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graph theory
Second part: multiport field and
junction structures, and
thermodynamics
Multiport fields
We will look at multiport generalizations of C, I and R elements.
Used mainly for sets of bonds
C-fields f2
e2 with geometrical properties.
e
e1 en
f1
C
fn
n
f
C
State variables q1 , q2 , . . . , qn Allows easier displaying
of individual causalities
q̇1 = f1 e1 = φ1 (q1 , . . . , qn )
q̇2 = f2 e2 = φ2 (q1 , . . . , qn )
.. ..
. .
q̇n = fn en = φn (q1 , . . . , qn )
Energy is computed as
Z tX
n
H(t) = H(t0 ) + ek (τ )fk (τ ) dτ
t0 k=1
C3
P1 C1 C2 P2
C : C1 C : C3 C : C2
C3
P1 C1 C2 P2 3 5 4
1 6 7 2
P1 0 1 0 P2
e1 = e6 = e3 f6 = f 5 = f7 e4 = e7 = e2
f3 = f1 + f6 e5 = −e6 − e7 f4 = f7 + f2
q̇3 = f3 q5 = C3 e5 q̇4 = f4 f1 = i 1
1 1 f2 = i 2
e3 = C1 q3 f5 = q̇5 e4 = C2 q4
µ ¶
q3 q4
q5 = C3 e5 = C3 (−e6 − e7 ) = −C3 (e3 + e4 ) = −C3 +
C1 C2
µ ¶
q̇3 q̇4
q̇5 = −C3 +
C1 C2
¶ µ
q̇3 q̇4
q̇3 = f3 = f1 + f6 = i1 + f5 = i1 + q̇5 = i1 − C3 +
C1 C2
µ ¶
q̇3 q̇4
q̇4 = f4 = f2 + f7 = i2 + f5 = i2 + q̇5 = i2 − C3 +
C1 C2
à !µ ¶ µ ¶
C3 C3
1 + C1 C2 q̇3 i1
C3 C3 =
C1 1 + C2
q̇4 i2
µ ¶ µ ¶µ ¶
q̇3 1 C 1 C2 + C1 C 3 −C1 C3 i1
=
q̇4 C1 C 2 + C 2 C3 + C 1 C 3 −C2 C3 C1 C 2 + C2 C3 i2
k
This is a 2-port C-field in stiffness form.
e1 e2
f1
C f2
The dependent state variable has been hidden away from the port interface.
I-fields f2
e2
e
e1
f1
I
en
fn
n
f I
State variables p1 , p2 , . . . , pn
ṗ1 = e1 f1 = φ1 (p1 , . . . , pn )
ṗ2 = e2 f2 = φ2 (p1 , . . . , pn )
.. ..
. .
ṗn = en fn = φn (p1 , . . . , pn )
Energy:
Z ∂φi ∂φj
= , i, j = 1, . . . , n
H(p) = H(p0 ) + f (p̃) dp̃ ∂pj ∂pi
γ
independence of γ
V2
Rigid bar with mass m, length L and
moment of inertia J respect to the CM. V1
CM
We consider only vertical displacements
and small rotations around CM. F2
F1
µ ¶ Ã 2 2
!µ ¶
1 L 1 L
V1 m + 4J2 m − 4J2 p1
= 1 L 1 L
V2 − + p2
m 4J m 4J
IC-fields ṗ1 = e1 f1 = φ1 (p1 , . . . , pI , q1 , . . . , qC )
.. ..
. .
eI ẽ1 f˜ ṗI = eI fI = φI (p1 , . . . , pI , q1 , . . . , qC )
1
fI
e1 ẽC q̇1 = f˜1 ẽ1 = φ̃1 (p1 , . . . , pI , q1 , . . . , qC )
IC .. ..
f1 f˜C . .
q̇C = f˜C ẽC = φ̃I (p1 , . . . , pI , q1 , . . . , qC )
∂φi ∂ φ̃j
= , i = 1, . . . , I, j = 1, . . . , C
∂qj ∂pi
A typical example of an IC-field is an electrical solenoid transducer.
