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Mathematical Modeling of Dynamic Systems: Lecture 4 & 5

The document discusses block diagrams and transfer functions used in modeling dynamic systems. It defines a block diagram as a pictorial representation of a function and a transfer function as the Laplace transform of the output over the input of a linear, time-invariant system. It presents different classifications of industrial controllers and describes how to find transfer functions using MATLAB. It also provides examples of reducing complex block diagrams by combining transfer functions in the forward path and around feedback loops.

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MamdouhAlhanafy
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66 views6 pages

Mathematical Modeling of Dynamic Systems: Lecture 4 & 5

The document discusses block diagrams and transfer functions used in modeling dynamic systems. It defines a block diagram as a pictorial representation of a function and a transfer function as the Laplace transform of the output over the input of a linear, time-invariant system. It presents different classifications of industrial controllers and describes how to find transfer functions using MATLAB. It also provides examples of reducing complex block diagrams by combining transfer functions in the forward path and around feedback loops.

Uploaded by

MamdouhAlhanafy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
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Automatic Control

Mechanical Engineering Department

Mathematical Modeling of
Dynamic Systems
Lecture 4 & 5
Chapter 3
Block diagram: is a pictorial representation of a function
Transfer function: a linear, time invariant ratio of the Laplace transform of the output to the input
Transferfu nction G ( s )

Transfer function

L[output ]
L[input ]

G(x)
R(s)

feedback B ( s )
G ( s ) H ( s ) open loop transfer function
Error E ( s )
output C ( s )
G ( s ) feedforward transfer function
ErrorE ( s )

Dr. Talal Mandourah

C(s)

E(s)
G(s)

B(s)

C(s)
H(s)

Automatic Control

Mechanical Engineering Department

Mathematical Modeling of
Dynamic Systems
Closed-loop transfer function

C(s)

R(s)

C (s) G(s) E (s)

G1(s)

G2(s)

E ( s) R( s) B( s)
E ( s ) R( s ) H ( s )C ( s )

R(s)

C ( s ) G ( s )[ R ( s ) H ( s )C ( s)]

G1(s)

C(s)

G2(s)

C (s)
G ( s)

R( s) 1 G ( s) H (s)

R(s)

G1(s)

Finding TF by MATLAB

C(s)

[num, den]=series(num1,den1,num2,den2)
[num, den]=parallel(num1,den1,num2,den2)

G2(s)

[num, den]=feedback(num1,den1,num2,den2)
Printsys(num, den)

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Mathematical Modeling of
Dynamic Systems
Classifications of Industrial Controllers

Controlled variable

1- Two- positions (on-off) controllers


2- P- controllers
3- I- controllers
4- PI-controllers
5- PD-controllers
6- PID-controllers
tp
SS error

Overshoot

Transient state
tr

Steady state

Settling time ts

time
Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Block diagram reduction


R

H2(s)

Example1:

C
G2(s)

G1(s)

H2/G1

G1G 2
1 G1G 2 H 1

G3(s)

G3(s)

H1(s)

G1G 2G 3
1 G1G 2 H 1 G 2G3H 2

H2/G1

C
G1(s)

G2(s)

G3(s)

R
G1G 2G 3
1 G1G 2 H 1 G 2G3H 2 G1G 2G 3

H1(s)

Num=product of TF of the feedforward path


Den=1-product of TF around each loop

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Block diagram reduction


Example2
R(s)

C(s)

R(s)

H1
C(s)

G1

G2

H2

Dr. Talal Mandourah

Automatic Control

Mechanical Engineering Department

Block diagram reduction


H3

R(s)

C(s)
G1

G2

H1

G3

G4

H2

Dr. Talal Mandourah

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