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FME 326 - Module 5 - Signal Flow and Block Diagram Models

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43 views47 pages

FME 326 - Module 5 - Signal Flow and Block Diagram Models

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Jesse Jon Ferolino
Copyright
© © All Rights Reserved
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Module 5:

Signal Flow and Block


Diagram Models
PREPARED BY: ENGR. C. DULLAS
INTRODUCTION

 We have been working with individual subsystems represented by a block with its
input and output. More complicated systems, however, are represented by the
interconnection of many subsystems. Since the response of a single transfer
function can be calculated, we want to represent multiple subsystems as a single
transfer function. We can then apply the analytical techniques of the previous
chapters and obtain transient response information about the entire system.
 In this chapter, multiple subsystems are represented in two ways: as block
diagrams and as signal-flow graphs. Although neither representation is limited to
a particular analysis and design technique, block diagrams are usually used for
frequency-domain analysis and design, and signal-flow graphs for state-space
analysis.
Intended Learning Outcomes

 Reduce a block diagram of multiple subsystems to a single block representing the


transfer function from input to output
 Analyze and design transient response for a system consisting of multiple subsystems
 Convert block diagrams to signal-flow diagrams
 Find the transfer function of multiple subsystems using Mason’s rule
 Represent state equations as signal-flow graphs
 Perform transformations between similar systems
Block Diagrams

 Block Diagrams  used to


represent composition and
interconnection of a system.
Block diagrams consist of
 Blocks – these represent subsystems –
typically modelled by, and labelled with,
a transfer function
 Signals – inputs and outputs of blocks –
signal direction indicated by arrows –
could be voltage, velocity, force, etc.
 Summing junctions – points were signals
are algebraically summed – subtraction
indicated by a negative sign near where
the signal joins the summing junction
 A pickoff point – distributes the input
signal, R(s), undiminished, to several
output points.
Block Diagram

Block diagram blocks can be connected in three basic forms:


 Cascade  Intermediate signal values are shown at the output of each subsystem.
Each signal is derived from the product of the input times the transfer function.

 Parallel  Parallel subsystems have a common input and an output formed by the
algebraic sum of the outputs from all of the subsystems.

 Feedback 
Block Diagram
 Cascade
Block Diagram

 Parallel
Block Diagram

Feedback
Block Diagram

Feedback
Block Diagram

 Example
Block Diagram

 Unity Feedback System


Block Diagram

Block Diagram Algebra


Often want to simplify block diagrams into simpler,
recognizable forms
To determine the equivalent transfer function
Simplify to instances of the three standard forms,
then simplify those forms
Move blocks around relative to summing junctions
and pickoff points – simplify to a standard form
Move blocks forward/backward past summing junctions
Move blocks forward/backward past pickoff points
Block Diagram

Moving Blocks Back Past a Summing Junction


Block Diagram

Moving Blocks Forward Past a Summing Junction


Block Diagram

Moving Blocks Relative to Pickoff Points


Block Diagram

Example 1: Block Diagram Simplification


Block Diagram

Example 2: Block Diagram Simplification


Block Diagram

Example 2: Block Diagram Simplification


Block Diagram

Example 2: Block Diagram Simplification


Block Diagram

Example 2: Block Diagram Simplification


Block Diagram

Example 2: Block Diagram Simplification


Block Diagram

Example 2: Block Diagram Simplification


Block Diagram

Example 2: Block Diagram Simplification


Block Diagram

Multiple Input Systems


Block Diagram

Example 1:
Block Diagram

Example 2
Block Diagram

Multiple Input System


Signal Flow Graphs

Signal Flow Graphs An alternative to block diagrams for graphically


describing systems
Signal flow graphs consist of:
 Nodes –represent signals
 Branches –represent system blocks
 Branches labelled with system transfer functions
 Nodes (sometimes) labelled with signal names
 Arrows indicate signal flow direction
 Implicit summation at nodes
 Always a positive sum
 Negative signs associated with branch transfer functions
Signal Flow Graphs

To convert from a block diagram to a signal flow graph:


1. Identify and label all signals on the block diagram
2. Place a node for each signal
3. Connect nodes with branches in place of the blocks
 Maintain correct direction
 Label branches with corresponding transfer functions
 Negate transfer functions as necessary to provide negative
feedback
4. If desired, simplify where possible
Signal Flow Graphs

Example 1: Signal Flow Graphs


 Convert to a signal flow graph

 Label any unlabeled signals


 Place a node for each signal
Signal Flow Graphs

Example 1: Signal Flow Graphs


 Connect nodes with branches, each representing a system block

 Note the -1 to provide negative feedback of X1(s)


Signal Flow Graphs

Example 1: Signal

 Nodes with a single input and single output can be eliminated, if desired
 This makes sense for X1(s) and X2(s)
 Leave U(s) to indicate separation between controller and plant
Signal Flow Graphs

Example 2: Signal Flow Graphs


 Block Diagram convert to signal flow graphs

 Label the signals and place a node for each


Signal Flow Graphs

Example 2: Signal Flow Graphs

 Connect Branches with nodes


Signal Flow Graphs

Example 2: Signal Flow Graphs

 Simplify – eliminate X5(s), X6(s), and X7(s),


Signal Flow Graphs VS Block
Diagram

Signal flow graphs and block diagrams are alternative,


though equivalent, tools for graphical representation of
interconnected systems
A generalization (not a rule)
Signal flow graphs – more often used when dealing with
state‐space system models
Block diagrams – more often used when dealing with
transfer function system models
MASON’S RULE

 Mason’s rule is used for reducing a signal-flow graph to a


single transfer function requires the application of one
formula.
 The formula was derived by S. J. Mason when he related the
signal-flow graph to the simultaneous equations that can be
written from the graph (Mason, 1953).
 Mason’s formula has several components that must be
evaluated. First, we must be sure that the definitions of the
components are well understood. Then we must exert care in
evaluating the components.
MASON’S RULE
LOOP GAIN

 Loop gain – total gain (product of individual gains) around any path in the signal flow
graph
 Beginning and ending at the same node
 Not passing through any node more than once
 Here, there are three loops with the following gains:
1. –G1H3
2. G2H1
3. –G2G3H2
MASON’S RULE
FORWARD PATH GAIN

 Forward path gain – gain along any path from the input to
the output
 Not passing through any node more than once
 Here, there are two forward paths with the following gains:
1. G1G2G3G4
2. G1G2G5
MASON’S RULE
NON TOUCHING LOOP

 Non‐touching loops – loops that do not have any nodes in


common
 Here,
1. -G1H3 does not touch G2H1
2. -G1H3 does not touch -G2G3H2
MASON’S RULE
NON-TOUCHING LOOP GAINS

Non‐touching loop gains – the product of loop gains


from non-touching loops, taken two, three, four, or
more at a time
Here, there are only two pairs of non-touching loops
MASON’S RULE
MASON’S RULE
Example
MASON’S RULE
MASON’S RULE – Example ∆k
MASON’S RULE
MASON’S RULE – Example ∆k
MASON’S RULE
MASON’S RULE – Example ∆k
Next Topic:
System Stability

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