Course Outline

Amme 3500 : System Dynamics and Control

Block Diagrams Dr Stefan Williams
Week 1 2 3 4 5 6 7 8 9 10 11 12 13 14 Date 1 Mar 8 Mar 15 Mar 22 Mar 29 Mar 5 Apr 12 Apr 19 Apr 26 Apr 3 May 10 May 17 May 24 May 31 May Content Introduction Frequency Domain Modelling Transient Performance and the s-plane Block Diagrams Feedback System Characteristics Root Locus Root Locus 2 Bode Plots BREAK Bode Plots 2 State Space Modeling State Space Design Techniques Advanced Control Topics Review Spare
Amme 3500 : Introduction

Assignment Notes

Assign 1 Due Assign 2 Due No Tutorials Assign 3 Due

Assign 4 Due
Slide 2

Dr. Stefan B. Williams

Block Diagrams
As we saw in the introductory lecture, a subsystem can be represented with an input, an output and a transfer function
U(s) H(s) Input: control surfaces (flap, aileron), wind gust Y(s)

Block Diagrams
Many systems are composed of multiple subsystems In this lecture we will examine methods for combining subsystems and simplifying block diagrams

Aircraft output: pitch, yaw, roll

* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 3

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 4

Examples of subsystems
Automobile control:

Examples of Subsystems
Antenna control

Desired course of travel + Sensing Measurements

Dr. Dunant Halim

Control

Steering Mechanism

Actual course of travel Automobile

* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Amme 3500 : Block Diagrams

Slide 5

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 6

Mathematical Modelling
u(t) h(t) y(t)

Mathematical Modelling
U(s) H(s) Y(s)

In the time domain, the input-output relationship is usually expressed in terms of a differential equation
d n y(t ) d n1 y(t ) d mu (t ) + an1 + L + a0 y(t ) = bm + L + b0u (t ) n n 1 dt dt dt m

In the Laplace domain, the input-output relationship is usually expressed in terms of an algebraic equation in terms of s
s nY ( s ) + an 1s n 1Y ( s ) + L + a0Y ( s ) = bm s mU ( s ) + L + b0U ( s )

(an-1, , a0, bm, b0) are the system s parameters, n m The system is LTI (Linear Time Invariant) iff the parameters are time-invariant n is the order of the system
Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 7 Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 8

Cascaded systems
In time, a cascaded system requires a convolution

A General Control System

y(t)

u(t ) h(t ) u( ) h(t ) d

u(t)

h (t)

y1(t)

h1(t)

Many control systems can be characterised by these components/subsystems Plant

Reference D(s) Error E(s)

Disturbance

y(t ) = (u(t )* h(t ))* h1 (t )

In the Laplace domain, this is simply a product
U(s) H(s) Y1(s) H1(s) Y(s)

+ -

Control

Control Signal U(s)

Output Y(s)

Actuator

Process

Feedback H(s)

Y (s) = U (s) H (s) H1 (s)

Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 9 Dr. Dunant Halim

Sensor Sensor Noise

Amme 3500 : Block Diagrams Slide 10

Simplifying Block Diagrams

The objectives of a block diagram are
To provide an understanding of the signal flows in the system To enable modelling of complex systems from simple building blocks To allow us to generate the overall system transfer function

Components of a Block Diagram

A block diagram is made up of signals, systems, summing junctions and pickoff points
* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

A few rules allow us to simplify complex block diagrams into familiar forms
Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 11 Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 12

Typical Block Diagram Elements

Cascaded Systems

Typical Block Diagram Elements

Parallel Systems

* N.S. Nise (2004) Control Systems Engineering Wiley & Sons * N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 13

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 14

Typical Block Diagram Elements

Feedback Form
E ( s ) = R ( s ) H ( s )C ( s ) C (s) = G (s) E (s)
C (s) = R ( s ) H ( s )C ( s ) G (s) G ( s ) R ( s ) = (1 + H ( s )G ( s ) ) C ( s ) C (s) G (s) = R ( s ) 1 + H ( s )G ( s )
* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Moving Past A Summation

a) To the left past a summing junction b) To the right past a summing junction

* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 15

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 16

Moving Past Pick-Off Points

a) To the left past a summing junction b) To the right past a summing junction

Example I : Simplifying Block Diagrams

Consider this block diagram We wish to find the transfer function between the input R(s) and C(s)
* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 17

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 18

a) Collapse the summing junctions b) Form equivalent cascaded system in the forward path and equivalent parallel system in the feedback path c) Form equivalent feedback system and multiply by cascaded G1 (s) * N.S. Nise (2004)
Dr. Dunant Halim

Example I: Simplifying Block Diagrams

Example II : Simplifying Block Diagrams

Form the equivalent system in the forward path Move 1/s to the left of the pickoff point Combine the parallel feedback paths Compute C(s)/R(s) using feedback formula

Control Systems Engineering Wiley & Sons

* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Amme 3500 : Block Diagrams

Slide 19

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 20

Example III: Shuttle Pitch Control

Manipulating block diagrams is important but how do they relate to the real world? Here is an example of a real system that incorporates feedback to control the pitch of the vehicle (amongst other things)
Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 21

