Block Diagram Representation

Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell

22.451 Dynamic Systems – Block Diagrams 1 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Block Diagram Representation
Representation of a system in terms of discrete blocks that
represent part of a system.

INPUT OUTPUT
Equation Relating
i(t) i(t) and o(t) o(t)

INPUT OUTPUT
System Transfer
I(s) Function O(s)

22.451 Dynamic Systems – Block Diagrams 2 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Block Diagram Representation
x2 −
Summing Junction – Used x1 + x1 − x 2 − x 3
to sum signals together ∑
x3 −

Constant Gain – Scalar x1 kx1

multiplier k
Transfer Function – Given a
system with zero initial
conditions, the transfer f (t) 1 x(t)
function is the ratio of ms 2 + cs + k
output due to input

22.451 Dynamic Systems – Block Diagrams 3 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Block Diagram Representation
T.F. Series
Y(s) X(s) Y(s)
= G 2 (s)G1 (s) G1 (s) G 2 (s)
X(s)

T.F. Parallel
Y(s) X(s) G1 (s) Y(s)
= G 2 (s) + G1 (s) ∑
X(s) G 2 (s)
Integration

x(t) t y( t ) X (s) 1 Y (s)

∫0 x (τ)dτ s

22.451 Dynamic Systems – Block Diagrams 4 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Example - Block Diagram Representation
Represent the block diagram as a single block relating X(s)
and Y(s), and then obtain the overall transfer function
1 U1 (s)
s+3 U (s) 3 Y(s)
X (s)
∑ s +1
s+2
s + 5 U 2 (s)
Solution
First, the parallel combination is simplified and the
equivalent block is obtained:

X (s) 1 s+2 U (s)

+
s+3 s+5

22.451 Dynamic Systems – Block Diagrams 5 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Example - Block Diagram Representation
Next, replace the parallel combination by the previous
configuration to obtain what appears as a series combination
of two blocks.
X (s) 1 s+2 U (s) 3 Y (s)
+
s+3 s+5 s +1
Since this is a series combination, the equivalent transfer
function is simply the product of the individual transfer
functions.
X (s) 3 s 2 + 6s + 11 ( Y (s) )
(s + 1)(s + 3)(s + 5)
( )
Transfer Function
Y (s)  1 s + 2  3  3 s 2 + 6s + 11
= +  =
X (s)  s + 3 s + 5  s + 1  (s + 1)(s + 3)(s + 5)
22.451 Dynamic Systems – Block Diagrams 6 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
Block Diagram Representation
F(s) 1 X (s)
Open Loop – 2
ms + cs + k
Transfer Function
F(s) X (s)
G (s)

Closed Loop – R (s) + E(s)

Transfer Function G (s) C(s)
−

H (s)

22.451 Dynamic Systems – Block Diagrams 7 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Block Diagram Representation
An analog block diagram for a single DOF system
F − kx − cx& = m&x&

k
kx xo
− 1 &x& x& + x
F +
−
m
∫ dt +
+ ∫ dt +

x& o
cx&
c

22.451 Dynamic Systems – Block Diagrams 8 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Block Diagram Representation
Recall the SDOF system generated

F(s)
+ m&x& 1 &x& 1 x& 1 X (s)
− m s s

+ c
+
k

F(s) 1 X (s)
ms 2 + cs + k
Transfer Function
22.451 Dynamic Systems – Block Diagrams 9 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
Block Diagram Representation
A system transfer function describes the typical input-
output. Additional dissipative forces can be included as part
of a closed loop system.

1
F(s) + X(s)
ms 2 + cs + k
−

µN Coulomb
Damping

22.451 Dynamic Systems – Block Diagrams 10 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
 Example - Block Diagram

k2
f
m1 m2 (assume x2 > x1)
k1 c
x1 x2
FBD
k1x1 ← → c( x& 2 − x& 1 ) c( x& 2 − x& 1 ) ← →f
m1 m2
→ k 2 ( x 2 − x1 ) k 2 ( x 2 − x1 ) ←
(1) c(x& 2 − x& 1 ) + k 2 (x 2 − x1 ) − k1x1 = m1&x&1
(2) f − c(x& 2 − x& 1 ) − k 2 (x 2 − x1 ) = m 2 &x& 2
OR m1&x&1 + cx& 1 + (k1 + k 2 ) x1 − cx& 2 − k 2 x 2 = 0
m 2 &x& 2 + cx& 2 + k 2 x 2 − cx& 1 − k 2 x1 = f
22.451 Dynamic Systems – Block Diagrams 11 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
 Example – Block Diagram

