Effect of Friction on Ball-On-Sphere System Modelled by Bond Graph

Full Text (PDF, 391KB), PP.23-29

Views: 0 Downloads: 0


Abdulmumin M. Yesufu 1,* Aliyu D. Usman 2

1. Department of Computer Engineering, Zaria, 810212, Nigeria

2. Department of Electrical and Electronics Engineering, Kaduna, 800001, Nigeria

* Corresponding author.

DOI: https://doi.org/10.5815/ijmecs.2017.07.03

Received: 16 Apr. 2017 / Revised: 11 May 2017 / Accepted: 12 Jun. 2017 / Published: 8 Jul. 2017

Index Terms

Ball-on-Sphere System, Non-linear System, Bond graph, Friction and Modelling


This paper presents the model analysis of ball-on-sphere system by considering the effect of friction. The ball-on-sphere system is modelled using bond graph technique. In the bond graph modelling procedures of the system, the various subsystems, storage elements, junction structures, transformer elements, dissipating element with appropriate causality assignments and energy exchange that make up the ball-on-sphere system were identified and modelled. In the model analysis of the ball-on-sphere system, the developed model with effect of friction had time of angular position response of the ball ( ) achieved at 0.5253s while in the system model without effect of friction, time of 0.5408s was achieved for the angular position response of the ball ( ). This shows 2.9% improvement of the angular position response of the ball considering frictional effect in the developed bond graph model of the system.

Cite This Paper

Abdulmumin M. Yesufu., Aliyu D. Usman, "Effect of Friction on Ball-On-Sphere System Modelled by Bond Graph", International Journal of Modern Education and Computer Science(IJMECS), Vol.9, No.7, pp.23-29, 2017. DOI:10.5815/ijmecs.2017.07.03


[1]Dauphin-Tanguy, G., Rahmani, A. & Sueur, C. (1999). Bond graph aided design of controlled systems. Simulation Practice and Theory, 7(5), 493-513.
[2]Hassan. (2003). Nonlinear Systems Third Edition,Prentice Hall, 750, ISBN 0-13-067389-7. 47(4), 208.
[3]Yu, B.& Van Paassen, A. (2004). Simulink and bond graph modeling of an air-conditioned room. Simulation Modelling Practice and Theory, 12(1), 61-76.
[4]Borutzky, W., Orsoni, A., & Zobel, R. (2006). Bond graph modelling and simulation of mechatronic systems an introduction into the methodology. Paper presented at the 20th European conference on modeling and simulation.
[5]Kayani, S. A. & Malik, M. A. (2008). Bond-graphs+ genetic programming: Analysis of an automatically synthesized rotary mechanical system. In Proceedings of the 10th Annual Conference Companion on Genetic and Evolutionary Computation. (pp. 2165-2168).
[6]Ho, M.-T., Tu, Y.-W., & Lin, H.-S. (2009). Controlling a ball and wheel system using full-state-feedback linearization [Focus on Education]. Control Systems, IEEE, 29(5), 93-101.
[7]Binder, E. M., Hirokawa, N.& Windhorst, U. (2009). Nonlinear Control Systems. Encyclopedia of Neuroscience, 1-9.
[8]Boba┼ču, E., Roman, M. & ┼×endrescu, D. (2010). Bond Graph Modelling and Nonlinear Control of an Inverted Pendulum. In Process Control 2010 (1), 1-5.
[9]Mohammad, N.& Khashabi, D. (2011). Modelling and Control of Ball and Plate System. Amirkabir University of Technology, 1-22.
[10]Liu, S.-Y., Rizal, Y., & Ho, M.-T. (2011). Stabilization of a ball and sphere system using feedback linearization and sliding mode control. Paper presented at the Control Conference (ASCC), 2011 8th Asian.
[11]Ngwompo, R. F. (2011). Bond graph-based filtered inversion of multivariable physical systems. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 226(1), 125-140.
[12]Zakeri, E., Ghahramani, A., Moezi, S. A. & Yousef Bazargan-Lari. (2012). Adaptive Feedback Linearization Control Of a Ball on Sphere System. International Conference on Mechanical Engineering and Advanced Technology.
[13]Karnopp, D. C., Margolis, D. L. & Rosenberg, R. C. (2012). Multiport Systems and Bond Graphs. System Dynamics: Modelling, Simulation, and Control of Mechatronic Systems, Fifth Edition, 17-36.
[14]Ho, M.-T., Rizal, Y.& Cheng, W.-S. (2013). Stabilization of a vision-based ball-on-sphere system. IEEE International Conference on Control Applications (CCA), 2013. (pp. 929-934).
[15]Alireza, M. S., Ehsan, Z., Yousef, B.-L.& Mohammad, T. (2014). Control of a ball on sphere system with adaptive neural network method for regulation purpose. Journal of Applied Sciences, 14(17), 2014.
[16]Benmoussa, S., Bouamama, B. O.& Merzouki, R. (2014). Bond graph approach for plant fault detection and isolation: Application to intelligent autonomous vehicle. IEEE Transactions on Automation Science and Engineering, 11(2), 585-593.
[17]Moezi, S. A., Zakeri, E.& Bazargan-Lari, Y. (2014). Control of a ball on sphere system with adaptive neural network method for regulation purpose. Journal of Applied Sciences, 14(17), 2014.