Ch5: Interconnection of

system elments

Introduction
One port element can be interconnected in two way:
series and parallel.
Due to the interconnection, two set of constraint are
written:
For series

parallel

outline
Introduction
Mechanical systems
Electrical systems

Introduction
The illustration of series and parallel connected element.

Introduction
Generally, these relationship can be stated as
compatibility or
continuity constraints on the effort and flow variables.
For the compatibility constraints(effort variable), the
sum all the
effort on the closed loop is equal to 0.
For continuity of flow, the sum all the flow at one
common terminal is
equal to zero.

Introduction
The illustration of compatibility and continuity
constraint

 The
mathematic

Introduction
modelling

consist of The
combination of
the
interconnective
constraints
with
constitutive
and

Mechanical Systems

Interconnective Relations of Force and Velocity

Mostly, the interconnective constraint focus on force
and velocity
associated to objects in the plane motion.
The term compatibility of velocity and continuity of
force are used.

Interconnective Relations of
Force and Velocity
We consider the collection of points {j} (j=0,1,,n). The
compatibility constraints on the velocity is :

The application of the

interconnective rule
We consider the object mass C consisting mass m. The
problem is to find the mathematic modelling to describe
the motion of the object respected to time when it is
subjected the force F(t).

 To solve this, first we disconnect the spring and damper

and then draw body diagram.

The application of the

interconnective rule
The compatibility of velocity:

The constitutive relation for system element:

The dynamic relation for system variable

 The force and velocity convention

The application of the

interconnective rule
Momentum p and x10 are the state variable of the
system.

These equation form is called a internal description of

the system.
The equations are the first-order state of the equation.
Thus we have to transform it to a single ordinary
(a)
differential equation in term of the interested variable.
The modelling of the mechanical system become:

The application of the

interconnective rule
The equation (a) which is in term of the displacement
variable is
called the external description of the system.
For the external description, it is always possible to find
two
complementary equation set (in term of x10 or p).
In term of momentum variable the equation (a) cam be
derived:

Electrical systems

Interconnective Laws for Current and

Voltage
The current law of Kirchhoff is a continuity constraint of
flow variable (current i ).

Interconnective Laws for

Current and Voltage
Kirchhoffs law of voltage is a compatibility of effort
variable ( )

Application of the interconnective

rules

The interconnective relations (Kirchhoffs law),

constitutive relation of the circuit elements, and
dynamic relations of circuit variables are used to solve
practical circuit problems.
Let consider a simple electrical circuit

Application of the interconnective

rules
Apply the Kirchhoffs law for voltage, and current
(b)
The constitutive and dynamic relations:
(c)
(d)

Application of the interconnective

rules
By combining equation (b),(c), and (d), we get the
internal description of the system:

There are two complementary external descriptions of

the system.
1. One is in terms of charge variable

Application of the interconnective

rules
L
The another is in term of flux linkage variable

Both complementary description are wisely used in

electrical circuit analyze.
In specific case, we obtains the equation in term of
current and voltage.