Lecture 5 Block Diagram Representation of Control Systems PDF
Lecture 5 Block Diagram Representation of Control Systems PDF
Lecture 5 Block Diagram Representation of Control Systems PDF
Lecture-5
Block Diagram Representation of Control Systems
Introduction
• A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.
d
x y
dt
Introduction
• The operations of addition and subtraction have a special
representation.
x3 a1 x1 a2 x2 5
Example-2
• Draw the Block Diagrams of the following equations.
dx1 1
(1) x2 a1 x1dt
dt b
d 2 x2 dx1
( 2) x3 a1 3 bx1
dt 2 dt
Canonical Form of A Feedback Control System
Characteristic Equation
• The control ratio is the closed loop transfer function of the system.
C( s ) G( s )
R( s ) 1 G( s )H ( s )
1 G( s )H ( s ) 0
Example-3
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C (s)
2. Feed Forward Transfer function G (s)
E (s)
C( s ) G( s ) G(s )
3. control ratio
R( s ) 1 G( s )H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio
R( s ) 1 G( s )H ( s )
E( s ) 1
5. error ratio
R( s ) 1 G( s )H ( s ) H (s )
C( s ) G( s )
6. closed loop transfer function
R( s ) 1 G( s )H ( s )
7. characteristic equation 1 G( s )H ( s ) 0
8. Open loop poles and zeros if 9. closed loop poles and zeros if K=10.
Reduction techniques
G1 G2 G1G2
G1
G1 G2
G2
3. Eliminating a feedback loop
G
G
1 GH
H
G
G
1 G
H 1
Example-4: Reduce the Block Diagram to Canonical Form.
Example-4: Continue.
Example-5
• For the system represented by the following block diagram
determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. control ratio
4. feedback ratio
5. error ratio
6. closed loop transfer function
7. characteristic equation
8. closed loop poles and zeros if K=10.
Example-5
– First we will reduce the given block diagram to canonical form
K
s 1
Example-5
K
s 1
K
s 1
G
1 GH K
1 s
s 1
Example-5 (see example-3)
B( s )
1. Open loop transfer function G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function G( s )
E( s )
C( s ) G( s ) G(s )
3. control ratio
R( s ) 1 G( s )H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio
R( s ) 1 G( s )H ( s )
E( s ) 1 H (s )
5. error ratio
R( s ) 1 G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function
R( s ) 1 G( s )H ( s )
7. characteristic equation 1 G( s )H ( s ) 0
G G
G
G G
1
G
6. Moving a pickoff point behind a block
G G
1
G
G G
G
8. Swap with two neighboring summing points
A B B A
Example-7
• Reduce the following block diagram to canonical form.
H2
R _ C
+_ + G1 + G2 G3
+
H1
Example-7
H2
G1
R _ C
+_ + + G1 G2 G3
+
H1
Example-7
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
Example-7
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
Example-7
H2
G1
R _ C
G1G2
+_ + G3
1 G1G2 H1
Example-7
H2
G1
R _ C
G1G2G3
+_ +
1 G1G2 H1
Example-7
R G1G2G3 C
+_ 1 G1G2 H1 G2G3 H 2
Example 8
Find the transfer function of the following block diagram
G4
R (s ) Y (s)
G1 G2 G3
H2
H1
I
G4
R(s ) B A
Y (s)
G1 G2 G3
H2
H1 G2
Solution:
B
G4 G2G3
G4
R(s )
GG4
B A G2 G3
Y (s)
G1 2 G 3
H2
H1G2
R(s ) Y (s)
G1 GG4 4GG2G2G3 3
C C
1 H 2 (GH4 2 G2G3 )
G2 H1
G4 G2G3
H4
R(s ) Y (s)
G1 G2 G3 G4
H3
H2
H1
Solution:
R(s ) II Y (s)
G2G3G4 B
G1
1 G3G4 H 4
H3
G4
H2
G4 III
H1
G2G3G4 H 2 G4 H1
1 G3G4 H 4 G2G3 H 3 G4
3. Eliminate loop II & IIII
H 2 G4 H1
G4
Y (s) G1G2G3G4
R( s ) 1 G2G3 H 3 G3G4 H 4 G1G2G3 H 2 G1G2G3G4 H1
Example-10: Reduce the Block Diagram.
Example-10: Continue.
Example-11: Simplify the block diagram then obtain the close-
loop transfer function C(S)/R(S). (from Ogata: Page-47)
Example-11: Continue.
Superposition of Multiple Inputs
Example-12: Multiple Input System. Determine the output C
due to inputs R and U using the Superposition Method.
Example-12: Continue.
Example-12: Continue.
Example-13: Multiple-Input System. Determine the output C
due to inputs R, U1 and U2 using the Superposition Method.
Example-13: Continue.
Example-13: Continue.
Example-14: Multi-Input Multi-Output System. Determine C1
and C2 due to R1 and R2.
Example-14: Continue.
Example-14: Continue.
When R1 = 0,
When R2 = 0,
Block Diagram of Armature Controlled D.C Motor
Ra La
c
ia
Va eb T J
Figure 1.1
resistance comparator
Actuator Actual
Desired
water level
water level Water
amplifier Motor Gearing Valve
Input Error container
Output
controller Process
Float
Feedback
signal measurement
Fig. 1.8 (Sensor)
The DC-Motor control system
comparator Actuator
Desi red Actual
rotate speed n e uk a ua rotate speed n
Regul ator Tri gger Recti fi er DC
Reference Error motor
Output n
i nput ur
control l er Process
Techometer
Feedback si gnal uf
measurement (Sensor)
Fi g. 1. 9
Fundamental structure of control systems
1) Open loop control systems
Di st ur bance
( Noi se)
Features: Only there is a forward action from the input to the output.
2) Closed loop (feedback) control systems
Di st ur bance
( Noi se)
e( t ) = Out put c( t )
I nput r ( t ) r ( t ) - b( t ) uk uact
+ Cont r ol l er Act uat or Pr ocess
( act ual out put )
Ref er ence - Cont r ol Act uat i ng
desi r ed out put si gnal si gnal
( +)
Feedback si gnal b( t )
measur ement
Fi g. 1. 11
Features:
not only there is a forward action , also a backward action between the output and
the input (measuring the output and comparing it with the input).
Fig. 2.1