Example III: Shuttle Pitch Control

The control mechanisms available include the body flap, elevons and engines Measurements are made by the vehicle s inertial unit, gyros and accelerometers
Dr. Dunant Halim

* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Amme 3500 : Block Diagrams

Slide 22

Example III : Shuttle Pitch Control

A simplified model of a pitch controller is shown for the space shuttle Assuming other inputs are zero, can we find the transfer function from commanded to actual pitch?
* N.S. Nise (2004) Control Systems Engineering Wiley & Sons

Example III : Shuttle Pitch Control

Pitch Reference

K1K2

+ -

Output

G1(s)G2(s)

s2 _s_ K1 1

Combine G1 and G2. Push K1 to the right past the summing junction
Slide 23 Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 24

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Example III: Shuttle Pitch Control

Pitch Reference

Example III: Shuttle Pitch Control

Matlab provides us with a tool called Simulink that allows us to represent systems by their block diagram We ll take a bit of time to see how we construct a Simulink model of this system

+ + -

Output

K1K2 G1(s)G2(s) _s2_ K1K2 _s_ K1 1

Push K1K2 to the right past the summing junction K1 K 2G1 ( s )G2 ( s ) Hence T (s) =
s s2 1 + K1 K 2G1 ( s )G2 ( s ) 1 + + K1 K1 K 2
Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 25 Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 26

Closed Loop Feedback

We have suggested that many control systems take on a familiar feedback form Intuition tells us that feedback is useful imagine driving your car with your eyes closed Let us examine why this is the case from a mathematical perspective

Single-Loop Feedback System

Error Signal e(t ) = d (t ) f (t ) = d (t ) Ky(t ) The goal of the Controller K(s) is:
To produce a control signal u(t) that drives the error e(t) to zero

d (t )
Desired + Value

e(t )
error

K ( s)
Controller

u (t )
Control Signal

G (s)
Plant

y (t )
Output

f (t )
Feedback Signal

H
Transducer
Slide 28

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 27

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Controller Objectives
Controller cannot drive error to zero instantaneously as the plant G(s) has dynamics Clearly a large control signal will move the plant more quickly The gain of the controller should be large so that even small values of e(t) will produce large values of u(t) However, large values of gain will cause instability
Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 29

Feedforward & Feedback

Driving a Formula-1 car Feedforward control: pre-emptive/predictable action: prediction of car s direction of travel (assuming the model is accurate enough) Feeback control: corrective action since the model is not perfect + noise

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 30

Why Use Feedback ?

Perfect feed-forward controller: Gn
d (t )

Why Use Feedback ?

demand

1/ Gn

+ l (t )

y (t )

d +

K
controller

load l u+ +

G
plant

output A sensor

Output and error:

G y= d + Gl Gn G e = d y = 1 d Gl Gn

No dynamics Here !

unity feedback

e = d y,
So:

y = G (u + l ), u = Ke

Only zero when:

Dr. Dunant Halim

Gn = G
l =0

(Perfect Knowledge) (No load or disturbance)

Slide 31

e = d y = d G (u + l ) = d G ( Ke + l )
Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 32

Amme 3500 : Block Diagrams

Closed Loop Equations

e = d GKe Gl
Collect terms:

Closed Loop Equations

Similarly

y=

GK G d l 1 + KG 1 + KG
Load to Output Transfer Function

(1 + KG ) e = d Gl
e= 1 G d l 1 + KG 1 + KG
Load to Error Transfer Function
Slide 33 Dr. Dunant Halim Amme 3500 : Block Diagrams

Demand to Output Transfer Function

Equivalent Open Loop Block Diagram Or:

l +
+

Demand to Error Transfer Function

Dr. Dunant Halim

G 1 + KG

y
Slide 34

Amme 3500 : Block Diagrams

Rejecting Loads and Disturbances

y= G l 1 + KG
KG >> 1
If K is big: Perfect Disturbance Rejection Independent of knowing G Regardless of l
Slide 35

Tracking Performance
y= GK d 1 + KG
KG >> 1
If K is big: Perfect Tracking of Demand Independent of knowing G Regardless of l
Slide 36

Load to Output Transfer Function

Demand to Output Transfer Function

If K is big:

If K is big:

G 1 y l = l 0 KG K
Dr. Dunant Halim

GK y d =d KG
Dr. Dunant Halim

Amme 3500 : Block Diagrams

Amme 3500 : Block Diagrams

Two Key Problems

d +
e

Two Key Problems

y
d +
e

u+ +

l
G

u+ +

l
G

+n

Power:

u = K (d y )

Large K requires large actuator power u

Noise:

u = K (d y + n) u Kd

Large K amplifies sensor noise

In practise a Compromise K is required

Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 37 Dr. Dunant Halim Amme 3500 : Block Diagrams Slide 38

Conclusions
We have examined methods for computing the transfer function by reducing block diagrams to simple form We have also presented arguments for using feedback in control systems Next week, we will look at more closely on feedback control Nise

Further Reading
Sections 5.1-5.3

Franklin & Powell

Section 3.2

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 39

Dr. Dunant Halim

Amme 3500 : Block Diagrams

Slide 40

10