Lecture 3

Block diagrams
Modelling contd.
Transfer functions through Block Diagrams
 Block Diagrams

Summation Point Function Block Junction Point

Input + Output Input Output

Controller System Overall
- mathematical
model of the
Sensor Control System
Feedback

 Mathematical model of the dynamics of the subsystems are

inserted within the function block

 Block Diagram Algebra

Transformation Equation Block Diagram Equivalent Block Diagram

Combining X Y X Y
P1 P2 P1 P2
1 blocks in Y = (P1P2) X
XP1 XP1P2 XP1P2
Cascade

Combining X
P1 ± P2
Y
blocks in Parallel X XP1 Y
2 P1
or eliminating a + ±
forward loop
Y = P1 X ± P2 X
Removing a X XP2 X XP2 P1 XP1 Y
block from a P2 P2
3 P2 + ±
forward path
XP2
 Block Diagram Algebra

Transformation Equation Block Diagram Equivalent Block Diagram

Eliminating a
X  YP2 P1 X  YP1P2 X P1 Y
4 feedback loop
X Y 1  P1P2
P1
+ ±
±
Y = P1 (X P2 Y)
Removing a
X 1 Y
block from a P1 P2
5 feedback loop P2 + ±
YP2
P2
Equivalent Unity Feedback
System

Y  P1 X  YP1 P2
P1
Y X
1 P1 P2
 Modelling a water tank system and obtaining the
transfer function using block diagrams
qi
Rate of water accumulation in tank;

h A R
qo
Outlet flow rate of water tank;
qi – water inlet flow rate
(Input to the system)
qo – water outlet flow rate
h – height of water level within the tank
Taking Laplace transforms for the two eqns;
(interested Output of the system)
A – cross-sectional area of water tank
R – pipe resistance, outlet valve energy
loss etc.
(all dissipative energy in the tank)

Qi + (Qi – Qo) 1 H
As
-
Qo
1 H
R
 Modelling a water tank system and obtaing the
transfer function using block diagrams
qi
Qi + (Qi – Qo) 1 H
As
h A R -
qo Qo
1 H
R
X Y
P1
+ ±
1
P2 Qi H
As
1
1
ARs
X P1 Y
1  P1 P2

Transfer function
 bx(t )  ay (t )
LOAD
e(t ) 
Spool-valve
ab
q
1
E (s)  [bX ( s )  aY ( s )] 1
ab
A
dy (t )
Supply
PISTON A  q (t )  Ke(t )
dt
AsY ( s )  KE ( s )
a
K
x m b Y ( s)  E ( s) 2
Reference position e As
y
Final position

X + [bX (s)  aY1(s)] 1 Y

E K
b
- ab As

a Y
X + 1 E 1 Y
b K
- ab As

a Y

X + K Y
b
- As (a  b)

a Y

K
P1
X As (a  b) Y
b
 K
1 a
P1 As (a  b)
Y X
1 P1 P2
X Kb Y
P2
As (a  b)  Ka
 X Kb Y
As (a  b)  Ka

b/a
X Y
 A(a  b) 
 Ka s  1

dy (t )
A  q(t )  Ke(t )
dt
dy  xb  ay 
A  K 
dt  ab 
A(a  b) sY ( s )  KaY ( s )  KbX ( s)
K1 b A(a  b)
Y (s)  X ( s ); K1  ,  
1  s a Ka
Example
H2
-
R + + + Y
G1 G2 G3
- +
H1
…-G2H2Y

H2
-
R + + + Y
G1 G2 G3
- +
H1

H2
-
R + + + Y
G1 G2 G3
- +
H1
Example
H2
-
R + + + Y
G1 G2 G3
- +
H1
…-G2H2Y

H2/G1 Y
H2/G1
-
R + + Y
G1 G2 G3
- +
H1
…-G2H2Y

G1G2
G1G2G3
1  G1G2 H1
1  G1G2 H1
Example H2
-
R + + + Y
G1 G2 G3
- -
H1

G1G2G3
(1  G1G2 H1 )  G2G3 H 2
H2 /G1
-
R + + G1G2G3 Y

- 1  G1G2 H1

G1G2G3
[(1  G1G2 H1 )  G2G3 H 2 ]  G1G2G3
Mathematical Modeling – mechanical rotary system
I1
I2
θ1 >θ2

θ1 θ1 θ2

r1
k2
T1 k1
I1
r1

 2 (s)
B
T1 ( s )
Mathematical Modeling – Outlet Flow Control System
qi

Qo ( s )
R is a resistance of the valve and pipe
Qi ( s )

h A
R qo

Mathematical Modeling – An Electrical Lead Compensator

i1 R1
i
i2 Vo ( s )
C
Vo R2 Vi ( s )
Vi
cascaded Two-tank liquid level system

qi
Qo 2 ( s )
h1 A1 R1 Qi ( s )
qo1

h2 A2 R2

qo2

interacting Two-tank liquid level system

Qo 2 ( s )
qi
Qi ( s )

h1 A1 R1 h2 A2 R2
qo1
qo2