Ase"h “Bia poy OTE zap OL uonnjos uwoys st pou aus v-6q paoejday aq ue> pe pauiquioD aq we syuiod a sa ip uoyp“ouo st svorod durum ox SunsaUU09 yu ued ayn gT 9 dng 6011 Suqopoyy feoneursrpEyya SSS 1,110 Control Systems Engineering Mark the nodes 1 and 6 by using step 1. Similany mark node 2} a 6, mark node 3 by using step 4, mark node 4 by Step 3 snd mak by using steps 2 & 4, Now mark the branch gains equal to the respec Fig, 1,250 shows the marking of nodes, The complete signal Row in Fig, 1.251, seahbay 1.17.5 Mason's Gain Formula AU Nov/Dec 2004 JNTU April / May Mason's gain formula is used for the determination of overall trans (gain) of a system, Itis a convenient and the input and ontput variables from the involved in block diagram reduction is high and itis a time Consuming pmo On the other hand, any complex block diagram can be converted into signal graph and the transfer function can be easily obtained Mason's gain formula is given by 1 : T= Zon : w where. & = Number of forward paths Pk = path gain of k-th forward path, A = Determinant of the graph : = 1— (sum of individual loop gains) + sum of gain Product combinations of two non touching loops — sum of gain prev of all combinations of three non nee oe i Aj, = A of part of graph not touching the k*® forward path, ; Non-touching loop : It is a subgraph forming loop (closed path) but doe: touch the forward path. - .? | Application of this formula to find transfer function is illustrated in the Jowing examples. x fen easy way of finding the relation bes: ignal flowgraph. The number o using Mason’s gain fom Example 1.28: \ ; ing si 1.252 & 1. Find % of the following signal flow graphs ( gain formula. 253) using Mas \ ‘Mathematical @ Gi) Fig. 1.253 Solution () The number of forward paths are 2 Forward path | is shown in Fig. 1.254 : GG G Gs 1 2 3 4 5 6 Fig. 1.254 Pathgain P; = GiG2GaGs, Forward path 2 is shown in Fig. 1.255 % Fig. 1.255 Pathgain P2 = GiG2G3 Loops ‘The number of single loops are six and they are shown is Fig. 1.256 (a toe) Loop! GG 7 3 3 “3 3 Modeling 1-1111.112 Control Systems Engineering Joop gain Li = -GyG5Hy Loop? GG, Gs i oer 8 My (wb) Joop gain Le = — toCuCoH Loop3 Gy GG G, moat A a ©) loop gain L3 = —GiG2GaGs Loop Gy R ° a loop gain Ly = —GiG2Gs Loop5 ° 1 Loop6 ° -o Ro Joop gain Lg = —G3H2. ‘The number of two and more than t AMathematical Modeling 1.113 Mason's gain formula = < Yds (sum of all individual loop gains) ++ (sum of gain product of all possible combinations of two non-touching loops) - ... A= 1~ (-HeGiGs = GoGuGs Hi — GiGaGuGs — GGG — GoGl - GyHa) +0 = 1+ HaGuGs + G2GiG5lh + GyG2GaGs + GiGaGs + GoG3Hi + G3Ho Ax = A for that part of the graph which is not touching A!" forward path, Ay = 1-0 = 1;A_ = 1-0 = 1, since all the loops are touching the two forward paths, 1 T(s) =z (01s + de) _ G1G2G1G5 + GGaGs * TF aGiGs + O2GiGsHh + C1GaGiGs + GiGaGs + CaCl +GsHp i) Only one forward path and it is shown in Fig, 1.257. R