WEEK5

BLOCK DIAGRAM
 #LOCK
DIAGRAM

RK)-St!ct!ct- C(s)

If
In put Output

C(s) = R(s) G(s) ·

S!gnals
Lonly "n !nd!cated d!rect!on

Block
dragran counts
of
& blocks
F!l R(s)
- arrows

↑ take (p!ck) off po!nts **

-
Summ!ng po!nts r!X C(s) R , (s) + Rz(s)
Ry(s)
-

summ!t
po!nt Control M!lsD!sturbance ulsI

A Actuat!ng S!gnal
element
man!pubted
Var!able
↓
R(sI G2ls] ((s)
> E(s) R(s) b()
> G, (s) ⑧
↑
>

&
=
m(s)
-

Reference X

Input b(s) Forward path plant

Branch
pr!mery feedback path feedback
feedback pant
elevent
s!gnal [ H(s)
 R(s) ElsI
((s)
* > GIsI ·>

Input Output
B(s)
H(s)

Blockdragon of a
1 end-long system w!th a

feedback elevent

6)(s) = D!rect transfer funct!on = Forward tranfer

funct

H(s) = Feedback transfer funct!on

6)(s) H(s) =
.
Open-loop trasfer funct!on .

Control

= Closed-loop tranfe frect!on =

rat!o

E Feed-forward trasfe funct!on

Block Dragons & The!r S!mpl!f!cat!on

Ser!es (Cascadel Connect!on

RITEAEAE -
>
<(5)

R(
+ Es Gels Gyls) + <(s)
. .

[(s) = R(s) .
6 . (1) Gelsl
. .

Gy(s)

Paralel
Connect!on

> -

*
-

G
&

RIS) [(s)
-GslIGg(s]
equ!vdet
 Feedback Connect!ons

* E4-
R(s) C(s)

I
>
-

B(s) =
-

!t-
u

C(s) = G(s) .
E(s) & B(s) = #C(s)

E(s) = R(s) B(s)

-
= R(s) -
H(s) . ( (S)
S
-H(s) <(s)]
2() = G (s)
-
-
[R(s) .

C(s) + G(s) H(s) ((s)

. .
= G(s) R(s).

[1-
+ G(s)H+ (s)]((s) = G(s) . R(s)
-

* H

Character!st!c Equat!on
0
1. + G (s] H(s) .
=
 Block Dragon Algebra for Summary pents

=
CLs]
R(s)
>
e
-

sx
X(s)
CERLIGI +
↑
C(s) =
(R(s) X(s))G(s)
+
X(s)
=
R(s) G(s) + X(s) 6(s)
. .

"
C(s) = R(s) G(s) +
-
X(s) F
[R(s) (S)(x)
= =
C

C(s)
R(s) G(s) =
.
X(s) =
 P!ck off pornts
Block Dragran Algebrafor G(s)
Es) R(s)G(s)

En
- R(s)

·
-
-
>

-- >

-
a
Gls) bloğu ayrım
Gör!ld!ğ! g!b!
noktasın sağue get!sl!nce her b!r

!serete GLs lekler

Block diagram

Transfer Function

Consists of Blocks

Can be reduced

G4
R (s ) Y (s )
G1 G2 G3

H2

H1

R (s ) Y (s )
G
Reduction techniques
1. Combining blocks in cascade or in parallel

G1 G2 G1G2

G1
G1  G2
G2

2. Moving a summing point behind a block

G G
G
3. Moving a summing point ahead of a block

G G
1
G

4. Moving a pickoff point behind a block

G G
1
G

5. Moving a pickoff point ahead of a block

G G
G
6. Eliminating a feedback loop
G
G
1  GH
H

G
G
1 G

H 1

7. Swap with two neighboring summing points

A B B A
 Example 1

Find the transfer function of the following

block diagrams

(a)
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:
1. Moving pickoff point A ahead of block G2

2. Eliminate loop I & simplify

B
G4  G2G3
 G4
R (s )
GG4 
B A G2G3
Y (s )
G1 2 G 3

H2
H 1G2

3. Moving pickoff point B behind block G4  G2G3

II
R (s ) B C
Y (s )
G1 G4  G2G3
H2
H 1G2 1 /(G4  G2G3 )
 4. Eliminate loop III
R (s ) Y (s )
G1 GG4 4GG2G2G3 3
C C

1  H 2 (GH4 2 G2G3 )
G2 H1
G4  G2G3

Using rule 6
R (s ) G1 (G4  G2G3 ) Y (s )
1  G1G 2 H1  H 2 (G4  G2G3 )

