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Automatic Control Systems, 9th Edition: Chapter 3: Block Diagrams and Signal Flow Graphs

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143 views31 pages

Automatic Control Systems, 9th Edition: Chapter 3: Block Diagrams and Signal Flow Graphs

block diagram hi gays

Uploaded by

sally
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Chapter3:BlockDiagramsandSignalFlowGraphs

AutomaticControlSystems,9thEdition
Farid Golnaraghi,SimonFraserUniversity
BenjaminC.Kuo,UniversityofIllinois
ISBN:9780470048962

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

Introduction
Inthischapter,wediscussgraphicaltechniquesfor
modelingcontrolsystemsandtheirunderlying
mathematics.
Wealsoutilizetheblockdiagramreduction
techniquesandtheMasonsgainformulatofindthe
transferfunctionoftheoverallcontrolsystem.
LateroninChapters4and5,weusethematerial
presentedinthischapterandChapter2tofully
modelandstudytheperformanceofvariouscontrol
systems.
AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

ObjectivesofthisChapter
1. Tostudyblockdiagrams,theircomponents,andtheir
underlyingmathematics.
2. Toobtaintransferfunctionofsystemsthroughblockdiagram
manipulationandreduction.
3. Tointroducethesignalflowgraphs.
4. Toestablishaparallelbetweenblockdiagramsandsignal
flowgraphs.
5. TouseMasonsgainformulaforfindingtransferfunctionof
systems.
6. Tointroducestatediagrams.
7. TodemonstratetheMATLABtoolsusingcasestudies.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-1 BLOCK DIAGRAMS


Block diagrams provide a better understanding of the composition and interconnection
of the components of a system. It can be used, together with transfer functions, to
describe the cause-and-effect relationships throughout the system.

Figure 3-1 A simplified block diagram representation of a heating system.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-1-1 Typical Elements of Block Diagrams in Control Systems


The common elements in block diagrams of most control systems include:
Comparators
Blocks representing individual component transfer functions, including:
Reference sensor (or input sensor)
Output sensor
Actuator
Controller
Plant (the component whose variables are to be controlled)
Input or reference signals
Output signals
Disturbance signal
Feedback loops

Figure 3-3 Block diagram representation of a general control system.


AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

Figure 3-4 Block-diagram elements of typical sensing devices of control systems. (a) Subtraction. (b) Addition. (c) Addition and subtraction.
AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

Figure 3-5 Time and Laplace domain block diagrams.


AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

EXAMPLE 3-1-1

Figure 3-6 Block diagrams G1(s) and G2(s) connected in series.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

EXAMPLE 3-1-2

Figure 3-7 Block diagrams G1(s) and G2(s) connected in parallel.


AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

Basic block diagram of a feedback control system

Figure 3-8 Basic block diagram of a feedback control system.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-1-2 Relation between Mathematical Equations and Block Diagrams

x(t ) 2n x (t ) n2 x(t ) n2u(t )


X ( s )s 2 2n sX ( s ) n2 X ( s ) n2U ( s ) (assuming zero initial conditions, x(0) x (0) 0)

n2U ( s ) 2n sX ( s ) n2 X ( s ) X ( s )s 2

Figure 3-9 Graphical representation of Eq. (3-16) using a comparator.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_12
AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_13

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_14

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_15

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-1-3 Block Diagram Reduction: Branch point relocation

fig_03_16
AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-1-3 Block Diagram Reduction: Comparator relocation

fig_03_17
AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

EXAMPLE 3-1-5 Find the inputoutput transfer function of the system

fig_03_18a

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_18b
AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-1-4 Block Diagram of Multi-Input SystemsSpecial Case: Systems with a Disturbance

fig_03_19

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_20

fig_03_21

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_22

fig_03_23

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-2 SIGNAL-FLOW GRAPHS (SFGs)

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-2-7 Gain Formula for SFG

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_32

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

fig_03_25

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

Figure 3-33 Signal-flow graph for Example 3-2-4.

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

3-2-9 Application of the Gain Formula to Block Diagrams

EXAMPLE 3-2-6

AutomaticControlSystems,9thEdition
Figure 3-34 (a) Block diagram of a control system. (b) Equivalent signal-flow graph.

2009FaridGolnaraghi,SimonFraserUniversity

3210SimplifiedGainFormula

AutomaticControlSystems,9thEdition
2009FaridGolnaraghi,SimonFraserUniversity

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