Control System

Dr. Lekshmi R. R.
Asst. Prof.
Department of Electrical & Electronics Engineering
Amrita School of Engineering
Coimbatore
1
Block Diagram

2
 Block diagram
• Control system comprises of
– Number of components/elements
• Performs assigned function
• Each element of the control system
– represented with a block
• Block: the symbolic/pictorial representation of the transfer function of
that element.
• A complete control system
– represented with a required number of interconnected blocks.
• Thus, Block diagrams consist of a single block or a combination of
blocks.
• Block diagram
– used to represent the control systems in pictorial form.
Block Diagram Representation of Electrical Systems
Problem#1
di(t)
vi t = Ri t + L
dt
Vi s = RI s + LsI(s)

Vi s = [R + Ls]I(s)

𝐕𝐢 𝐬
𝐈 𝐬 =
vi t → i(t) → vo(t) 𝐑 + 𝐋𝐬
di(t)
V0 t = L
dt

Vi s → I(s) → Vo(s)
𝐕𝟎 𝐬 = 𝑳𝒔𝐈(𝐬)
Block Diagram Representation of Electrical Systems
Problem#1

𝐕𝐢 𝐬 𝐕𝟎 𝐬 = 𝑳𝒔𝐈(𝐬)
𝐈 𝐬 =
𝐑 + 𝐋𝐬

𝐕𝐢 𝐬 𝟏 𝐈 𝐬 𝐈 𝐬 𝐕𝟎 𝐬
L𝐬
𝐑 + 𝐋𝐬
Block Diagram Representation of Electrical Systems
Problem#1

𝐕𝐢 𝐬 𝐕𝟎 𝐬 = 𝑳𝒔𝐈(𝐬)
𝐈 𝐬 =
𝐑 + 𝐋𝐬

𝐕𝐢 𝐬 𝟏 𝐈 𝐬 𝐕𝟎 𝐬
𝐑 + 𝐋𝐬
L𝐬
Block Diagram Representation of Electrical Systems
Problem#2
di(t)
vi t = Ri t + L + vo(t)
dt
Vi s = RI s + LsI(s) + Vo(s)

Vi s = [R + Ls]I(s) + Vo(s)

𝐕𝐢 𝐬 − 𝐕𝐨(𝐬)
𝐈 𝐬 =
vi t → i(t) → vo(t) 𝐑 + 𝐋𝐬
1
V0 t = i t dt
C
vi s → i(s) → vo(s) 𝟏
𝐕𝟎 𝐬 = 𝐈(𝐬)
𝐂𝐬
Block Diagram Representation of Electrical Systems
Problem#2

𝐕𝐢 𝐬 − 𝐕𝐨(𝐬) 𝟏
𝐈 𝐬 = 𝐕𝟎 𝐬 = 𝐈(𝐬)
𝐑 + 𝐋𝐬 𝐂𝐬

𝐕𝐢 𝐬 𝟏 𝐈 𝐬 𝐈 𝐬 𝟏 𝐕𝟎 𝐬
+
− 𝐑 + 𝐋𝐬 𝐂𝐬

𝐕𝐨(𝐬)
Block Diagram Representation of Electrical Systems
Problem#2

𝐕𝐢 𝐬 − 𝐕𝐨(𝐬) 𝟏
𝐈 𝐬 = 𝐕𝟎 𝐬 = 𝐈(𝐬)
𝐑 + 𝐋𝐬 𝐂𝐬

𝐕𝐢 𝐬 𝟏 𝐈 𝐬 𝟏 𝐕𝟎 𝐬
+
− 𝐑 + 𝐋𝐬 𝐂𝐬

𝐕𝐨(𝐬)
Block Diagram Representation of Electrical Systems
Problem#3
vi v1 vo

v1
i1 i2

i1 i2

vi i1 v1 i2 vo
Block Diagram Representation of Electrical Systems
v1 Problem#3
vi v1 vo

