Jana so they are represented by ment B. js common between emg 4 in analogous circuit Koh, K, 7 Ly Itisobserved that the node ppasis equations (10), (1 ) (4), (6) and (6) governing the ‘mechanical system. 441 BLOCK DIAGRAMS ‘A control system may consist of a number of components. In control engineering to shov functions performed by each component, We ‘commonly use a diagram called the block diagram. Al diagram of a system is a pictorial representation of the functions performed by each component the low of signals. Sucha diagram depicts the interrelationships that exist among the various comPNS The elements of a block diagram are block, branch point and summing point. BLOCK pean ee a SURES Ae to each other through funetional oie j block that produces the output. The transfer fine Site aeons call ol corespnding blocks, which ae somected by anane te nota ee nie mew Figure 1.25 shows the block diagram of ieee oo The arrowhead pointing towards the block indies ec leading away from eae oa te aupa. Suc amore ae Sic Was sala es Sim aay aay Mra : a3 putsignal Fig 1.25 > Functional block SUMMING POINT Summing points are used system. Referring to figure 1.26, a na two or ‘ ‘Wo of more si iflicets ¢ summing operation ae aan a re signals in StOSS is the symbol ie Fig 1.26 : SummingThe plus or minus sign al tent that the quantities being added or subtracted have the same dimensi ox easeurey to oer blocks or summing pont NG BLOCK DIAGRAM FOR CONTROL SYSTEMS peer ‘A control system covering the system are ‘are converted to aking knowledge ofthe system the input and output vara wethequation can be drawn. Each equation gives one section sail be input for another section. The various sections are interconnect diagram of the sys sss ‘can be represented diagramatically by bI used to construct the block diagram. By braic equations. The equations wi taking Laplace transform the 8 equations m. EXAMPLE 1.14 Construct the block diagram of armature controlled de motor. SOLUTION The differential equations governing the armature controlled de motor are (refer section 1.7), e-Kk,o a9 me fe madi es e et s On taking Laplace transform of equation (1) we get ie . . V,(s) =1,(s)R, +L, s1,(8) + E,(s) In equation (6), Vs) and E,(s) are in ‘ io CS) puts and I,(s)_ is the Pe ati (0) rearenaed ane the block diagram for this equation is shown in fig 1 : + -VS)-E,(s)=1,()[R, +814] 1,6) = R, +sL, On taking Laplace transform of equation (2) we get, Tis) = K, 1) y (7) In equation (7), 1,( T , (6) is the input and 7 block diagram for this equation i shown in ee TA sispthe outaaly Fig 2 156_ gtr t-Mathematt Modes of Conroe es ~The + each arrowhead indicates whether the signal is 10 te added or subtracted cons and the same units. srisimp Branch point Es 2 ‘A branch point is a point from which the signal from a block is BeAG A Fig 1.27 : Branch point. lock diagram, The differential equations ferential II have variables and constants. From the bles are identified and the block diagram for of block diagram. The output of one section ied to obtain the overall blockence ie eguation (8) Is rear of 11s) isthe output, Hence equation & 10) is rearranged and} «) isthe input and 013) a os) i a oa _5\ 2m jn equation (10), 06 nd O ok diagram fr this equations SOME in fig5. ajfed de motor is obtained by connecting the vail] section “The overall block diagram of armature cor sexton sowing 10 ig5. The overall block dlagram 1S shown in fig 6 V9-89) EXAMPLE 