Part2: Systematic

Modelling
Methods
Chapter6: Network Methods

Introduction
Interconnective constraints can be formulized in a
number of ways.
The most advanced method is network analysis.
Any lumped parameters (a pairs of energy variables)of
system
variables which contains proper interconnective
constraints is
matched with the network analysis.

The representation of systems by linear

graphs
System elements as oriented line segments

Linear graph is a set of connected lines and the line

segments represents the element of systems(one-port
or two-port elements).
To construct the line we have to section a convention.
The line is oriented to express the reference direction of
elements effort and flow variables.
The convention is that one-port with e and f, is drawn as
line segment oriented in the reference direction for
positive flows and decreasing efforts(direction of
positive power flow).

System elements as oriented line

segments
The convention is shown by figure (a) and (b).

System elements as oriented

line segments
The line segment for mechanical system(translation).

System elements as oriented

line segments
The line segment for mechanical system(translation).

System elements as oriented

line segments
The line segment for mechanical system(rotation).

System elements as oriented

line segments
The line segment for mechanical system(rotation).

System elements as oriented

line segments
The line segment for electrical system(rotation).

System elements as oriented

line segments
The line segment for fluid system elements.

System elements as oriented

line segments
The line segment for fluid system elements.

System elements as oriented

line segments
The line segment for thermal system elements.

System elements as oriented

line segments
The line segments represent the energy sources:
For figure (a): the flow source , the effort is negative due
to increase in the direction of the arrow.
For figure (b): the effort : the positive flow is
Opposite of the arrow

 If the effort and flow reference directions are shown as

figure 6.4 ,
The coupled source representation leads to the line
segment symbols as shown in figure 6.5

Figure 6.4

Figure 6.5

Example of system graph

To construct the graph we have to follow the points:

Example of system graph

A system graph for electrical system.

Example of system graph

A system graph for mechanical system.

Example of system graph

A system graph for mechanical system.

Example of system graph

The effect of port velocity conventions on mechanical
two ports.

Example of system graph

The effect of port velocity conventions on mechanical
two ports.

Example of system graph

A system graph for fluid system.

Example of system graph

A system graph for thermal system.

Linear graph definition

the line segments are called edges (labelled with
number)
The end of a set of edges is called a node or vertex
(labelled with letters)
The graph with two part
is shown in this figure

Linear graph definition

Sub-graph is define as a sub-set of edges and nodes of
the graph mutually incident exactly as in the original
graph.
Sub-graph (features) is not the same as one of a part of
graph.
A sub-graph is shown in this figure.

Linear graph definition

The degree of a node is the number of edges
connected to that node.
A loopset is a set if edges and nodes if a graph such
that each node have degree 2.
A loop is the simple closed path defined by a loopset.
A cutset is a set of edges of a connected graph such
that cutting the edges separates the graph in two
connected graph.
An ambit is the simple closed path interesting all the
edges of cutset. If the cutset is a node cutset, the
corresponding ambit is a node cutset. It is shown if

Linear graph definition

Linear graph definition

A tree of a graph is a connected subgraph containing
all the nodes of a graph. But no loops. The complement
of a tree is called co-tree and is that part of a graph
which remains when the tree is removed. The edges in a
tree are termed branches and those in a co-tree are
called chords.

Linear graph definition

A basic cutset is defined for a particular tree as the
cutset consisting of one tree branch and some or all the
co-tree chords.
A basic loopset is defined for particular tree as a
loopset consisting of one chord and some or all of the
branches of the tree.
A graph is planar if it can be deformed, without
breaking an edge, to lie on a plane with no two edges
crossing.
The meshes of a planar graph are the set of empty
loops; they comprise a set of interior meshes and one
exterior meshes. A loopset defined for a mesh is called

Linear graph definition

For a planar, there is no breaking edges and two edges
crossing. Non-planar is shown in these two figure.

Linear graph definition

The meshes of a planar graph is shown in this figure

Algebraic forms of the

interconnective constraints
The statement of interconnective rule in term of
generalized system variables.

Flow and effort variable are directed variable .

Flow continuity constraint

The convention is that a flow variable is positive if the
associated edge is directed away from an ambit. The
complete cutset matrix C0 is constructed as follows:

Flow continuity constraint

with the complete outset matrix constructed, the flow
continuity
constraint can be stated:

Where
is a b vector of the edge flows, and 0 is a
zero vector.

Flow continuity constraint

complete cutset matrix

Flow continuity constraint

it is important to find completed cutset matrices which
are
independent. It is called the complete cutset matrix Cn0
which is
defined by deleting from C0.
For a graph with b edges and n nodes the complete
cutset matrix has
dimension (n, b).

Flow continuity constraint

The complete node cutset matrix still contains
redundant information since there is linear dependence
in the rows. Actually, the rank of the complete node
cutset matrix of a connected graph of n nodes is
(n-1).
Observe that a tree of a connected graph of n nodes has
n-1 branches. Thus, if the flow constraints are written
for the basic cutset corresponding to a tree one gets

Where Cb is an (n-1) by n matrix termed the basic

Flow continuity constraint

If the edge flow vector is ordered such that the tree
branch flows come first and the ordering of the rows of Cb
corresponds with the branches in the edge flow vector,
equation 4 can be written:

Where I is a unit matrix and H is a matrix of dimension

(n-1, b-n+1).
the vector f and f are respectively the tree branch flow
vector and co-tree chord flow vector which are obtained

Flow continuity constraint

Consider the graph with its associated tree shown in the
this figure.
The basic cutset matrix of have
rank(n-1) due to dimension of
Unit matrix (n-1). Thus the flow
Constraint is completely and
independently specified.

