Introduction to Simulation - Lecture 2

Equation Formulation Methods

Jacob White

Thanks to Deepak Ramaswamy, Michal Rewienski,

and Karen Veroy

Outline
Formulating Equations from Schematics
Struts and Joints Example

Matrix Construction From Schematics

Stamping Procedure

Two Formulation Approaches

Node-Branch More general but less efficient
Nodal Derivable from Node-Branch

Formulating Equations
from Schematics

Struts Example
Identifying Unknowns

x1 , y1

x2 , y2

0, 0

1, 0

hinged

Assign each joint an X,Y position, with one

joint as zero.
SMA-HPC 2003 MIT

Given a schematic for the struts, the problem is to determine the joint positions and
the strut forces.
Recall the joints in the struts problem correspond physically to the location where
steel beams are bolted together. The joints are also analogous to the nodes in the
circuit, but there is an important difference. The joint position is a vector because
one needs two (X,Y) (three (X,Y,Z)) coordinates to specify a joint position in two
(three) dimensions.
The joint positions are labeled x1,y1,x2,y2,..xj,yj where j is the number of joints
whose positions are unknown. Like in circuits, in struts and joints there is also an
issue about position reference. The position of a joint is usually specified with
respect to a reference joint.
Note also the symbol

This symbol is used to denote a fixed structure ( like a concrete wall, for example).
Joints on such a wall have their positions fixed and usually one such joint is selected
as the reference joint. The reference joint has the position 0,0
( 0,0,0 in three dimensions).

Formulating Equations
from Schematics
3

fx , f y
1

fx , f y

Struts Example
Identifying Unknowns

1
4

fx ,
fy

fx , f y

f lo a d

Assign each strut an X and Y force component.

SMA-HPC 2003 MIT

The second set of unknowns are the strut forces. Like the currents in the circuit
examples, these forces can be considered branch quantities. There is again a
complication due to the two dimensional nature of the problem, there is an x and a y
1
1
s
s
component to the force. The strut forces are labeled
f , f ,..., f , f
x

where s is the number of struts.

Formulating Equations
from Schematics
Y

Struts Example
Aside on Strut Forces

f = EAc
fx
f

(0, 0)
L

x1 , y1

fy

L0 L
= ( L0 L )
L0

x1
f
L
y
= 1 f
L

fx =
X

fy

L =

x12 + y12

SMA-HPC 2003 MIT

The force, f, in a stretched strut always acts along the direction of the strut, as
shown in the figure. However, it will be necessary to sum the forces at a joint,
individual struts connected to a joint will not all be in the same direction. So, to sum
such forces, it is necessary to compute the components of the forces in the X and Y
direction. Since one must have selected the directions for the X and Y axis once for
a given problem, such axes are referred to as the global coordinate system. Then,
one can think of the process of computing fx, fy shown in the figure as mapping from
a local to a global coordinate system.
The formulas for determining fx and fy from f follow easily from the geometry
depicted in the figure, one is imply projecting the vector force onto coordinate axes.

Formulating Equations
from Schematics
1

1
y

fx + fx + fx = 0
f + fy + fy = 0

x1 , y1

Struts Example
Conservation Law

f3

x2 , y2

fx4 fx3 + floadx = 0

f4

f y4 f y3 + floady = 0

f2

0,0

f lo a d
1,0

Force Equilibrium
Sum of X-directed forces at a joint = 0
Sum of Y-directed forces at a joint = 0
SMA-HPC 2003 MIT

The conservation law for struts is usually referred to as requiring force equilibrium.
There are some subtleties about signs, however. To begin, consider that the sum of
X-diirected forces at a joint must sum to zero otherwise the joint will accelerate in
the X-direction. The Y-directed forces must also sum to zero to avoid joint
acceleration in the Y direction.
To see the subtlety about signs, consider a single strut aligned with the X axis as
shown below

