The spatial distribution of pipe system is complex, long span and multi-point elastic support, so vibration analysis of pipe system is required in the pipeline design. This paper takes the pipe system as a typical component, based on the Timoshenko beam model, establishes a dynamic procedure for straight pipe elements that considers the axial flow rate of fluid, the pressure on the pipe wall, the Poisson coupling effect of fluid and pipeline structure, and the axial, transverse and torsional vibration. Through Laplace transform, the frequency simplified dynamic model is established. And the frequency transfer matrix model of straight pipe elements and the boundary constraint matrix of common boundary (such as fixed support) is established. Finally, the frequency domain transfer matrix model of different pipeline elements are set to the overall transfer matrix of the flow pipe system, providing a convenient means for rapid optimization of pipe system vibration.