Effort compatibility constraint

A set of effort constraint formed for all the loopsets:
Where ee is b vector of edge efforts and 0 is the zero
vector(x)
l is possible loop sets. Matrix B0 is of dimension (l, b)

Effort compatibility constraint

The basic loopset matrix B0 is obtained by writing the
basic loopset effort constraints which are associated
with each co-tree chord and orienting the basic loops to
be compatible with the chord orientations.
The basic loopset equation above can be ordered such
as that the chord effort last
in the
the edge
Where
F isboth
a matrix
of effort
vector and the rows of Bb, and the same ordering.
dimension (b-n+1, n-1),
And I is a unit matrix (bn+1)

Effort compatibility constraint

A basic loopset matrix for this figure.

 The mesh loopset equations are obtained by defining

consistently oriented mesh loops on the graph
If the interior meshes are clock-wise the exterior mesh
mush be anti-clock-wise for consistency.
The mesh loopset matrix Bm0 is obtained by assembling
mesh loopset equations.
(b-n+2) mesh equations, mesh loopset matrix rank (bn+1).
So, (b-n+1) mesh loopset equation form a complete and
independent set of effort constraints.
The interior mesh loopset matrix is denoted Bm

Relationship between cutset and

loopset matrices
Let C0 and B0 are complete cutset and complete
loopset matrices respectively (n nodes and b edges).
Let this matrix have ijth element mij given by

Where cij and bij are the ik the and jk elements of Cn0
and B0

Relationship between cutset and

loopset matrices
The loopset must contain two edges which are incident
on the node in order to fulfill the definition of a loopset.
Let the incident edges be labelled f and h respectively
as shown in this figure.

Relationship between cutset and

loopset matrices
If C and B are submatrices obtained by deleting rows
from the complete matrices, then :
When the submatrices are the basic cutset and loopset
matrices, then

Thus, the basic cutset and loopset matrices can be

written in the form:

The relationship between node

efforts, loop flows, edge efforts and
edge flows

The node efforts of the graph is measured with respect

to datum point.
denote the efforts at a, b, c
with respect to d as ea , eb , ec

The relationship between node

efforts, loop flows, edge efforts and
edge flows
Then the edge effort are related to the node efforts by
the vector-matrix relation:
where the
convention is that the
edge arrow is
directed in the
direction of
decreasing effort.

The relationship between node

efforts, loop flows, edge efforts and
edge flows

The node cutset equations for nodes a, b, c are given by

Let Cn the reduced node cutset matrix obtained by

discarding a node. en be the vector of node efforts
measured with respect to the discarded node, then the
edge effort flow vector ee is given by:
This equation is be formed as linear combination of n-1

The relationship between node

efforts, loop flows, edge efforts and
edge flows

Define circulating flows f1m , f2m in the interior meshes of

the graph in this figure and then the mesh effort
constraint for the interior meshes:

The relationship between node efforts,

loop flows, edge efforts and edge flows
The edge of the flow can be written in term of the mesh flows as:
Let B be the loopset matrix for a set of (b-n+1) independent loops
of a
connected graph and fl be the vector of
flow circulating in the specific loops, then
the edge flow related to loop flow vector
by the transformation:
Thus the b edge flow can be formed as a linear combination of (bn+1) flow in a set of independent graph loops.

Representation of edge constitutive

relations and source equivalents
Source representation
There are two cases that need to be considered:
1. Effort source in series with a passive
element(store or dissipator)
2. Flow source in parallels with a passive element
or a combination of
both
Any other forms can transform to these basic form.

Source representation
Consider an effort source parallel connected two nodes.

Source representation
Consider a flow source in series with an element or set
of elements

Source equivalents
The loop and node analysis method above are used
when there is only flow source or effort.
If a mix of both source is driving graph, sometimes it is
convenient to replace one set of source by equivalent
complementary sources.
Consider the effort source in series combination .

Source equivalent
The performance of the circuit between a and c is
identical .

Note that the network elements are assumed linear and

initial condition are taken as zero so that the edge bc
may be written with constitutive relation in Laplace
transform form.

Source equivalents
:

The transform relation for generalized element is

written:

Source equivalents for initial

condition
When the constitutive relations of flow stores and effort
store are Laplace transformed, the initial effort and flow
respectively appear as additive term in the transform
equation.
The additive terms can be absorbed into our scheme by
replacing by equivalent source elements.
Consider a generalized flow store C with effort at time
t=0 written as e(0-).
Time domain

Laplace transform

Source equivalents for initial

condition

is the impedance of the flow store and

is
the transform of the impulsive initial flow of element.

Source equivalents for initial

condition
Consider effort store L with initial flow
Time domain

Laplace transform

Source equivalents for initial

condition
sL is impedance of the element and additional effort
is the transform of the initial impulsive effort
which associates with element

The general edge: combining source and

passive elements
For the development of nodes and loops analysis, each
edge though of as consisting of a passive element with
the effort variable and flow variables
a
series effort source and parallel flow source
The index k is the edge identifier.

The general edge: combining source

and passive elements
The flow continuity constraint can be written as
Where
is the edge passive element flow vector; and
is the flow source vector and C is an appropriate
cutset matrix.
the effort compatibility constraint can be similarly
written,
Where
is the edge passive element effort vector; is t
is the effort source vector and B is an appropriate loopset

The general edge: combining source

and passive elements
The edge passive element flows and efforts are related
by generalized transform impedances.
For effort store
(neglecting initial condition):
For flow store

(neglecting initial condition):

The general edge: combining source

and passive elements
For dissipator

When assembled into matrix form, the edge passive

flows and efforts are related by
is generalizes impedance matrix for the graph.
For graph containing no two-ports the
matrix is
diagonal with entries composed of the generalized
impedances of store and dissipaters.

The general edge: combining source

and passive elements
The inverse of
matrix is termed
, the
generalized admittance for the graph, and defined by