Closed-loop control systems ‘Any system in which the output quantity is monitored and compared with the input, any difference being used to actuate the system until the output equals the input is called a closed-loop ot feedback control system. ‘The elements of a closed-loop control system are represented in block diagram form using the transfer function approach. The general form of such a system is shown in Figure 4.1 The transfer function relating R(s) and C(s) is termed the closed-loop transfer function From Figure 4.1 GSE) G1) HNC) 42) RG) ~ Bs) 43) Substituting (4.2) and (4.3) into (4.1) Cls) = G(){R(S) — H(S)C(s)} (8) = GRE) ~ GHC) CIN + GH} = GEIR) Gis) T+ G9H@) c RO 44) The closed-loop transfer function is the forward-path transfer function divided by one plus the open-loop transfer function,64 Advanced Control Engineering Forward Path een Summing Pint Tako-ot Ae _t/SD)89. Laced oa os) Bs) 4) -—_____. Feedback Path Fig. 4.1 Block diagram ofa closed-loop conta system. Rs) = Laplace transform of reference input rt); (CG) = Laplace transform of contoled output cit); Bs) = Primary feedback signal of value MIs)C() 0 = Acting or evr spo ae A — B.) = Proto wae Anton dong te ‘transfer function; @ = summing point symbol, used to denote algebraic summation; pont; = Direction of ntoemation flow. 4.2.1 Control systems with multiple loops A control system may have several feedback control loops. For example, with a ship autopilot, the rudder-angle control loop is termed the minor loop, whereas the heading control loop is referred to as the major loop. When analysing multiple loop systems, the minor loops are considered first, until the system is reduced to a single overall closed-loop transfer function. To reduce complexity, in the following examples the function of s notation (s) used for transfer functions is only included in the final solution. Example 4.1 Find the closed-loop transfer function for the system shown in Figure 4.2 Solution In Figure 4.2, the first minor loop to be considered is Gs Hs. Using equation (4.4), this may be replaced by 4.5)‘Closed-loop control systems 65 A Fig. 4.2 Mutiple oop conto system. Now Gai is multiplied by, or in cascade with G>. Hence the combined transfer function is GGs 2601 = 46) ‘The reduced block diagram is shown in Figure 4.3. Following a similar process, the second minor loop Gaz may be written Gm = Gan 1+ Multiplying numerator and denominator by 1 + G34 GxGs Go) TECH + GOT But Gao is in cascade with G;, hence GiGun = Ge 47) 1+ GH + GG, Transfer function (4.7) now becomes the complete forward:-path transfer function as shown in Figure 4.466 Advanced Control Engineering ‘Second Minor Loop Fig. 4.3 Fist stage of block diagram reduction. m_ + GGG as) TG Gre * Fig. 4.4 Second stage of block gram reduction. ‘The complete, or overall closed-loop transfer function can now be evaluated gan, Bah eGoTe Tee Vt ramon Multiplying numerator and denominator by 1 + G3/; + GGyH2 c R= c GANGA) PO" GOMO GOGH +Gonwanane “>4.2.2_ Block diagram manipulation ‘Closed-loop control systems 67 ‘There are occasions when there is interaction between the control loops and, for the purpose of analysis, it becomes necessary to re-arrange the block diagram configur- ation. This can be undertaken using Block Diagram Transformation Theorems ‘Table 4.1 Block Diagram Transformation Theorems ‘Transformation | Equation Block diagram Equivalent block diagram blocks ia cascade 1. Combining YaGGax aphrah ~Tea ‘blocks in paral: 3. Removing lock rom 2 forward path 2. Combining Ye6X46X Scametng feces lop | Gta, a feedback oop 5: Removing lock rom ‘feedback loop 4. Eliminating YeGuxtG.y) yeGaxten smming points 6. Rearanging zewexty 7.Moving a summing of aback Point heat 8. Moving a ‘summing pine beyond block 20x 4”) 9. Moving a ‘take-off pit ahead Stabock yeox yeox68 Advanced Control Engineering Example 4.2 Moving a summing point ahead of a block Equation Equation Z=GN*Y Z=(X£(VOY}G 49) Gvey A complete set of Block Diagram Transformation Theorems is given in Table 4.1. Example 43 Find the overall closed-loop transfer function for the system shown in Figure 4.6. Solution Moving the first summing point ahead of Gy, and the final take-off point beyond Gy gives the modified block diagram shown in Figure 4.7. The block diagram shown in Figure 4.7 is then reduced to the form given in Figure 48. The overall closed-loop transfer function is then ayo © =< teat Stsoa R 1 ares ooo = GIGGING) (1 + Gi(s\GAS)Hi(S0 + Gs(s)Ga(s) HAs) + G(s)Gx3)H (8) x +r Zz xs 4+ 6 a 2 : y ¥—Y Fig. 4.5. Moving a summing pont ahead of ablock (4.10) yw ol ms [ } Fig. 4.6 Block ciagram with interactioni} mie +k. as "9.65 [aa + of Ga ]—t + 4 | \ Fig. 47 Modes block Soram wth interaction i Ga ft aa oy GG GiGe as “+ wasn + Taam . Fig. 4.8 Reduced block diagram, 43. Systems with multiple inputs 1._ Principle of superposition ‘A dynamic system is linear if the Principle of Superposition can be applied. This states that “The response y(#) of a linear system due to several inputs (1), 23(0), ... Xx(0), acting simultaneously is equal to the sum of the responses of each input acting alone’. Example 44 Find the complete output for the system shown in Figure 4.9 when both inputs act, simultaneously. Solution ‘The block diagram shown in Figure 4.9 can be reduced and simplified to the form given in Figure 4.10. Putting R,(s) = 0 and replacing the summing point by +1 gives the block diagram shown in Figure 4.11. In Figure 4.11 note that C'(s) is response to Ry(s) acting alone. The closed-loop transfer function is therefore rth One OT ee70 Advanced Control Engineering G()GxA)Ri(s) Ce = SGA) _ 4.11 ©“ TFEOMO+ GOGO a Now if Ry(s) and the summing point is replaced by —1, then the response C"(s) to input Ry(s) acting alone is given by Figure 4.12. The choice as to whether the summing point is replaced by +1 or ~1 depends upon the sign at the summing point. Note that in Figure 4.12 there is a positive feedback loop. Hence the closed-loop transfer function relating Ro(s) and C's) is cu) eae Rls) 4 System with mute inputs. Ais GG ae Fs) Fig. 4.10 Reduced and senpied bck diagram.Closed-loop control systems 71 mi) + GG cis TGR 4.11 Block éagiam for (5) acting alone CG cs) & {a} ee, Aus) + Fig. 4.12 Block cagram for Rls) acting alone (s)Gals)Hi(S)Ra(3) TF GDME + GIGLI) chs) (4.12) It should be noticed that the denominators for equations (4.11) and (4.12) are identical. Using the Principle of Superposition, the complete response is given by CG) = CK) + CH) 4.13) (GuNGAI) RUS) = GGA) HS) Ras) C0) Ts Gx + GUIGADH() as) 4.4.1_DC servo-motors ‘One of the most common devices for actuating a control system is the DC servo- ‘motor shown in Figure 4.13, and can operate under either armature or field control (a) Armature control: This arrangement is shown in schematic form in Figure 4.14. Now air gap flux @ is proportional to is, or ® = Keie 4.15)