x1,0

x 2,0
, then the strut will exert force in attempt to contract, as

If the strut is stretched by

shown below

x 2 + ,0

x1,0

fa

fb

The forces fa and fb , are equal in magnitude but opposite in sign. This is because fa
points in the positive X direction and fb in the negative X direction.
If one examines the force equilibrium equation for the left-hand joint in the figure,
then that equation will be of the form
Other forces + fa = 0
whereas the equilibrium equation for the right-hand joint will be
Other forces + fb = Other forces- fa = 0
In setting up a system of equations for the strut, one need not include both fa and fb
as separate variables in the system of equations. Instead, one can select either force
and implicitly exploit the relationship between the forces on opposite sides of the
strut.
As an example, consider that for strut 3 between joint 1 and joint 2 on the slide, we
have selected to represent the force on the joint 1 side of the strut and labeled that
force f3. Therefore, for the conservation law associated with joint 1, force f3 appears
with a positive sign, but for the conservation law associated with joint 2, we need
the opposite side force, - f3. Although the physical mechanism seems quite different,
this trick of representing the equations using only the force on one side of the strut
as a variable makes an algebraic analogy with the circuit sum of currents law. That
is, it appears as if a struts force leaves one joint and enters another.

Formulating Equations from

Schematics

1
f 1 x = Fx ( x1 0, y1 0)
f 1 y = Fy ( x1 0, y1 0)

f1 f2

Struts Example
Conservation Law

f 3x = Fx ( x1 x 2, y1 y 2)
f 3 y = Fy ( x1 x 2, y1 y 2)
2

f3

f load

f 2 x = Fx ( x1 1, y1 0)
f 2 y = Fy ( x1 1, y1 0)

f4

f 4 x = Fx ( x2 1, y2 0)

1,0

f 4 y = Fy ( x2 1, y2 0)

Use Constitutive Equations to relate strut forces to joint positions.

It is worth examining how the signs of the force are determined.

Again consider a single strut aligned with the X axis.

x1,0

x 2,0

The -X axis alignment can be used to simplify the relation between the force on the
x1 side and x1 and x2 to

fx =

L | x1 x2 |
x1 x2
0
| x1 x2 |
L0

Note that there are two ways to make fx negative and point in the negative x
direction. Either x1- x2 > 0, which corresponds to flipping the strut, or |x2- x1| < L0
which corresponds to compressing the strut.

Formulating Equations
from Schematics

Struts Example
Summary

Unknowns for the Strut Example

Joint positions (except for a reference or
fixed joints)
Strut forces
Equations for the Strut Example
One set of conservation equations for each
joint.
One set of constitutive equations for each
strut.
Note that the # equations = # unknowns
SMA-HPC 2003 MIT

Strut Example To Demonstrate

Sign convention

Two Struts Aligned with the X axis

f1

f2

x1 , y1 = 0

fL
x2 , y2 = 0

Conservation Law

At node 1: f1x + f 2 x = 0

At node 2: -f 2 x + f L = 0
SMA-HPC 2003 MIT

10

Strut Example To Demonstrate

Sign convention

Two Struts Aligned with the X axis

f1

f2

fL

x2 , y 2 = 0
x1 , y1 = 0
Constitutive Equations
x 0
f1x = 1
( L0 x1 0 )
x1 0

f2 x =

x1 x2
( L0 x1 x2
x1 x2

SMA-HPC 2003 MIT

11

Strut Example To Demonstrate

Sign convention

Two Struts Aligned with the X axis

Reduced (Nodal) Equations

x1
x x
( L0 x1 ) + 1 2 ( L0 x1 x2 ) = 0
x1
x1 x2
f2 x

x1 x2
( L0 x1 x2 ) + f L = 0
x1 x2
f2 x

SMA-HPC 2003 MIT

12

Strut Example To Demonstrate

Sign convention

Two Struts Aligned with the X axis

f1

f2

x1 , y1 = 0

fL
x2 , y 2 = 0

Solution of Nodal Equations

f L = 10 (force in positive x direction)

10
10
x1 = L0 +
x2 = x1 + L0 +

SMA-HPC 2003 MIT

13

Strut Example To Demonstrate

Sign convention

Two Struts Aligned with the X axis

f1

f2

x1 , y1 = 0

fL
x2 , y 2 = 0

Notice the signs of the forces

f 2 x = 10 (force in positive x direction)

f1x = 10 (force in negative x direction)
SMA-HPC 2003 MIT

14

Formulating Equations from

Schematics

Examples from last time

x1, y1

x2, y2

0,0
4

Circuit Modeling VLSI

Power Distribution

Struts and Joints

Modeling a Space Frame

SMA-HPC 2003 MIT

15

Formulating Equations from

Schematics
Two Types of Unknowns
Circuit - Node voltages, element currents
Struts - Joint positions, strut forces