Y ( s) G1 (G4  G2G3 )
T ( s)  
R( s) 1  G1G 2 H1  H 2 (G4  G2G3 )  G1 (G4  G2G3 )
 (b)

R (s ) Y (s )
G1 G2

H1 H2

H3
Solution:
1. Eliminate loop I
R (s ) A
G2 I
B
Y (s )
G1 G2
H1
1  GH2 H
2 2

H3
G2
2. Moving pickoff point A behind block 1  G2 H 2
R (s ) A G2 B
Y (s )
G1
1  G2 H 2

1  G2 H 2 II
H1 1  G2 H 2
G2 H 3  H1 ( )
G2
H3 Not a feedback loop
3. Eliminate loop II
R (s ) G1G2 Y (s )
1  G2 H 2

H1 (1  G2 H 2 )
H3 
G2

Using rule 6

Y ( s) G1G2
T ( s)  
R(s) 1  G2 H 2  G1G2 H 3  G1H1  G1G2 H1H 2
 (c)
H4
R (s ) Y (s )
G1 G2 G3 G4

H3
H2

H1
 Solution:
1. Moving pickoff point A behind block G4
I
H4
R (s ) Y (s )
A B
G1 G2 G3 G4
H3 1
H3 G4 G4
H2 1
H2
G4 G4
H1
 3. Eliminate loop II & IIII

R (s ) G1G2G3G4 Y (s )
1  G3G4 H 4  G2G3 H 3

H 2  G4 H1
G4

Using rule 6

Y ( s) G1G2G3G4
T ( s)  
R( s) 1  G2G3 H 3  G3G4 H 4  G1G2G3 H 2  G1G2G3G4 H1
 (d)
H2

R (s ) A Y (s )
G1 G2 G3 B

H1

G4
 Solution:
1. Moving pickoff point A behind block G3
I
H2

R (s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
2. Eliminate loop I & Simplify
H2

B
G2 G3 B G2G3

1 H1
 H2
H1 G3 G3
II
R (s ) G2G3 Y (s )
G1
1  G2 H1  G2G3 H 2

H1
G3

G4
3. Eliminate loop II

R (s ) G1G2G3 Y (s )
1  G2 H1  G2G3 H 2  G1G2 H1

G4

Y ( s) G1G2G3
T ( s)   G4 
R( s ) 1  G2 H1  G2G3 H 2  G1G2 H1
 Example 2
Determine the effect of R and N on Y in the
following diagram

N
G4
R Y
G1 G2

H1

G3
In this linear system, the output Y contains two parts,
one part is related to R and the other is caused by N:

Y  Y1  Y2  T1R  T2 N

If we set N=0, then we can get Y1:

Y1  YN 0  T1R

The same, we set R=0 and Y2 is also obtained:

Y2  YR0  T2 N
Thus, the output Y is given as follows:

Y  Y1  Y2  YN 0  YR0
Solution:
1. Swap the summing points A and B
N
G4
II
R G2 Y
G1
1  G2 H1
B A

G3

2. Eliminate loop II & simplify

N
G4
R G1G2 Y
G1G3 
1  G2 H1
Rewrite the diagram:
N
G4
R o G1G2 o Y
G1G3 
1  G2 H1

3. Let N=0
R G1G2 Y
G1G3 
1  G2 H1

We can easily get Y1

G1G2  G1G3  G1G2G3 H1
Y1  R
1  G2 H1  G1G2  G1G3  G1G2G3 H1
 4. Let R=0, we can get:
N Y

G1G2
G1G3 
1  G2 H1

G4
M

5. Break down the summing point M:

N Y
G1G2G4 G1G2
G1G3G4  G1G3 
1  G2 H1 1  G2 H1
 6. Eliminate above loops:
1
G1G2G4
1  G1G3G4  G1G2
N 1  G2 H1 1  G1G3 
1  G2 H1 Y

1  G2 H1  G1G2G4  G1G3G4  G1G2G3G4 H1

Y2  N
1  G2 H1  G1G2  G1G3  G1G2G3 H1

7. According to the principle of superposition, Y1 and Y2

can be combined together, So:

Y  Y1  Y2
1
 [(G1G2  G1G3  G1G2G3 H1 ) R
1  G2 H1  G1G2  G1G3  G1G2G3 H1
 (1  G2 H1  G1G2G4  G1G3G4  G1G2G3G4 H1 ) N ]