EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

TRANSFER FUNCTIONS FROM BLOCK DIAGRAMS AND SIGNAL FLOW GRAPHS INTRODUCTION Block diagrams and signal flow graphs are used universally to convey information about a system and its parameters. Whether the system is continuous or discrete; a transfer function is obtained from the type of diagram used. Note: Signal flow graphs are used with state variable solutions for systems because it is easy to envision the measured matrices from state equation. TRANSFER FUNCTION - The ratio of output to input of a system - It is how the system transfers its input to its output Note: the transfer function generally gives the output in rad/volt, gal/min or other terms. TWO FORMS OF TRANSFER FUNCTION 1. Open loop 2. Closed loop The transfer function is often given in the form of a numerator and denominator composed of factored polynomials. The numerator of the transfer function contains the zeroes of the system, and the denominator contains the poles of the system. The transfer function also provides data for analysis of stability, frequency response, rise/settling time and other parameters.

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

BASIC CONTROL SYSTEM BLOCK DIAGRAM GC R + CONTROLLER GP PLANT OR PROCESS Y OUTPUT

FEEDBACK TRANSDUCER H Gc - represents the controller (amplifier and power source) Gp - represents plant or process (motor or other devices) H - determines the percentage of the output variable fed back to the summing junction Note: The gain of the system is:

FUNDAMENTALS OF BLOCK DIAGRAM 1. GAIN BLOCK - Which multiplies its input by what is contained inside the block. The block may be have only one input and one output and may have a gain less than, greater than, or equal to unity. The gain block can also contain expressions that may be transfer functions. 2. SUMMING JUNCTION - Which algebraically sums its inputs and may have many inputs necessary, but only one output. The inputs to the summing junction are labeled with their respective polarities. Plus (+) signs indicate no inversion of the applied signal; Minus (-) signs indicate inversion of the applied signal.

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

GAIN BLOCK

SUMMING JUNCTION

B A Gc B A C D

CANONIC FORMS There are two fundamental forms of control system block diagrams. All control systems can be reduced to one of two forms. FORM 1 Canonic Form 1 Feedback System

R(s)

+ -

E(s)

Gc

Y(t)

Gc R(s) E(s)

the gain in the forward path, the open loop gain with no feedback applied input called the set point/reference input - It is the desired condition for the output - the error signal - Difference signal between the input and output

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

Derivation:

FORM 2 Canonic Form 2 Feedback System R(s) + E(s)

Gc H(s)

Y(t)

Derivation:

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

BLOCK DIAGRAM ALGEBRA In all cases, the TOTAL FORWARD PATH GAIN is the gain without feedback, and is the numerator of the transfer function. The FEEDBACK LOOP GAINS are the denominator of the transfer function. EXAMPLE1:

R(s)

+ -

E(s)

Y(s)

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

EXAMPLE2:

R(s)

+ -

E(s)

0.3

Y(s)

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

EXAMPLE3:

Given:
R(s) + G1(s) G2(s) Y(s)

H1(s)

Solution:

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

BLOCK DIAGRAM SHOWING A DISTURBANCE INPUT

In some cases, the block diagram of a system will show a disturbance input at a specific point, usually an output where a load of some type is applied. The effect of the application of the load and disturbance can be calculated using the methods outlines previously and the superposition theorem to sum the load and disturbance.
EXAMPLE:

R(s)

+ -

G1(s)

G2(s)

Y(s)

H1(s)

Solution: Set the disturbance to zero and determine the transfer function without disturbance.

EENG03 - FEEDBACK AND CONTROL SYSTEMS JUNE 28, 2011

To determine the effect of the disturbance on the system, allow the reference input R(s) equal to zero.

D(s)

+ -

G2(s)

Y(s)

G1(s)

-H(s)