Two Types of Equations

Conservation Law
Circuit - Sum of Currents at each node = 0
Struts - Sum of Forces at each joint = 0

Constitutive Relations
Circuit branch (element) current proportional to branch
(element) voltage
Struts - branch (strut) force proportional to branch (strut)
displacement

16

Generating Matrices from

Schematics

Assume Linear Constitutive Equations...

Circuit Example
One Matrix column for each unknown
N columns for the Node voltage
B columns for the Branch currents
One Matrix row for each equation
N rows for KCL
B rows for element constitutive equations
(linear !)
SMA-HPC 2003 MIT

17

Generating Matrices from

Schematics

Assume Linear Constitutive Equations

Struts Example in 2-D

One pair of Matrix columns for each unknown
J pairs of columns for the Joint positions
S pairs of columns for the Strut forces
One pair of Matrix rows for each equation
J pairs of rows for the Force Equilibrium
equations
S pairs of rows for element constitutive
equations (linear !)
SMA-HPC 2003 MIT

18

Generating Matrices from

Schematics

Circuit Example
Conservation Equation

i5
0

R5

V1

R1

i1

i2

is1

is 2

is 3

R3

R4

i4

V2

R2

V4

i3

V3

SMA-HPC 2003 MIT

To generate a matrix equation for the circuit, we begin by writing the KCL equation
at each node in terms of the branch currents and the source currents. In particular,
we write

signed branch currents = signed source currents

where the sign of a branch current in the equation is positive if the current is leaving
the node and negative otherwise. The sign of the source current in the equation is
positive if the current is entering the node and negative otherwise.

19

Generating Matrices from

Schematics
i5
0

i1

is 2

is 3

R3

R4

SMA-HPC 2003 MIT

V2

R2

i2

is 1

i4

Conservation Equation
R5

V1

R1

Circuit Example

V4

i3

V3

i1 + i 2 = is1
i 2 i 5 = i s 2 i s 3
i 3 = is 3
i3 + i4 = is1 + is2

20

Generating Matrices from

Schematics

Circuit Example
Conservation Equation

Matrix Form for the Equations

One
Row
for
each
KCL
Equation

2
3
4

1 1

i1
i 2

i 3

i 4
i 5

One column for each branch

current

The matrix A is usually not square

is1

i
i
s
s
2
3
i

s3

is1 + is2
Right Hand
Side for
Source
Currents

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21

Generating Matrices from

Schematics

Circuit Example
Conservation Equation

How each resistor contributes to the matrix

n1
n2

1
1

n1
KCL at n1

ik

n2

Rk

iother + ik = is
KCL at n 2
iother ik = is

A has no more than two nonzeros per column

SMA-HPC 2003 MIT

What happens to the matrix when one end of a resistor is connected to the reference
( or the zero node).

n1

ik

In that case, there is only one contribution to the kth column of the matrix, as shown
below