1 3 4 6
P1 0 GY 0 P2
..
2
m 5
C:C I :L
1
q̇2 = f1 − e6 To get an explicit IC-field, define
m state variables q, p such that f1 = q̇, e6 = ṗ
ṗ5 = e6
1
p = p5 , q = q2 + m p5
1 1
e1 = q− p
C mCµ ¶
1 1 1 Maxwell condition
f6 = − q+ + 2 p
mC L m C
R-fields Onsager forms
e2
f2 resistance form e = Φ(f )
e1 en
f1
R fn conductance form f = Φ−1 (e)
µ ¶ µ ¶µ ¶
e1 R3 + R4 m + R4 f1
=
e2 −m + R4 R4 + R5 f2
GY ⎛ ⎞ ⎛ m
⎞⎛ ⎞
f1 0 −m e1
:r
r
P2 0 ⎝ e2 ⎠ = ⎝ m 0 −m ⎠ ⎝ f2 ⎠
f3 −mr m 0 e3
P1 1 0 P3
With an all-input power
TF convention, (e1 , e2 , f3 , f4 ) would be
:m
an antisymmetric matrix.
P2 1 TF
.. 0 P4
m2
With the through-power convention, the matrix is symmetric
and can be decomposed into two matrices wich are transpose:
µ ¶ µ ¶µ ¶ µ ¶ µ ¶µ ¶
e1 1 1 e3 f3 1 m1 f1
= =
e2 m1 m2 e4 f4 1 m2 f2
M
.. The fact that the flow
TF transformation is given by M T
ensures the power continuity.
Multiport transformers need not have
the same number of inputs ans outputs.
Example: abc → dq transformation in induction machines.
Gibbs equation: du = T ds − p dv
absolute temperature pressure
∂u
T =
∂s
du = T ds − p dv ∂T ∂(−p)
∂u =
−p = ∂v ∂s
∂v
h = u + pv dh = du + p dv + v dp = T ds + v dp
h = h(s, p)
T p
mixed causality
ṡ C v̇
Helmholtz free energy f
Gibbs equation
f = u − Ts df = du − T ds − s dT = −s dT − p dv
f = f (T, v)
T p
mixed causality
ṡ C v̇
Gibbs free energy φ
φ = u + pv − T s dφ = du + p dv + v dp − T ds − s dT
= −s dT + v dp φ = φ(T, p)
Gibbs equation
T p
All-differential causality
ṡ C v̇
Any of the four formulations gives constitutive equations
which guarantee conservation of energy.
R ∂h
ṡ s= ṡ dt T =
∂s
h = h(s, p)
p ∂h
v =
∂p
∂2h ∂2h
v̇ v̇ = 2
ṗ + ṡ
∂p ∂s∂p
T
One can also give constitutive equations without
using any of the energy functions u, h, f or φ.
Ideal gas:
pv = RT
Giving this second equation arbitrarily runs into the above problem.
pv = RT
cp = cv + R
h = u + pv
∂u
cv =
∂T reference
u = cv (T − T0 )
temperature
cv constant
h = u + RT h is also function
of T alone
h = cp (T − T0 ) + RT0
∂h
cp =
∂T
cp constant
due to cp = cv + R
du dv dT dv
du = T ds − p dv ds = +p = cv +R
T T T v
µ ¶− cR
T v s v v
s = cv log + R log T = T0 e v
c
T0 v0 v0
integration of
the 1-form
dh dp dT dp
dh = T ds + v dp ds = −v = cp −v
T T T T
1 v dv v ³ cp ´ dv dp
= cp (p dv + v dp) − dp = cp + − 1 dp = cp + cv
RT T v T R v p
µ ¶− ccp
v p s v v
s = cp log + cv log p = p0 e cv
v0 p0 v0
integration of
the 1-form
µ ¶− ccp
s v v
constitutive equations for
p = p0 e cv
v0 a perfect gas in all-integral form
µ ¶− cR
s v v ṡ, v̇
T = T0 e cv
R, cv
v0 T, p
Exercise: compute the constitutive equations
for the other three causality patterns.
Chemical engineering:
transport phenomena