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Lec 4

This document covers lecture 4 of the ENGR3350U control systems course. The key learning objectives are to develop block diagrams for dynamic systems, simplify block diagrams using signal flow, and determine transfer functions for multiple input systems. It provides examples of block diagram models for systems like a disk drive, robotic surgery controller, and elevator. It also introduces signal flow graph models as an alternative representation and shows how they can be used to simplify complex systems through techniques like Cramer's rule.

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Karan Chawla
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26 views38 pages

Lec 4

This document covers lecture 4 of the ENGR3350U control systems course. The key learning objectives are to develop block diagrams for dynamic systems, simplify block diagrams using signal flow, and determine transfer functions for multiple input systems. It provides examples of block diagram models for systems like a disk drive, robotic surgery controller, and elevator. It also introduces signal flow graph models as an alternative representation and shows how they can be used to simplify complex systems through techniques like Cramer's rule.

Uploaded by

Karan Chawla
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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ENGR3350U - CONTROL SYSTEMS

LECTURE-4

Lecture Schedule
Week-1 [10-Sep]: Lab Introduction Week-2 [14,17 Sep]: Control System, Closed / Open Loops, Modelling of Dynamic Systems Week-3 [21,24 Sep]: Laplace Transform, Block Diagram, Review Week-4 [28-Sep, 1-Oct]: State Variables, Feedback Control, Review Week-5 [5,8 Oct]: Midterm Exam (1), Invited Lecture / Project Discussions Week-6 [12,15 Oct]: Performance of Feedback Control Week-7 [19,22 Oct]: Steady State Error, Stability
Dr. Hossam A.Gabbar 2
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LEARNING OBJECTIVES
Develop block diagram for dynamic system Simplify block diagrams Use signal-flow to simplify complex block diagrams

FIGURE 1.29 (CONTINUED) (B) DIAGRAM OF A DISK DRIVE.

CLOSED-LOOP CONTROL SYSTEM FOR DISK DRIVE

CONTROL OF ROBOTIC MICROSURGICAL

Controller

Actuator

Process

Actuator
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CONTROL DESIGN FOR ELEVATOR

Can we test controller without process / system?


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BLOCK DIAGRAM

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FEEDBACK LOOP

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BLOCK DIAGRAM REDUCTION


Rearranging Summing Points.

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BLOCK DIAGRAM REDUCTION


Moving a summing point ahead of a block.

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BLOCK DIAGRAM REDUCTION


Moving a summing point beyond a block.

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TRANSFER FUNCTIONS OF MULTIPLE INPUT SYSTEMS


Determine the output due to the inputs U1, U2 and R for the system pictured below.

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SIGNAL-FLOW GRAPH MODELS


Signal-flow graphs are diagrams that include nodes that are connected to several branches, which are a graphical representation of linear system For complex systems, block diagram simplification is not easy

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SIGNAL-FLOW DIAGRAM

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SIGNAL-FLOW DIAGRAM METHOD

Cramers rule

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SIGNAL-FLOW METHOD

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SIGNAL-FLOW MODEL

Gain of k-th path from variable x(i) to variable x(j)

Determinant of the graph Cofactor of the path P(I, j, k)

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SIGNAL-FLOW DIAGRAM

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EXAMPLE

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SIGNAL-FLOW MODEL

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SIGNAL FLOW GRAPHS VS. BLOCK DIAGRAMS


Anything block diagrams can do, signal flow graphs can do also.
X(s) 540 G1(s) 0.1
G2(s)

Y(s)

540

G1(s) -0.1 -1

X(s)

G2(s )

Y(s)

This method is developed by Mason


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SIGNAL FLOW GRAPH STATE MODEL

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SIGNAL-FLOW MODEL

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