n1

22

Generating Matrices from

Schematics

Circuit Example
Conservation Equation

How each current source contributes to the

Right Hand Side

n1 isother + isb

n 2 isother isb

RHS

isb n2

n1
KCL at n1
ib 's =

isother + isb

KCL at n2
ib 's =

isother isb

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23

Generating Matrices from

Schematics

Circuit Example
Conservation Equation

Conservation Matrix Equation Generation Algorithm

n1

For each resistor

ik

n2

if (n1 > 0) A(n1, b) = 1

if (n 2 > 0) A(n 2, b) = 1
Set Is = zero vector
For each current source

n1

i sb n 2

if (n1 > 0) Is (n1) = Is (n1) isb

if (n 2 > 0) Is (n 2) = Is (n1) + isb
SMA-HPC 2003 MIT

24

Generating Matrices from

Schematics
R
i5

Circuit Example
Conservation Equation

R1

i1

R2

i2

is1

is 2
i3

R4

i4

R3

4
1
2
3
4

is 3

1 1
1

i1 i 2 i 3

i4 i5

i1
is 1
i 2

is 2 is 3
i 3 =

is 3

4
i

is1 +is2
i 5

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25

Generating Matrices from

Schematics
i5
i1
1 i2

Circuit Example
Constitutive Equation
i5 =
2

i1 =

i2 =

1
1
Vb1 = (0 V 1)
R1
R1

i4
i4 =

1
1
Vb 5 = (0 V 2)
R5
R5

1
1
Vb2 = (V 3 V 4)
R2
R2

i3

4
1
1
Vb 4 =
(V 4 0)
R4
R4

i3 =

1
1
Vb 3 = (V 3 V 4)
R3
R3

First determine Voltages across resistors (Branch Voltages)

Second relate Branch currents to Branch Voltages
SMA-HPC 2003 MIT

The current through a resistor is related to the voltage across the resistor, which in
turn is related to the node voltages. Consider the resistor below.

V1

i1

V2

R1

The voltage across the resistor is V1-V2 and the current through the resistor is

i1 =

1
(V 1 V 2)
R1

Notice the sign, i , is positive if V1 > V2.

In order to construct a matrix representation of the constitutive equations, the first
step is to relate the node voltages to the voltages across resistors, the branch
voltages.

26

Generating Matrices from

Schematics

Circuit Example
Constitutive Equation

i5
0

i1

i5 =

i2

2
i2 =

1
1
i1 =
V b1 =
( 0 V 1)
R1
R1

i4

Examine
Matrix
Construction

1
1
Vb 2 =
(V 1 V 2)
R2
R2

i3

4
1
1
i4 =
Vb4 =
(V 4 0 )
R4
R4

V b 1 1
V b 2
1
V b 3 =

V b 4
V b 5

1
1
Vb5 =
(0 V 2)
R5
R5

1
1
i3 =
Vb3 =
(V 3 V 4 )
R3
R3

1
1

V 1
V 2

V 3

V 4

SMA-HPC 2003 MIT

To generate a matrix equation that relates the node voltages to the branch voltages,
one notes that the voltage across a branch is just the difference between the node
voltages at the ends of the branch. The sign is determined by the direction of the
current, which points from the positive node to the negative node.
Since there are B branch voltages and N node voltages, the matrix relating the two
has B rows and N columns.

27

Generating Matrices from

Schematics

Circuit Example
Constitutive Equation

Node to Branch Relation

KCL Equations
1 1

1
1

1 1

Vb1

1
Vb 2
V 1
1 1

V 2

1 1 = Vb 3

V 3

1
Vb 4

V 4

Vb 5

i1
i 2

i 3 = Is

i 4
i 5

AT

The node-to-Branch matrix is the transpose of the KCL Matrix

SMA-HPC 2003 MIT

A relation exists between the matrix associated with the conservation law (KCL)
and the matrix associated with the node to branch relation. To see this, examine a
single resistor.
k

Vl

Rk

Vm

For the conservation law, branch k contributes two non- zeros to the kth column of
A as in

l
m

1
1

I 1
:

:

:
I B

Is

A
Note that the voltage across branch k is Vl -Vm, so the kth branch contributes two
non-zeros to the kth row of the node- branch relation as in

28

V 1
:

:
V N

V b 1

V b B

It is easy to see that each branch element will contribute a column to the incidence
matrix A, and will contribute the transpose of that column, a row, to the node-tobranch relation.

29

Generating Matrices from

Schematics
i5
0

R1

is 2
i3

R4

i4

R2

i2

is1

Constitutive Equation

R5

i1

Circuit Example

is 3

R3

The kth resistor contributes

i1

i 2

i 3 =

i 4

i 5

1
R1

1
R2 1
R3

1
R4

1
R5

Vb1
Vb 2

Vb 3

Vb 4
Vb 5

1
to ( k , k )
Rk

The matrix relates branch voltages to branch currents.

