Aspects of derivative causality in bond-graph models

The bond-graph method used in the analysis of system dynamics problems leads to a system containing a number of differential equations equal to the number of energy storing elements in integral causality and a number of algebraic equations equal to the number of energy storing elements in derivative causality. When the system has many energy storing elements in derivative causality, the system of equations becomes a very difficult differential-algebraic one. The paper proposes the simplest procedure for finding the appropriate form for numerical simulation of the equations system. The efficiency of the proposed solution is exemplified by using the bond-graph model of a mechanical system which contains nine energy storing elements in derivative causality