Modern Control Systems

(ENGR 3100U)

Composite Block Diagrams

Ali Tizghadam
[email protected]
Winter, 2011

Ali Tizghadam, ENGR 3100U, Winter 2011 1

Outline
  Composite Block Diagrams
  Simplification

Ali Tizghadam, ENGR 3100U, Winter 2011 2

1
Block Diagrams

Figure 2-1 Block diagram.

Figure 2-2 Summing point.

Ali Tizghadam, ENGR 3100U, Winter 2011 3

Pickoff Point vs Summing Point

Ali Tizghadam, ENGR 3100U, Winter 2011 4

2
 Figure 2-5 (a) Cascaded system; (b) parallel system; (c) feedback (closed-loop) system.

Ali Tizghadam, ENGR 3100U, Winter 2011 5

Cascade Form

Ali Tizghadam, ENGR 3100U, Winter 2011 6

3
Coupling

Ali Tizghadam, ENGR 3100U, Winter 2011 7

Ali Tizghadam, ENGR 3100U, Winter 2011 8

4
Parallel Form

Ali Tizghadam, ENGR 3100U, Winter 2011 9

Feedback Form

Figure 2-6 Block diagram of an industrial control system, which consists of an automatic controller, an actuator, a
plant, and a sensor (measuring element).

Ali Tizghadam, ENGR 3100U, Winter 2011 10

5
Block Diagram of a Closed Loop System

Figure 2-3 Block diagram of a closed-loop system. Figure 2-4 Closed-loop system

Ali Tizghadam, ENGR 3100U, Winter 2011 11

Feedback Form: Transfer Functions

Ali Tizghadam, ENGR 3100U, Winter 2011 12

6
 Ali Tizghadam, ENGR 3100U, Winter 2011 13

Figure 2-11 Closed-loop system subjected to a disturbance.

Ali Tizghadam, ENGR 3100U, Winter 2011 14

7
 Figure 2-12 (a) RC circuit; (b) block diagram representing Equation (2–6); (c) block diagram representing Equation
(2–7); (d) block diagram of the RC circuit.

Ali Tizghadam, ENGR 3100U, Winter 2011 15

Moving Blocks

Ali Tizghadam, ENGR 3100U, Winter 2011 16

8
 Ali Tizghadam, ENGR 3100U, Winter 2011 17

Example (Feedback Feed-Forward)

Figure 2-17 Block diagram of a system.

Figure 2-18 Simplified block diagrams for the system shown in Figure 2–17.

Ali Tizghadam, ENGR 3100U, Winter 2011 18

9
Example (Feed-Forward)

Figure 2-19 Block diagram of a system.

Figure 2-20 Reduction of the block diagram shown in Figure 2–19.

Ali Tizghadam, ENGR 3100U, Winter 2011 19

Example

Figure 2-21 Block diagram of a system.

Ali Tizghadam, ENGR 3100U, Winter 2011 20

10
 Figure 2-22 Successive reductions of the block diagram shown in Figure 2–21.

Ali Tizghadam, ENGR 3100U, Winter 2011 21

Example (With Disturbance)

Figure 2-23 Control system with reference input and disturbance input.

Ali Tizghadam, ENGR 3100U, Winter 2011 22

11
Figure 2-13 (a) Multiple-loop system; (b)–(e) successive reductions of the block diagram shown in (a).

Ali Tizghadam, ENGR 3100U, Winter 2011 23

Figure 2-24 System with two inputs and two outputs.

Ali Tizghadam, ENGR 3100U, Winter 2011 24

12
 Figure 2-25 Simplified block diagrams and corresponding closed-loop transfer functions.

Ali Tizghadam, ENGR 3100U, Winter 2011 25

Example

Ali Tizghadam, ENGR 3100U, Winter 2011 26

13
 Ali Tizghadam, ENGR 3100U, Winter 2011 27

Figure 2-26 Control system.

Ali Tizghadam, ENGR 3100U, Winter 2011 28

14
Figure 2-27 (a) Control system; (b) modified block diagram.

Ali Tizghadam, ENGR 3100U, Winter 2011 29

Figure 2-28 (a) Control system; (b) block diagram defining state variables for the system.

Ali Tizghadam, ENGR 3100U, Winter 2011 30

15
Example

Ali Tizghadam, ENGR 3100U, Winter 2011 31

Ali Tizghadam, ENGR 3100U, Winter 2011 32

16
Ali Tizghadam, ENGR 3100U, Winter 2011 33

Ali Tizghadam, ENGR 3100U, Winter 2011 34

17
Figure 2-29 Block diagram of a system.

Ali Tizghadam, ENGR 3100U, Winter 2011 35

Figure 2-30 Block diagram of a system.

Ali Tizghadam, ENGR 3100U, Winter 2011 36

18
Signal Flow Graph

Ali Tizghadam, ENGR 3100U, Winter 2011 37

Ali Tizghadam, ENGR 3100U, Winter 2011 38

19
Example

Ali Tizghadam, ENGR 3100U, Winter 2011 39

20