## 3 Dynamic Energy Consumption Model of the System
During this period, it is necessary to overcome the motion damping of the correction device on the deck (resistive element, R\({}_{18}\)) and the external load of the helicopter (potential source, Se). At the same time, the length of the steel cable varies with the force applied (capacitive element, C\({}_{15}\)); 2 The rotation of the steel cable drum is driven by chain drives (converters, TF3 and TF4) to drive the cable drum (inertia element, I\({}_{24}\)) to rotate. During this period, it is necessary to overcome the rotational damping of the cable drum (resistive element, R\({}_{25}\)). The length of the chain changes with the force applied (capacitive element, C\({}_{21}\)), and the cable does not transmit power to the correction device. On the basis of the above energy transfer process and the working principle of the traction system, a bond graph model shown in Figure 7 can be drawn. The reference values for each bonding element in the figure are shown in Table 1.  
Take the energy storage bonding entities C\({}_{2}\), I\({}_{4}\), C\({}_{8}\), I\({}_{10}\), C\({}_{15}\), I\({}_{17}\), C\({}_{21}\), and I\({}_{24}\) with integral causality and the corresponding generalized momentum and displacement q\({}_{2}\) \begin{table}
\begin{tabular}{c c c c} \hline \hline
**Bonded Primitive** & **Reference Value** & **Bonded Primitive** & **Reference Value** \\ \hline C\({}_{2}\) & \(1/5.4\times 10^{5}\) N\(\cdot\)m/rad & C\({}_{15}\) & \(1/1\times 10^{8}\) N/m \\ I\({}_{4}\) & \(4.32\times 10^{-4}\) kg\(\cdot\)m\({}^{2}\) & I\({}_{17}\) & 10,000 kg \\ R\({}_{5}\) & \(1\times 10^{-3}\) & R\({}_{18}\) & 100 N/(m/s) \\ TF1 & 30 & TF3 & 10 rad/m \\ C\({}_{8}\) & \(1/2\times 10^{6}\) N\(\cdot\)m/rad & C\({}_{21}\) & \(1/5\times 10^{6}\) N/m \\ I\({}_{10}\) & 14.2401 kg\(\cdot\)m\({}^{2}\) & TF4 & 0.1 m/rad \\ R\({}_{11}\) & 0.2 N\(\cdot\)m/(rad/s) & I\({}_{24}\) & 14.17 kg\(\cdot\)m\({}^{2}\) \\ TF2 & 0.275 rad/m & R\({}_{25}\) & 0.1 N\(\cdot\)m/(rad/s) \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Parametric statistics. Figure 7: Bonding diagram of the electric drive traction system. P4, qs, P1o, q15, P17, q21, and p24 as the state variables of the system. The corresponding bonding entity has the relationship shown in (2). All resistive components R\({}_{5}\), R\({}_{11}\), R\({}_{18}\), and R\({}_{25}\) have the potential flow relationship shown in the following equation. All converters TF1, TF2, TF3, and TF4 have the relationships shown in Equations (4)-(7). \[\left\{ \begin{array}{l}e_{2}=\frac{1}{C_{2}}\cdot q_{2}\\ f_{4}=\frac{1}{f_{4}}\cdot p_{4}\\ e_{8}=\frac{1}{C_{8}}\cdot q_{8}\\ f_{10}=\frac{1}{1_{0}}\cdot p_{10}\\ e_{15}=\frac{1}{C_{15}}\cdot q_{15}\\ f_{17}=\frac{1}{1_{0}^{2}}\cdot p_{17}\\ e_{21}=\frac{1}{C_{21}}\cdot q_{21}\\ f_{24}=\frac{1}{1_{24}}\cdot p_{24}\end{array} \right. \tag{2}\]  
\[\left\{ \begin{array}{l}e_{5}=R_{5}\cdot f_{5}\\ e_{11}=R_{11}\cdot f_{11}\\ e_{18}=R_{18}\cdot f_{18}\\ e_{25}=R_{25}\cdot f_{25}\end{array} \right. \tag{3}\]  
\[\left\{ \begin{array}{l}e_{6}=\frac{1}{m_{1}}\cdot c_{7}\\ f_{7}=\frac{1}{m_{1}}\cdot f_{6}\end{array} \right. \tag{4}\]  
\[\left\{ \begin{array}{l}e_{13}=\frac{1}{m_{2}}\cdot e_{14}\\ f_{14}=\frac{1}{m_{2}}\cdot f_{13}\end{array} \right. \tag{5}\]  
\[\left\{ \begin{array}{l}e_{12}=\frac{1}{m_{3}}\cdot e_{20}\\ f_{20}=\frac{1}{m_{3}}\cdot f_{12}\end{array} \right. \tag{6}\]  
\[\left\{ \begin{array}{l}e_{23}=m_{4}\cdot e_{22}\\ f_{22}=m_{4}\cdot f_{23}\end{array} \right. \tag{7}\]  
All 0-junctions and 1-junctions have the relationships shown in Equations (8)-(15). \[\left\{ \begin{array}{l}e_{1}=e_{2}=e_{3}\\ f_{2}=Sf-f_{3}\end{array} \right. \tag{8}\]  
\[\left\{ \begin{array}{l}e_{4}=e_{3}-e_{5}-e_{6}\\ f_{3}=f_{4}=f_{5}=f_{6}\end{array} \right. \tag{9}\]  
\[\left\{ \begin{array}{l}e_{7}=e_{8}=e_{9}\\ f_{8}=f_{7}-f_{9}\end{array} \right. \tag{10}\]  
\[\left\{ \begin{array}{l}e_{10}=e_{9}-e_{11}-e_{12}-e_{13}\\ f_{9}=f_{10}=f_{11}=f_{12}=f_{13}\end{array} \right. \tag{11}\]  
\[\left\{