The Power-Oriented Graphs for Modeling Mechanical Systems with Time-Varying Inertia

The aim of this paper is to show how mechanical systems with time-varying inertia can be modeled by using the Power-Oriented Graphs technique. The reduced time-varying system is obtained starting from an extended Power-Oriented Graph model with masses and elasticities and applying a rectangular congruent transformation which eliminates the elasticities. The presented method is compared with the well established Bond Graphs modeling technique. The model of a crank-connecting rod system is considered as an example.