- One row for each unknown current.
- One column for each associated branch voltage.
The matrix is square and diagonal.
SMA-HPC 2003 MIT

30

Generating Matrices from

Schematics
i5
0

R1

is 2
i3

R4

i4

R2

i2

is1

Constitutive Equation

R5

i1

Circuit Example

is 3

R3
3

i1
i 2

i 3 AT

i 4
i 5

0
V 1
0
V 2

= 0
V 3


0
V 4
0
VS

The node voltages can be related to branch currents.

- AT relates node voltages to branch voltages.
-

relates branch voltages to branch currents.

SMA-HPC 2003 MIT

31

Generating Matrices from

Schematics
B
N

AT

Circuit Example
Node-Branch Form

Ib
0
=


VN
Is

N = Number of Nodes with unknown voltages

B = Number of Branches with unknown currents

Ib AT VN = 0
A Ib = I s

Constitutive Relation
Conservation Law

32

Generating Matrices from

Schematics

Struts Example

In 2-D
One pair of columns for each unknown
- J pairs of columns for the Joint positions
- S pairs of columns for the Strut positions
One pair of Matrix Rows for each Equation
- J pairs of rows for the force equilibrium
equations
- S pairs of rows for the Linearized constitutive
relations.

33

Generating Matrices from

Schematics

Struts Example

Follow Approach Parallel to Circuits

1) Form an Incidence Matrix, A, from
Conservation Law.
2) Determine strut deformation using AT.
3) Use linearized constitutive equations to relate
strut deformation
4) Combine (1),(2), and (3) to generate a
node-branch form.

34

Generating Matrices from

Schematics
x1, y1

f1

Struts Example
Conservation Equation

f3

x2, y 2

f4

f2

fl
0,0

1,0

f 1x + f 2 x + f 3 x = 0
f 1y + f 2 y + f 3y = 0
f 3 x + f 4 x = fl x

f 3 y + f 4 y = fl y
SMA-HPC 2003 MIT

As a reminder, the conservation equation for struts is naturally divided in pairs. At

each joint the sum of X-directed forces = 0 and the sum of Y-directed forces = 0.
Note that the load force is known, so it appears on the right hand side of the
equation.

35

Generating Matrices from

Schematics
x1, y1

f1

Struts Example
Conservation Equation

f3

x2, y 2

Stamping Approach

f4

f2

fl
0,0

Load pair of columns per strut

Load right side for load

1,0

f 1x f 1 y f 2 x f 2 y f 3x f 3 y f 4 x f 4 y

x1 1
y1
1

x2
y 2

1
1

1
1

1
1

A
SMA-HPC 2003 MIT

f 1x
f 1y

f 2x



f 2 y =
f 3x
fl x


fl y
f 3y
f 4x
FL

f 4 y

Note that the incidence matrix, A, for the strut problem is very similar to the
incidence matrix for the circuit problem, except the two dimensional forces and
positions generate 2x2 blocks in the incidence matrix. Consider a single strut

x j 1, y j 1

fs

xj 2, yj 2

The force equilibrium equations for the two joints at the ends of the strut are
At joint j1

+ fsx = flx

+ fsy = fly

xother

j1

At joint j2

j1

yother

j1

j1

fsx = flx

xother

j2

yother

j2

j2

fsy = fly
j2

36

Examining what goes in the matrix leads to a picture

fsx
xj1
yj1

xj 2
yj 2

fsy

Note that the matrix entries are 2x2 blocks. Therefore, the individual entries in the
matrix block for strut Ss contribution to j1s conservation equation need specific
indices and we use j1x, j1y to indicate the two rows and Sx, Sy to indicate the two
columns.

37

Generating Matrices from

Schematics

Struts Example
Conservation Equation

Conservation Matrix Generation Algorithm

For each strut
If ( j1 is not fixed)
A( j1 x, bx ) = 1 A( j1 y , by ) = 1
If ( j2 is not fixed)
A( j 2 x, bx ) = 1 A( j 2 y , by ) = 1
xj 1, yj 1
For each load
fload
If ( j1 is not fixed)

FL ( j1x ) = FL ( j1x ) f load x

FL ( j1 y ) = FL ( j1x ) fload y

A has at most 2 non-zeros / column

38

Generating Matrices from

Schematics

Struts Example
Constitutive Equation

Y
f

x 1, y 1

First linearize the

constitutive relation

(0, 0)

