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Transfer Functions

Transfer functions relate the input and output signals of a system in the Laplace domain. They can be represented using equations or block diagrams. Basic block diagram elements like series and parallel combinations have corresponding transfer functions. More complex diagrams can still be analyzed algebraically by writing transfer functions for each block and combining them. This allows incorporating offsets and nonlinearities into the linear analysis.

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44 views

Transfer Functions

Transfer functions relate the input and output signals of a system in the Laplace domain. They can be represented using equations or block diagrams. Basic block diagram elements like series and parallel combinations have corresponding transfer functions. More complex diagrams can still be analyzed algebraically by writing transfer functions for each block and combining them. This allows incorporating offsets and nonlinearities into the linear analysis.

Uploaded by

saidu70
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Transfer Functions

 
 

Definition:

The relationship from an input signal, u, to an output signal, y, in the Laplace transform
domain.

a. Equation form: L[y] = G(s) L[u]


b. Block Diagram form:

Block Diagram Equivalence:

1. Series:
 

is equivalent to
 
 

2. Parallel:
 

is equivalent to:
 

3. Positive Feedback:
 
 

is equivalent to:
 

4. Negative Feedback:

is equivalent to
Additional Rules:

1. Summing Junctions
 
 

2. For the transfer functions of multiple inputs: u1, u2, etc., to output y, use superposition.
That is, for the transfer function of u1 to y, disregard the effects u2, u3 etc.
Example 1:
 

is equivalent to:
 
 
 Block Diagrams
What Is A Block Diagram?

What Is A Block Diagram?

        Block diagrams are ways of representing relationships between signals in a


system.  Here is a block diagram of a typical control system.  Each block in the
block diagram establishs a relationship between signals.

Here are the relationships for this particular system.  (Click here for a review
of signal relationships in a block diagram.)

 E(s) = U(s) - Y(s)


o This relationship is for the summer/subtractor (shown with a green
circle)
 W(s) = K(s)E(s)
o This shows how W(s) - the control effort that drives the system
being controlled, G(s) - is related to the error.  The controller is
probably an amplifier - probably a power amplifier - that provides
an output to drive the plant, G(s).
 Y(s) = G(s)W(s)
o This shows how the output, Y(s), is related to the control effort
that drives the plant (system being controlled ) with a transfer
function, G(s).

        Next, you can combine all of those relationships and get an overall
relationship between the input and the output in the system.  Here is the
process.

 Note that Y(s) = G(s)W(s)


 Note that W(s) = KE(s), and use that in the equation for Y(s).  That gives
you:
o Y(s) = G(s)W(s) = G(s)KE(s)
 Note that the error is given by E(s) = U(s) = Y(s), and use that in the
equation for Y(s).
o Y(s) = G(s)W(s) = G(s)KE(s) = G(s)K[U(s) = Y(s)]
 Now, solve for Y(s), and you get:
o Y(s) = U(s)KG(s)/[1 + KG(s)]

        That's what you need to know, and the final relationship will allow you to
compute the output given knowledge of the system components and the input.

        What if you have a more complex system?  Here is a block diagram of a
slightly more complex system.

A description of this system is as follows.

 The plant being controlled includes a pump motor.  The output is the
height of a liquid in a tank.
o It takes some threshold voltage on the pump to get it started. 
After the voltage exceeds the threshold, the flow rate into the
pump depends upon the amount by which the threshold is exceeded.
o In the block diagram model above, the threshold voltage (V T)and
attendant effects are modelled using another summer.
 The controller has a transfer function, GC(s).
 The sensor has a transfer function, GS(s).
 We can write the mathematical relationships that exist in this block
diagram.
o Y(s) = GP(s)[W(s) - VT(s)]
o Y(s) = GP(s)[GC(s)E(s) - VT(s)]
o Y(s) = GP(s)[GC(s)(U(s) - GS(s)Y(s)) - VT(s)]
 Now, solve for Y(s), and you get:
o Y(s) = U(s)GP(s)GC(s)[1 + GP(s)GC(s)GS(s)] - VT(s)GP(s)[1 +
GP(s)GC(s)GS(s)]

        Now, notice that the output has two components.  One of those
components is due to the input - something we know about.  The other
component of the output is due to the threshold voltage - something we might
not have expected.

        What do we make of all this?  Actually, representing offsets and


thresholds like this is a particularly good way to incorporate some simple
nonlinearities into our block diagram algebra even though the block diagram
representation was originally used only for linear systems.  It's not hard to
incorporate those offsets into your analysis.  Here's what you can do.

1. Generate a complete block diagram for the system and be sure that you
incorporate all of the offsets in your block diagram model.
2. Using your block diagram model write out the algebraic equations for each
block.
3. Solve the equations you have written to determine the output of the
system (or the error if that is what you are interested in).  Note that the
output will probably depend upon the input and all of the offset quantities
you added.
4. Use the solution to determine numerical values for the output. 
Remember, you are often interested in steady state solutions (DC
solutions) and you can get that by using DC gains with s = 0 in your
transfer functions.

References

[1] Gene F. Franklin, J. David Powell and Abbas Emami-Naeini, Feedback Control of
Dynamic Systems - 2nd Edition, Addison Wesley, 1991
[2] Benjamin C. Kuo, Automatic Control Systems - 5th Edition, Prentice-Hall, 1987
[3] John A. Camara, Practice Problems for the Electrical and Computer Engineering PE
Exam - 6th Edition, Professional Publications, 2002
[4] NCEES, Fundamentals of Engineering Supplied-Reference Handbook - 6th Edition,
2003

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