Professional Documents
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Control Systems
1
Outline
• Introduction
• Canonical Form
• Reduction of complicated Block diagrams
• Examples of Block Diagram
2
Introduction
• A Block Diagram is a shorthand
d
pictorial representation of the x y
dt
cause-and-effect relationship of a
system.
𝑦
• For the operations of addition and
subtraction the block becomes a 𝑥 +¿ +¿
small circle, called a summing 𝑥+𝑦 − 𝑧
−
point.
𝑧
• In order to have the same signal or variable be an input to more
than one block or summing point, a takeoff point is used.
3
Example-1
• Consider the following equations in which , , , are variables, and ,
are general coefficients or mathematical operators.
x3 a1 x1 a 2 x 2 5
4
Example-2
• Draw the Block Diagrams of the following equations.
dx1 1
(1) x 2 a1 x1dt
dt b
d 2 x2 dx1
( 2) x3 a1 3 bx1
dt 2 dt
5
Canonical Form of A Feedback Control System
6
Characteristic Equation
• The control ratio is the closed loop transfer function of the system.
C( s ) G( s )
R( s ) 1 G( s )H ( s )
1 G( s ) H ( s ) 0
7
Example-3
1. Open loop transfer function G ( s) H ( s)
B( s ) G( s ) H ( s )
4. feedback ratio R( s ) 1 G( s )H ( s )
E( s ) 1 H (s )
5. error ratio R( s ) 1 G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function R( s ) 1 G( s )H ( s )
7. characteristic equation 1 G( s ) H ( s ) 0
8
8. closed loop poles and zeros if K=10.
Reduction of Complicated Block
Diagrams
• The block diagram of a practical control system is often
quite complicated.
9
Reduction techniques
G1 G2 G1G2
G1
G1 G2
G2
10
Reduction techniques
G G
G
G G
1
G
11
5. Moving a pickoff point behind a block
G G
1
G
G G
G
12
7. Eliminating a feedback loop
G
G
1 GH
H
G
G
1 G
H 1
A B B A
13
Example-4: Reduce the Block Diagram to Canonical Form.
14
Example-4: Reduce the Block Diagram to Canonical Form.
𝐺2 + 𝐺3
𝐺1 𝐺4
15
Example-4: Continue.
• Eliminate all minor feedback loops using rule-7
• After the elimination of minor feedback loop the block diagram is reduced to as shown below
16
Example-5 (Home Work)
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=100.
17
Example-6
H2
R _ C
+_ + G1 + G2 G3
+
H1
18
Example-6
H2
G1
R _ C
+_ + + G1 G2 G3
+
H1
19
Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
20
Example-6
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
21
Example-6
H2
G1
R _ G1G2 C
+_ + G3
1 G1G2 H1
22
Example-6
H2
G1
R _ G1G2G3 C
+_ +
1 G1G2 H1
23
Example-6
R G1G2G3 C
+_ 1 G1G2 H1 G2G3 H 2
24
Example 7
Find the transfer function of the following block diagram
G4
R (s ) Y (s )
G1 G2 G3
H2
H1
25
I
G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2
Solution:
G2
1. Moving pickoff point A ahead of block
B
G4 G2G3
26
G4
R(s ) Y (s )
GG4
A G2 G3
B
G1 2 G 3
H2
H1G2
27
4. Eliminate loop III
R(s ) Y (s )
G1 GG4 4GG2G2G3 3
C C
1 H 2 (GH4 2 G2G3 )
G2 H1
G4 G2G3
R(s ) Y (s )
G1 G2
H1 H2
H3
29
Solution:
1. Eliminate loop I
R(s ) A
G2 I
B
Y (s)
G1 G2
H1
1 GH2 H
2
2
H3
2. Moving pickoff point A behind blockG2
1 G2 H 2
R(s ) A G2 B
Y (s)
G1
1 G2 H 2
1 G2 H 2 II
H1 1 G2 H 2
G2 H 3 H1 ( )
G2
H3 Not a feedback loop 30
3. Eliminate loop II
R(s ) G1G2 Y (s )
1 G2 H 2
H1 (1 G2 H 2 )
H3
G2
Y (s) G1G2
R( s ) 1 G2 H 2 G1G2 H 3 G1 H1 G1G2 H1 H 2
31
Example 9
Find the transfer function of the following block diagrams
H4
R(s ) Y (s )
G1 G2 G3 G4
H3
H2
H1
32
Solution:
33
2. Eliminate loop I and Simplify
R(s ) II Y (s )
G2G3G4 B
G1
1 G3G4 H 4
H3
G4
H2
G4 III
H1
G2G3G4 H 2 G4 H1
1 G3G4 H 4 G2G3 H 3 G4
34
3. Eliminate loop II & IIII
R(s ) G1G2G3G4 Y (s )
1 G3G4 H 4 G2G3 H 3
H 2 G4 H1
G4
Y (s) G1G2G3G4
R( s ) 1 G2G3 H 3 G3G4 H 4 G1G2G3 H 2 G1G2G3G4 H1
35
Example 10 (Home Work)
Find the transfer function of the following block diagrams
H2
R(s ) A Y (s )
G1 G2 G3
B
H1
G4
36
Solution:
G3
1. Moving pickoff point A behind block
I
H2
R(s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
37
2. Eliminate loop I & Simplify
H2
G2 G3 B G2G3 B
1 H1
H2
H1 G3 G3
II
R(s ) G2G3 Y (s )
G1
1 G2 H1 G2G3 H 2
H1
G3
G4 38
3. Eliminate loop II
R(s ) G1G2G3 Y (s )
1 G2 H1 G2G3 H 2 G1G2 H1
G4
Y (s) G1G2G3
T (s) G4
R( s) 1 G2 H1 G2G3 H 2 G1G2 H1
39
Example-11: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.
40
Example-11: Continue.
41
Example-11: Continue.
42
Example-12: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
43
Example-12: Continue.
44
Example-12: Continue.
45
Example-13: Multi-Input Multi-Output System. Determine C1 and C2 due to R1 and
R2.
46
Example-13: Continue.
47
Example-13: Continue.
When R1 = 0,
When R2 = 0,
48
Block Diagram of Armature Controlled D.C Motor
Ra La
c
ia
Va eb T J
tant
cons
V f=
50
Block Diagram of Armature Controlled D.C Motor
51
Block Diagram of Armature Controlled D.C Motor
52
Block Diagram Angular Position Control
System (Home Work)
Ra La N1
+
JM
+ + + BM
ia BL
kp
r
e ea e b T θ JL
c
_ _ _
N2
if = Constant
-
53