06/03/2017

UWE Bristol Today’s Lecture

Industrial Control • Block diagrams to represent control
UFMF6W-20-2

Control Systems Engineering systems

UFMEUY-20-3
Lecture 5: Block Diagrams
and Steady State Errors
• Block diagram manipulation
• Example
• Steady State Errors

Block Diagrams Block Diagrams: Examples

• Block Diagrams provide a pictorial • y = Ax
representation of a system x y
A
• Unidirectional operational block
representing individual transfer functions • e=r-c
• Three basic elements:
– Rectangles - operators r + e

– Lines - signals –
c
– Circles - additional or subtraction

Block Diagrams: Examples Closed Loop System

• y = Ax-Bz • Simple Closed Loop Control System
+ Error
Input Process Output
+
x A y –
–
Sensor
Feedback
B z
+ E(s)
R(s) G(s) C(s)
–

H(s)
B(s)

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Closed Loop System Closed Loop System

• Simple Closed Loop Control System • Simple Closed Loop Control System
+ E(s) + E(s)
R(s) G(s) C(s) R(s) G(s) C(s)
– –

H(s) H(s)
B(s) B(s)

– Transfer function from R(s) to C(s) – Transfer function from R(s) to C(s)
C (s ) æ 1 ö
ü = R(s ) - H (s )C (s ) ® C (s )çç + H (s )÷÷ = R(s )
E(s ) = R(s ) - B(s ) G(s )
ï è G(s ) ø
B(s ) = H (s )C(s ) ï C (s )
ý® = R(s ) - H (s )C (s ) C (s ) G(s )
C (s ) = G(s )E (s ) ® E (s ) =
C (s ) ï G (s ) \ =
R(s ) 1 + G(s )H (s )
G(s ) ïþ

Closed Loop System Closed Loop System

• Simple Closed Loop Control System • Simple Closed Loop Control System
+ E(s) + E(s)
R(s) G(s) C(s) R(s) G(s) C(s)
– –

H(s) 1
B(s) B(s)

– Transfer function from R(s) to C(s) – With unity feedback, H(s) = 1

C (s ) G(s )
= G(s ) G(s )
R(s ) 1 + G(s )H (s ) ®
1 + G(s )H (s ) 1 + G(s )
G(s )
R(s) C(s)
1 + G(s )H (s )

Open Loop Transfer Function Block Diagram Manipulation

• Remove the feedback link from summing • Diagrams can be manipulated using the
junction following transformations
+ E(s)
R(s) G(s) C(s)
• Combining Blocks in Series:

B(s) H(s)

E(s ) = R(s )
Open Loop Transfer Function given by:
B(s )
= G(s )H (s )
E (s )

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Block Diagram Manipulation Block Diagram Manipulation

• Moving a summing junction • Moving a pickoff point ahead of a block

13 14

Block Diagram Manipulation Block Diagram Manipulation

• Moving a pickoff point behind a block • Moving a summing point ahead of a block

15 16

Block Diagram Manipulation Example

+ E A + B J + D
• Eliminating a feedback loop R G1 G2 G3 C
– – –

H
C K H1

H2

Consider subgroup containing G3 and H1:

C G3
= = G4
J 1 + G3 H1
17

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Example Example
+ E A + B J + E A + B J
R G1 G2 G4 C R G1 G2 G4 C
– – – –

C K C K

H2 H2

1 1

Consider subgroup containing G3 and H1: Consider subgroup containing G2 and G4:
C G3 C
= = G4 = G2G4 = G5
J 1 + G3 H1 B

Example Example
+ E A + B + E A + B
R G1 G5 C R G1 G5 C
– – – –

C K C K

H2 H2

1 1

Consider subgroup containing G2 and G4: Consider subgroup containing G5 and H2:

C C G5
= G2G4 = G5 = = G6
B A 1 + G5 H 2

Example Example
+ E A + E
R G1 G6 C R G1 G6 C
– –

C C

1 1

Consider subgroup containing G5 and H2: Final Closed Loop Transfer Function
C G5 C G1G6 G1G2G3
= = G6 = =
A 1 + G5 H 2 R 1 + G1G6 1 + G3 (H1 + G2 H 2 ) + G1G2G3

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Steady State Errors Example – No SS Error

• Feedback control used to reduce steady-state
errors
• Steady-state error is error after the transient

Response
response has decayed
• If error is unacceptable, the control system will Transient Steady State
need modification
• Errors are evaluated using standardised inputs
– Step inputs ts Time
– Ramp inputs
– Sinusoidal inputs

Example – No SS Error Causes of Steady State Error

• Errors can be caused by factors including
Error
1. Instrumentation of measurement errors
2. System non-linearities – deadbands,
Response

hysteresis, saturation etc.