1.15 Construct the block di gram of pone field controlled de motor, ‘The differential ec ‘ations governing the field controll rolled de motor ve = Reig tL, Ht c= Rerigt hy Se section 1.8). are (refer On taking Laplace transform of equa Vis) = Ry e(S) + Les coe ) We get,uation (4) is rearranged and aupter1- Mathematical Models of Controb systems ae tn equation (4), V;(S) is the input and 1s) is the output. Hence the eq the block diagram for this equation is shown in fig | and Vs) =1,() [Ry +8L¢] vo— 4 = ~ Vis) Fig cams ‘On taking Laplace transform of equation (2) we get, (8) =Ke 1) oye 3) In equation (5), Ir(s) is the input and T(s) is the output. Fig? > the block diagram for this equation is shown in fig 2. ‘On taking Laplace transform of equation (3) we get, a T() = J 82 O(s) + Bs 0 (5) (6) eal In equation (6), T(s) is input and 0(s) is the output. Hence equation (6) is rearranged and the block diagram for this equation is shown in fig 3.. Js + Bs Fig 3 T(s) =( s* + Bs) 0(s) The overall block diagram of field controlled de motor is obtained by connecting the various lous | section shown in fig 1 to fig 3. The overall block diagram is shown in fig 4 aa 16) I a) oH Fig 4 : Block diagram of field controlled de motor BLOCK DIAGRAM REDUCTION _ ee = eo eng block diagram can be reduced to find the overall transfer function of the system. The following Tiles ean be used for block diagram reduction . The rules are framed such that any modification made on —} the diagram does not alter the input-output relation, | RULES OF BLOCK DIAGRAM ALGEBRA. : Rule-1 : Combining the blocks in cascade AF ASG | 460, = Ace AGG io | (Sits ae Rule-2 : Combi 'wle-2-: Combining Parallel blocks (or combining feed forward paths) AG, 6 AS AG,+AG, = AUG + G,) ,the summing Po Moving AG+BO = (A+B)Gupler- Mathematical Models of Control Stems SOLUTION ep 1: Moving the branch point before the block ‘Step 2: Combining the blocks in cascade and “© (2) G to He GGG "Step 4: Interchanging summing points and modifying branch points. R. 6,646.) 146,638 ae 6,46) Ty 1606 6 ‘Siep 7: Eliminatingthe feedback path. TGC +6,6,1, 00H, SSeS Gas c. FORTS | SG,G+6G,— i = ——— VTGGHEGisog, 'TOS+E,G.H RESULT The overall transfer function is given : Ys 865,466, “GGH IEG. eg a G.6,y‘ EXAMPLE 118 function > for the system shown in fig | 5) Determine the overall transfer oS SOLUTION Se ‘Siep 1: Moving the branch point before the block RIS) &) = : Siep 2 : Combining the blocks in cascade and rearranging the branch points © i ‘Sep 3 : Eliminating the feedback path Ro)EXAM I funetior G,G3 1+G,H,G3_| CG *T+G,HGs Hyaap Mathematical Modesof Control ens cs) _ G,G,6,04 RG) 1+G,G,H, +G,G,H, +G,G,G,G. RESULT ~The overall transfer function of the system is given by, Os) _ G,G,G;G4 RG) 1+G,G,H, +6,G,H, +G,G,G,G, EXAMPLE 1.19 For the system represented by the block diagram shown in fig 1. Evaluate the closed loop transfer function when the input R is (i) at station-I (fi) at station-II. Hy. | Station-II | Station-1 @— SOLUTION (i) Consider the input R is at station-I and so the input at station-II is made zero. Let the output be C). Since there is no input at station-II that summing point can be removed and resulting block diagram is shown in fig 2. ‘Sep I: Shift the take off point of feedback H; beyond G, and rearrange the branch points Hy [r @—-q is263 a means Hi: 1+G3H2 pee 1+G3Hp LG, SS eee CoS ees ay G a NORGH toa, "Ga +G.H5 GG,Mathematical Models of Control Systems 