If x1, y1 are close to some x0, y0, x02 + y02 = L02

Fx
( x 0, y 0)
fx x
=
fy Fy ( x 0, y 0)
x

Fx
( x 0, y 0)
y
Fy
( x 0, y 0 )
y

ux

uy

ux 1 = x 1 x 0
uy 1 = y 1 y 0

SMA-HPC 2003 MIT

As shown before, the force through a strut is

x
( L0 L )
L
y
f y = Fy ( x, y ) = ( L0 L )
L
f x = Fx ( x , y ) =

where

L = x2 + y2

and x, y are as in

y
L
X

If x and y are perturbed a small amount from some x0, y0 such that x02 + y02 = L02,
then since Fx(x0,y0) = 0

Fx
Fx
fx
( x 0, y 0) ( x1 x 0) +
( x 0, y 0) ( y1 y 0)
x
y
and a similar expression holds for y.
One should note that rotating the strut, even without stretching it, will violate the
small perturbation conditions. The Taylor series expression will not give good
approximate forces, because they will point in an incorrect direction.

39

Generating Matrices from

Schematics

ux1, uy1
f1

Struts Example
Constitutive Equation

f3

ux2, uy 2

f2

f4

fl
0,0

1,0

f 1x
f 1y

f 2x

f 2y
f 3x

f 3y
f 4x

f 4 y

11

22

33

44

0
0

ux1 0
0
T uy1
=
A
ux 2 0

uy 2 0
0

0

SMA-HPC 2003 MIT

40

Generating Matrices from

Schematics

Struts Example
Constitutive Equation

The ( s, s ) block

ux1, uy 1 fs
Initial position

x 10 , y 10

F x
x ( x 20 x 10 , y 20 y 10 )

( s, s ) =
F y

( x 20 x 10 , y 20 y 10 )
x

ux 2 , uy 2
Initial position

x 20 , y 20

F x

( x 2 0 x 1 0 , y 20 y 1 0 )
y

F y
( x 20 x 10 , y 20 y 10 )
y

SMA-HPC 2003 MIT

41

Generating Matrices from

Schematics
2 S

2 J

Struts Example
Node-Branch From

AT fs 0

=
u fL
0

2 J
2 S
S =Number of Struts
J = Number of unfixed Joints
fs = AT u = 0 Constitutive Equation
A fs = 0 Conservation Law

42

Generating Matrices from

Schematics
2 S

2 J

2 S

Struts Example
Comparison

AT fs 0

=
u fL
0

2 J

AT Ib Vs

=
VN Is
0

43

Generating Matrices

Nodal Formulation
is1 +

R5

1
1
V1 + (V1 V2 ) = 0
R1
R2

V1

R1

R4
is1 is2 +

Circuit Example

is1
V4

V2

is 2

is2 + is3 +

R2

1
1
(V2 V1 ) + V2 = 0
R2
R5

is 3
R3

V3

1
1
V4 + (V4 V3 ) = 0
R4
R3

1) Number the nodes with one node as 0.

2) Write a conservation law at each node.
except (0) in terms of the node voltages !
SMA-HPC 2003 MIT

44

Generating Matrices

Nodal Formulation
i5
0

i1
i

R5

V1

R1

Circuit Example
V2

R2

i2

is1

One row per node, one

column per node.

is 3

For each resistor

is 2
i3

4 R4

1
1
1
+

R1 R 2
R2
1
1
1

+
R2
R 2 R5

R3

V4

1
R3
1

R3

1
R3
1
1
+
R3 R 4

n1

V3

v1
is1
v

2 = is2 is3
v3
is3

v4
is1 + is2

n2

Is

G
SMA-HPC 2003 MIT

Examining the nodal equations one sees that a resistor contributes a current to two
equations, and its current is dependent on two voltages.

