Drive Line Dynamics