1.68 (ii) Consider the input R at station-Il, the input at station-I is made zero. Let output be C,. Since there isno input in station-I that corresponding summing point can be removed and a negative Sign can be attached to the feedback peth gain H,, The resulting ‘block diagram is shown in fig 3. ‘sep Ts Combining the blocks in eascade, shifting the summing point of H, before G, and rearranging the branch points. Hs Fig 3 Gi ‘Step 3: Combining parallel blocks and eliminating feedback pathG+ 6,1) 1+ Gil +G,G,038, + A) RESULT The transfer funtion ofthe stem with input at station! is The transfer function of the system wi transfer function of the sem with input a tt KG Gy ion-I is, SOLUTI Cas Int which ad¢ shown in StE 1.20 EXAMPLE 1. 5y/R, and Cx/R the system represented by the block diagram shown in the fig |. determine C,/R, and Cy For ee a G-—> “ * Fig 1 tale : ea a Re c aes a : SOLUTION G Case (i) To find “pe In this case set R, = 0 and consider only one output C,. Hence we can remove the summing point which adds R, and need not consider G,, since G, is on the open path. The resulting block diagram is shown in fig 2 ‘Step 1: Eliminating the feedback pathStep 5 Eliminating the feedback path~ sep 6: Combining the blocks in cascade Case 2: To find “Re In this case set R, = 0 and consider only one output C,. Hence we can rer which adds R, and need not consider G,, since G, is on the open path. The re shown in fig 3. ‘Step 1: Eliminate the feedback path. move the summing point ssulting block diagram is66,05, 1GGsH Ha G+G)0+G,G2) ~ & (ca G,G.G.GH 1 +) (+G,G,)-G,G. RESULT ae " “The transfer function of the system when the input and output are Ri ile G,G,G, +Gs) R, (+G,G2)0 +G,)-G,G,GsH Ha GHA and C; is given by, the twansfer function of the system when the input and output are R, and C2 is given by. G,G,G.G, H: 056, 0 +G,G,)- GG, EXAMPLE 1.21 Obtain the closed loop transfer functio jagram is shown in n C(s)/R(s) ofthe system whose block di fig |. Fig 1 SOLUTION Splitting the summing point and rearranging the branch pointsing feedback path Combining the blocks in cascade and eliminati Combining the blocks i in cascade 2 ascade and eliminating feedback pathoG.G. GGG) Hh [eG +G,GsH: (Gs TG,H, +G,G3H, - GiG2Ah Pe Sie Sss Gc, “R) 1+G,H, +G,G,H, -G,G,H, Ka RESULT Cs) The transfer function of the system is Ry G,G.G, Bs 1+-G,H, +G,G,H, -G,G,H, G, EXAMPLE 1.22 KX The block diagram of a closed loop system is shown in fig 1. Using the block diagram reduction technique determine the closed loop transfer function C(sV/R(S). SOLUTION Step 1 : Splitting the summing point. c@) — ‘Step 2 : Eliminating the feedback path.G,(s)___ 770,09 ©) og the blocks in cascade ee ) ? 14G,(6) Hy(5)+G,(8) G(s) Hy) 9) _ GA) IS) +] RO) 1*6,6)1,9) +619 6.0 H, 3) i RESULT ‘The transfer funtion ofthe sytem jg S2O[0,95 j 6,6) Orage ‘ ©‘on C(s)/R(s) for the system shown EXAMPLE ‘technique find the transfer functi LI ‘Using block diagram reduction in fig 1. cs) SOLUTION ‘Step 1 : Rearranging the branch points‘Siep § : Combi ining the blocks in cascade 6,66," 1+GaiH G 1 GoGGalis = Tea s GH, * “86.68,GG26;G4 = Ty GgHHy - G2G;G4H3 + GiG2Ha (1+ GyHiHa), T+ GqHliH sats —-|( 14 G gH ~ G2GsGuHla sminating the unity feedback path. G,G,G6;G4 GG,G,H, +G,G2Ha(1 + Gata) ~ TG, -G,G,G,H, + G,G,H, (1+ G,H,H,)+G,G.6,G, a G,G,G,G, “Ty, G,,G,4,)+6,6,G, +6,6,)- G.G,Hs RESULT ‘The transfer function of the system is, oo) GG,G,G, RG) 1+H\HyG, +G,G,G,H,)+6,G,