Transient Steady State 3. Form of input signal
4. Form of system transfer function
5. External disturbances acting on the system,
ts Time
for example: forces or torques

Error Function Calculating Value System dependent

+ E(s) E (s ) 1 1
R(s) G(s) C(s) = ® E (s ) = ´ R(s )
– R(s ) 1 + G(s )H (s ) 1 + G(s )H (s )
Input dependent
H(s)
B(s)
• Use the final value theorem:
E(s ) = R(s ) - B(s ) Ess = lim E(t ) = lim sE(s )
B(s ) = H (s )C(s ) = H (s )G(s )E(s )
t ®¥ s ®0

• Inputs can be
E(s ) = R(s ) - G(s )H (s )E(s ) A A is step amplitude
– Step R(s ) =
E(s )[1 + G(s )H (s )] = R(s ) s
E (s ) 1 A
R(s ) =
A is step velocity
= – Ramp
R(s ) 1 + G(s )H (s ) s2

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Example Example
• System and Feedback Transfer functions: • Step input
G(s ) =
1
and H (s ) = 1 E (s ) s (1 + ts ) A s(1 + ts )
s(1 + ts ) = ® E (s ) =
R(s ) s (1 + ts ) + 1 s s(1 + ts ) + 1

• Error • Steady State Error:

E (s ) 1 1 s(1 + ts ) A s (1 + ts ) 0(1 + 0t )A
= = = Ess = lim sE (s ) = s = =0
R(s ) 1 + G(s )H (s ) 1 + 1 s(1 + ts ) + 1 s ®0 s s (1 + ts ) + 1 0(1 + 0t ) + 1
s(1 + ts )

• as Ess = 0 and H(s) = 1, steady state Example

output will be same as input
• Ramp input
E (s ) s (1 + ts ) A s(1 + ts )
R = ® E (s ) = 2
h=1
R(s ) s (1 + ts ) + 1 s s(1 + ts ) + 1

• Steady State Error:

C A s(1 + ts ) (1 + 0t )A = A
Ess = lim sE (s ) = s 2 =
s ®0 s s(1 + ts ) + 1 0(1 + 0t ) + 1

• in this case Ess is not zero and during

Example
application of ramp input C will lag R by A
• System and Feedback Transfer functions:
Response
1
R G(s ) = and H (s ) = 2
1 + ts
C
A
• Error
E (s ) 1 1 ts + 1
= = =
R(s ) 1 + G (s )H (s ) 1 + 2 ts + 3
1 + ts
Time - s

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Example • in this case, error is not zero and the output

will not be equal to the input
• Step input • steady state output Css can also be found
using the Final Value Theorem as follows :
E (s ) ts + 1 A ts + 1
= ® E (s ) =
R(s ) ts + 3 s ts + 3
R(s ) - E (s ) æ 1 + ts ö R(s )
E (s ) = R(s ) - H (s )C (s ) ® C (s ) = = ç1 - ÷
• Steady State Error: H (s ) è 3 + ts ø 2

A ts + 1 (0t + 1)A A
Ess = lim sE (s ) = s = = æ 1 + ts ö A æ 1 ö A A
s ®0 s ts + 3 0t + 3 3 Css = lim sC ( s ) = lim sç1 - ÷ = ç1 - ÷ =
s ®0 s ®0
è 3 + ts ø 2 s è 3 ø 2 3

• resulting response for A = 1: (b) ramp input:

Ess = lim sE ( s ) = lim sç (1 + ts ) A ÷ =
æ ö (1 + t ´ 0) A
=¥
s ®0 ç (3 + ts ) s 2 ÷
ø (3 + t ´ 0) 0
s ®0
è

R error continues to increase which is not acceptable

Response
R

C
C

Time - s

Today’s lecture Example Block Diagram

• Block Diagrams pictorial representation of
control system
• Rectangles represent operations
• Lines are signals
• Summing junctions enable addition/subtraction
• Manipulation Techniques to reduce block
diagrams to transfer function
• Steady State Errors help to determine what
happens to signal in steady state
An electrical motor is used in a closed loop
system to control the angular position of an
inertial load. The position of the load, which is
directly connected to the motor, is measured by
a simple rotary potentiometer. The output signal
from the transducer is compared with the input
demand and the resulting error signal is passed
to a voltage/current amplifier. The input demand
is converted from angular displacement to
voltage before being connected to the summing
junction.

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Example system block diagram:

• Closed Loop
Battery Angle

Turntable

Angle +
DC Amplifier DC motor
setting –
Desired angle Tachometer
(voltage) An electrical motor is used in a closed loop system
Gain Control Device Actuator Process to control the angular position of an inertial load.
+ Error Actual angle
Gain Amplifier DC motor Turntable
–

Sensor

Measured angle
Potentiometer
(voltage)

system block diagram: system block diagram:

The position of the load, which is directly

The output signal from the transducer is compared
connected to the motor, is measured by a simple
with the input demand and the resulting error signal
rotary potentiometer.
is passed to a voltage/current amplifier.

system block diagram: • system equations:

(a) Motor torque - Tm = km I

(b) Amplifier - I = AVe

(c) Load - TL = Js 2q o + csq o

The input demand is converted from (d) Input demand - Vi = k pqi

angular displacement to voltage before (e) Feedback - Vo = kTqo
being connected to the summing
junction. (f) Error - Ve = Vi - Vo

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• system block diagram • Closed Loop Transfer function for

qi Vi + Ve I Tm 1
qo system:
kP A km Js 2 + cs
-
qo Akm k P
Vo ( s) = 2
kT
qi Js + cs + Akm kT
reduced block diagram
Akm k P
R + C G( s) =
G(s) Js 2 + cs
-
kT
H(s) H (s) =
kP

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