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Example Digital Control

The document describes four examples of analyzing control systems using signal flow graphs and block diagrams. Example 1 shows a two-path system with four self-loops and calculates the transfer functions along each path. Example 2 shows a multiple-loop feedback system and uses Mason's signal flow gain formula to determine the transfer function. Example 3 shows a more complex system with several feedback loops and feedforward paths. Example 4 shows a signal flow diagram and block diagram of a spacecraft position control system and calculates the transfer function from position to reference input. The document demonstrates how signal flow graphs and block diagrams can be used to model and analyze feedback control systems.

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ud54
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177 views

Example Digital Control

The document describes four examples of analyzing control systems using signal flow graphs and block diagrams. Example 1 shows a two-path system with four self-loops and calculates the transfer functions along each path. Example 2 shows a multiple-loop feedback system and uses Mason's signal flow gain formula to determine the transfer function. Example 3 shows a more complex system with several feedback loops and feedforward paths. Example 4 shows a signal flow diagram and block diagram of a spacecraft position control system and calculates the transfer function from position to reference input. The document demonstrates how signal flow graphs and block diagrams can be used to model and analyze feedback control systems.

Uploaded by

ud54
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Example 1: Transfer function of an interacting system

A two-path signal-flow graph is shown in Figure (a) and the corresponding block diagram is shown
in Figure (b). An example of a control system with multiple signal paths is a multi-legged robot.
The paths connecting the input R(s) and output Y(s) are
P1 = GXG2G2GA (path 1) and P2 = G5G6G7G8 (path 2).

There are four self-loops:


L1= G2H2, L2 = H3G3, L3 = G6H6, and L4 = G7H7.
Loops L1, and L2 do not touch L3 and L4. Therefore, the determinant is
= 1 - (L1 + L2 + L3 + L4) + (L1L3 + L1L4 + L2L3 + L2L4).
The cofactor of the determinant along path 1 is evaluated by removing the loops that touch path 1 from A.
Hence, we have
L1 = L2 = 0 and 1 = 1 - (L3 + L4).
Similarly, the cofactor for path 2 is
2 = 1 - (L1 + L2)

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Dr.Laith Abdullah Mohammed

A similar analysis can be accomplished using block diagram reduction techniques.


The block diagram shown in Figure (b) has four inner feedback loops within the overall block diagram.
The block diagram reduction is simplified by first reducing the four inner feedback loops and then placing
the resulting systems in series. Along the top path, the transfer function is

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Dr.Laith Abdullah Mohammed

Example 2: Transfer function of a multiple-loop system


A multiple-loop feedback system is shown in Figure in block diagram form.
There is no need to redraw the diagram in signal-flow graph form, and so we shall proceed as usual by using
Mason's signal-flow gain formula. There is one forward path Px = G1G2G3G4. The feedback loops are

EXAMPLE 3: Transfer function of a complex system


Consider a reasonably complex system that would be difficult to reduce by block diagram techniques. A
system with several feedback loops and feed forward paths is shown in Figure below. The forward paths
are

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Dr.Laith Abdullah Mohammed

Signal-flow graphs and Mason's signal-flow gain formula may be used profitably for the analysis of
feedback control systems, electronic amplifier circuits, statistical systems, and mechanical systems,
among many other examples.

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Dr.Laith Abdullah Mohammed

EXAMPLE 4: The position control system for a spacecraft platform is governed by the
following equations:

Sketch a signal-flow diagram or a block diagram of the system, identifying the component parts
and their transmittances; then determine the system transfer function P(s)/R(s).
Solution:

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Dr.Laith Abdullah Mohammed

Question 1:
A four-wheel antilock automobile braking system uses electronic feedback to control
automatically the brake force on each wheel. A block diagram model of a brake control system is
shown in Figure below, where Ff(s) and FR(s) are the braking force of the front and rear wheels,
respectively, and R(s) is the desired automobile response on an icy road. Find Ff(s)/ R(s).

Question 2:
Off-road vehicles experience many disturbance inputs as they traverse over rough roads. An
active suspension system can be controlled by a sensor that looks "ahead" at the road conditions.
An example of a simple suspension system that can accommodate the bumps is shown in Figure
below. Find the appropriate gain K1 so that the vehicle does not bounce when the desired
deflection is R(s) = 0 and the disturbance is Td(s).

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Dr.Laith Abdullah Mohammed

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