ik

V n1

Vn2
Rk

1
(Vn1 Vn 2) = is
Rk
1
KCL at node n 2 iothers (Vn1 Vn 2 ) = is
Rk
So, the matrix entries associated with Rk are
KCL at node n1

others

n1

n1

n2

n2

1
1

Rk
Rk
1
1

Rk
Rk

45

Generating Matrices

Nodal Formulation

Circuit Example

Nodal Matrix Generation Algorithm

if (n1 > 0) & (n 2 > 0)
1
1
, G(n 2, n1) = G(n 2, n1)
R
R
1
1
G(n1, n1) = G(n1, n1) +
, G(n 2, n 2) = G(n 2, n 2) +
R
R
G(n1, n 2) = G(n1, n 2)

else if (n1 > 0)

G(n1, n1) = G(n1, n1) +

1
R

else
G(n 2, n 2) = G(n 2, n 2) +

1
R

SMA-HPC 2003 MIT

46

Nodal Formulation

N
2 J

Generating Matrices

G Vn = Is

N
G uj = FL

(Resistor Networks)

(Struts and Joints)

2 J

47

Nodal Formulation

Comparing to Node-Branch form

Node-Branch Matrix
Constitutive
Conservation
Law

I AT

A
0

Ib 0
=
VN Is

Nodal Matrix

[ G ][VN ] = [Is ]

48

Nodal Formulation

Diagonally Dominant .

G matrix properties

Gii Gij
j i

Symmetric ..
Smaller ..

Gij = Gji

N N << ( N + B ) ( N + B )
2 J 2 J << ( 2 J + 2 S ) ( 2 J + 2 S )

49

Node-Branch form

Nodal Formulation

Node-Branch formulation

AT
0
M

Ib
0
=


Vn
I s
b
x

Not Symmetric or Diagonally Dominant

Matrix is (n+b) x (n+b)
SMA-HPC 2003 MIT

50

Deriving Formulation From NodeBranch

Nodal Formulation

Ib AT VN = 0
A ( Ib AT VN ) = A 0
A Ib = Is
A AT VN = Is
G

51

Problem element

Nodal Formulation

Voltage Source

is
Voltage source

Vn 1

Vs
+

Vn 2

Constitutive Equation

0 is + V n 1 V n 2 = V s
SMA-HPC 2003 MIT

52

Problem Element

Nodal Formulation

Voltage Source

Can form Node-Branch Constitutive Equation with

Voltage Sources
R
i5
5

i6
Vs

R1

i1

i2

i3

R4

R2

i4

R3

0
1
i1
V1 0
1
i2
V2
1

i3 AT V 3 = 0
1

i4
V 4 0

1 i5
V 5 0

0 i6
Vs
Vs

1
R1
R2 1

=
R3 1

R4 1

R5

SMA-HPC 2003 MIT

53

Problem Element

Nodal Formulation

Voltage Source

Cannot Derive Nodal Formulation

I bR
T
0 A VN = 0 (Constitutive Equation)

I bR
A A ATVN = 0 (Multiply by A)
0

Resistor currents
Voltage source
currents
missing

A Ib = Is

(Conservation Law)

Ib
Cannot Eliminate Ai !
R

Nodal Formulation requires Constitutive relations

in the form
Conserved Quantity = F ( Node Voltages) !
SMA-HPC 2003 MIT

54

Problem Element

Nodal Formulation

Rigid rod

Rigid Rod

x1, y1

x 2, y 2
L

0
( y1 y2 )

0 fx (x1 x2)2+ ( y1 y2)2 L

+
=
( x1 x2) fy
0
0

SMA-HPC 2003 MIT

55

Comparing Matrix Sparsity

Nodal Formulation

Example Problem

Resistor Grid
V1

V2

V 101

V 901

V 102

V 902

V3

V 103

V 903

V4

V 99

V 100

V 200

V 1000

SMA-HPC 2003 MIT

56

Comparing Matrix Sparsity

Nodal Formulation
Example Problem

Matrix non-zero locations for 100 x 10 Resistor Grid

Node-Branch

Nodal

57

Summary of key points...

Developed algorithms for automatically

constructing matrix equations from schematics
using conservation law + constitutive equations.
Looked at two node-branch and nodal forms.

58

Summary of key points

Node-branch
General constitutive equations
Large sparser system
No diagonal dominance

Nodal
Conserved quantity must be a function of node
variables
Smaller denser system.
Diagonally dominant & symmetric.

59