G, G, G, c 1 2 4 5, 6 Fig. 1.257 Gain py = GiG2Gs. The number of single loops are three and they are shown in Fig. 1.258 (a toc),1.114 Control Systems: Engineering i i Loop! “Hy 1 2 3 4 5 6 7 (a) . Loop gain Ly = ~G2GsHa a & tor op @) F | Loop gain Ly = ~GiGaHht 4 : G G Gs ° ° 6 7 Loop3 9 ° © 9 T © Loop gain Ls = —GiG2GsHs Fig. 1.258 Individual loops The number of two and more than two non-touching loops are zero Mason's gain formula T(s) = kD pKAk k ee A=1— (GoGsH — CiG2hs — G1G2GsHs) =1+GoG3H2 + GiGoHi + GiG2G3H3 T(s) = _GG3__—____ | T+ GoG3H + GiGath + GiG2GsHs Example 1.29: For the given signal flow graph find ${2} using Mason's gain formula. RG & GG 1 G c) ~—_Le0 Ther Fig. 1.259 Solution own in Fig. 1.269 _- For the given signal flow graph, name the nodes as shMathematical Modeling 1.115 Re) OG GG 1g Lc) 8 Fig. 1.260 Forward Paths The number of forward paths are four and they are shown in Fig. 1.261 (a tod) Forward path 1: Re) GG GG 1G 1 ow 1 2 3 45 °° 6 5 8 (a) Forward path gain Py = G1 G2G4GoGr Forward path 2: R(s) G, G, Ge 1 G Ics) RF 4°35 @ +S <8 7 % ) Forward path gain P; = G\GsG4GgGz Forward path 3: RG) Gy, G, Ge 1 G, 1 cs) 1 2 tH 4 5 6 5 8 a) Forward path gain Ps = GiG2GsGgGy Forward path 4: RG) G, G 1 G, I! 4 a (d) Forward path gain Py = G1G3G5GeGr cts . 4G G, Fig.1.261 Forward paths. .oops ‘he number of individual loops are six and they are shown in Fig. 1.262 (ato f) Loop! G, loop gain Ly = GgH, Se 5 )1.116 Control Systems Engineering Loop2 G loop gain La rea 2 ) Tigop3 ee Ose Coy tea! loop gain Lg = G2GuGoGrH, ae © Hy Loop4 5G > Sto bo G4 loop gain Ly = GaGsGeGrH, Ax =A for \ ‘All the loops are touching the two forward paths, therefore A, =1-0 Ag=1-0=1 F 1 g TQ)=% So PiAe k _PAt Pode ‘ = GiG2 + GiGoG3 ! T+ Gy + Gos + Gol He + G2Gali Ha T i oop: Loo, Example 1.33: Find the transfer function of the system shown in Example 1.26 using flow graph technique. Loo Solution Using rules given in section 1.17.4, an equivalent signal flow graph is? as shown in Fig. 1.280.Mathematical Modeling 1.125 Fig. 1.280 Equivalent signal flow graph, There are two forward Forward path 1: Paths as shown in Fig. 1.281 (a & b) gain P, = GGG, R G, G G, loc O00 9 7 ggg 1 2 ay 4 5 8 Forward path 2: gain Py = G\GsG, 1 G G, 1 2 3 4 5 6 G, e. Fig. 1.281 Forward paths There are six individual loops as shown in Fig. 1.282 (ato f) s Loop 1 ° Aap geo 8 loop gain L) = —G,G2 , 1 4 : o loop gain Ly = —GiG3Gs5Mathematical Modeling 1.127 Practice Problem 1.13: Find a of the signal flow graph shown in Fig, 1.284 Fig. 1.284 Ans; —GiG2GsGuGsGo + GiGaGoGr(1 + Galli) + CxGxGsCs__ (1+ GoGglly + Gulls + G2GsGiGsHy + G2G7Ha + GiG2Gs GiGsGoHs + G1G2G7CgHs + GiGyGyCgHy + GaGr © HGH + G1G2G7GoHsGaK) Practice Problem 1.14: Yi, Find Ry zs z of the signal flow graph shown in Fg. 1.285 Fig, 1.285 Practice Problem 1.15: 5 Find C(s)/R(s) using signal flow graph for the block diagram 1.286. RO TL +9 1 a ee e-elh- T [s+2 st? way Fig. 1.286