In matrix form

m1 0   &x&1   c − c  x& 1  (k1 + k 2 ) − k 2   x1  0

0   +   +   = 
 m 2  &x& 2  − c c  x& 2   − k 2 k 2  x 2  f 

1
&x&1 = [− cx& 1 + −(k1 + k 2 ) x1 + cx& 2 + k 2 x 2 ]
m1
1
&x& 2 = [f − cx& 2 + cx& 1 − k 2 x 2 + k 2 x1 ]
m2

22.451 Dynamic Systems – Block Diagrams 12 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Example – Block Diagram

+ m1&x&1 1 &x&1 x& 1

+−− m1 ∫ dt ∫ dt x1

c
k1 + k 2
F
k2

++ + m 2 &x& 2 &x& 2 x& 2

∫ dt ∫ dt
1 x2
−− m2

k2
22.451 Dynamic Systems – Block Diagrams 13 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
 Example – Two DOF Block Diagram
f
k1 k3 k2

m1 m2 (assume x1 > x2)

c3 c2
c1
x1 x2
FBD
k1x1 ← ← k 3 ( x1 − x 2 ) k 3 ( x1 − x 2 ) → ← k 2x 2
f → m1 m2
c1x& 1 ← ← c 3 ( x& 1 − x& 2 ) c( x& 1 − x& 2 ) → ← c 2 x& 2

(1) f − k1x1 − c1x& 1 − k 3 ( x1 − x 2 ) − c3 ( x& 1 − x& 2 ) = m1&x&1

m1&x&1 + cx& 1 + c3 ( x& 1 − x& 2 ) + k1x1 + k 3 ( x1 − x 2 ) = f
(2) k 3 ( x1 − x 2 ) + c3 ( x& 1 − x& 2 ) − k 2 x 2 − c 2 x& 2 = m 2&x& 2
m 2&x& 2 + c 2 x& 2 + k 2 x 2 − c3 (x& 1 − x& 2 ) − k 3 (x1 − x 2 ) = 0

22.451 Dynamic Systems – Block Diagrams 14 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
 Example - Two DOF Block Diagram

In matrix form
m1 0   &x&1  (c1 + c 3 ) − c3  x& 1  (k1 + k 3 ) − k 3   x1  f 
 0 m  &x&  +  − c   +
(c 2 + c3 ) x& 2   − k 3   = 
(k 2 + k 3 ) x 2  0
 2  2   3

State form
x& 1 = v1
1
v& 1 = [f − k1x1 − c1v1 − c3 (v1 − v 2 ) − k 3 (x1 − x 2 )]
m1
x& 2 = v 2
1
v& 2 = [− k 2 x 2 − c 2 v 2 + c3 (v1 − v 2 ) + k 3 (x1 − x 2 )]
m2
22.451 Dynamic Systems – Block Diagrams 15 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
Example – Two DOF Block Diagram
1 v& 1 v1 = x& 1 x1
∫ dt ∫ dt
F +
−− −− m1

c1
k1
+
c3 −
+
k3 −
++ 1 v& 2 v 2 = x& 2 x2
−− m2 ∫ dt ∫ dt
c2
k2
22.451 Dynamic Systems – Block Diagrams 16 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
Block Diagram Representation
R (s) + E(s)
G (s) C(s)
−

R (s) − C(s) = E(s) C(s)

R (s) − C(s) =
E(s)G (s) = C(s) G (s)

G (s)R (s) − C(s)G (s) = C(s)

G (s)R (s) = C(s) + C(s)G (s)
C(s)
R (s) = (1 + G (s) )
G (s)
Closed Loop Negative C(s) G (s)
Unity Gain Feedback =
R (s) 1 + G (s)

22.451 Dynamic Systems – Block Diagrams 17 Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
 Block Diagram Representation
R (s) + E(s)
G (s) C(s)
−
B(s) H (s)
R (s) − B(s) = E(s)
E(s) = R (s) − H(s)C(s)
B(s) = H(s)C(s)
C(s)
C(s) = E(s)G (s) ∴ = R (s) − H(s)C(s)
G (s)
C(s) = G (s)R (s) − G (s)H(s)C(s) C(s) + C(s)H(s)G (s) = G (s)R (s)

C(s)(1 + H(s)G (s) ) = G (s)R (s)

C(s) G (s)
=
R (s) 1 + G (s)H(s)
22.451 Dynamic Systems – Block Diagrams 18 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
22.451 Dynamic Systems – Block Diagrams 19 Dr. Peter Avitabile
Modal Analysis & Controls Laboratory