i1 i2 i1 i2

vi t − v1(t) Vi s − V1(s)
i1 t = I1 s =
R1 R1
𝐕𝐢 𝐬 𝟏 𝐈𝟏 𝐬
+
− 𝐑𝟏

𝐕𝟏(𝐬)
Block Diagram Representation of Electrical Systems
v1 Problem#3
vi v1 vo

i1 i2 i1 i2

1 𝟏
v1(t) = i1 − i2 dt 𝐕 (𝐬) = 𝐈𝟏 𝐬 − 𝐈𝟐(𝐬)
C1 𝟏
𝐂𝟏𝐬

𝐈𝟏 𝐬 𝟏 𝐕𝟏 𝐬
+
− C𝟏 𝐬

𝐈𝟐(𝐬)
Block Diagram Representation of Electrical Systems
v1 Problem#3
vi v1 vo

i1 i2 i1 i2

v1 t − vo(t) V1 s − Vo(s)
i2 t = I2 s =
R2 R2

𝐕𝟏 𝐬 𝟏 𝐈𝟐 𝐬
+
− R𝟐

𝐕𝟎(𝐬)
Block Diagram Representation of Electrical Systems
v1 Problem#3
vi v1 vo

i1 i2 i1 i2

1 1
vo(t) = 𝑖2dt Vo(s) = I2(s)
C2 C2s

𝐈𝟐 𝐬 𝟏 𝐕𝟎 𝐬
𝐂𝟐𝐬
Block Diagram Representation of Electrical Systems
Problem#3

𝐕𝐢 𝐬 𝟏 𝐈𝟏 𝐬 𝐈𝟏 𝐬 𝟏 𝐕𝟏 𝐬
+ +
− 𝐑𝟏 − C𝟏 𝐬

𝐕𝟏(𝐬) 𝐈𝟐(𝐬)

𝐕𝟏 𝐬 𝟏 𝐈𝟐 𝐬 𝐈𝟐 𝐬 𝐕𝟎 𝐬
+ 𝟏
− R𝟐
𝐂𝟐 𝐬

𝐕𝟎(𝐬)
Block Diagram Representation of Electrical Systems
Problem#3

𝐕𝐢 𝐬 𝟏 𝐈𝟏 𝐬 𝐈𝟏 𝐬 𝟏 𝐕𝟏 𝐬
+ +
− 𝐑𝟏 − C𝟏 𝐬

𝐕𝟏(𝐬) 𝐈𝟐(𝐬)

𝐕𝟏 𝐬 𝟏 𝐈𝟐 𝐬 𝐈𝟐 𝐬 𝐕𝟎 𝐬
+ 𝟏
− R𝟐
𝐂𝟐 𝐬

𝐕𝟎(𝐬)
Block Diagram Representation of Electrical Systems
Problem#3

𝐕𝐢 𝐬 𝟏 𝐈𝟏 𝐬 𝟏 𝐕𝟏 𝐬
+ +
− 𝐑𝟏 − C𝟏 𝐬

𝐕𝟏(𝐬) 𝐈𝟐(𝐬)

𝐕𝟏 𝐬 𝟏 𝐈𝟐 𝐬 𝐈𝟐 𝐬 𝐕𝟎 𝐬
+ 𝟏
− R𝟐
𝐂𝟐 𝐬

𝐕𝟎(𝐬)
 Block Diagram Representation of Electrical Systems
Problem#3

𝐈𝟏 𝐬 𝐈𝟐 𝐬
𝐕𝐢 𝐬 𝟏 𝟏 𝐕𝟏 𝐬 𝟏
+ + +
− 𝐑𝟏 − C𝟏𝐬 − R𝟐

𝐕𝟏(𝐬) 𝐈𝟐(𝐬)
𝐕𝟎(𝐬)

𝐈𝟐 𝐬 𝟏 𝐕𝟎 𝐬
𝐂𝟐 𝐬
 Block Diagram Representation of Electrical Systems
Problem#3

𝐈𝟏 𝐬 𝐈𝟐 𝐬
𝐕𝐢 𝐬 𝟏 𝟏 𝐕𝟏 𝐬 𝟏 𝟏 𝐕𝟎 𝐬
+ + +
− 𝐑𝟏 − C𝟏𝐬 − R𝟐
𝐂𝟐𝐬

𝐕𝟏(𝐬) 𝐈𝟐(𝐬)
𝐕𝟎(𝐬)
Separately excited dc motor
Block diagram representation of separately excited dc
motor

Flux Torque developed by the motor

∅α𝑖𝑓 TMα ∅𝑖𝑎
∅ = 𝑘𝑓 𝑖𝑓 TM = k1∅ 𝑖𝑎
Constant
Back emf
TM = k1kfifia
eαω
TM = k T ia
𝑑𝜃
eα kT − Motor torque constant
𝑑𝑡
𝑑𝜃
e = 𝑘𝑏 kb − Back emf constant
𝑑𝑡
Block diagram representation of separately excited dc
motor

Armature circuit
dia
Raia + La + 𝑒𝑏 = 𝑒𝑎
dt
Torque equation
𝑑2 𝜃 dθ
J 2 + b0 = TM
𝑑𝑡 dt
𝑑2 𝜃 dθ
J 2 + b0 = k T ia
𝑑𝑡 dt
Block diagram representation of separately excited dc
motor

∅ = 𝑘𝑓 𝑖𝑓 dia
Raia + 𝐿𝑎 + 𝑒𝑏 = 𝑒𝑎
dt
TM = k T ia 𝑑𝜃
eb = 𝑘𝑏
𝑑𝑡
𝑑2 𝜃 dθ
J 2 + b0 = TM = k T ia
𝑑𝑡 dt
Block diagram representation of separately excited dc
motor

𝑑2 𝜃 dθ J𝑠2𝜃(𝑠) + b0𝑠θ(𝑠) = kTIa(s)

J 2 + b0 = kTia
𝑑𝑡 dt
[J𝑠2 + b0s]θ(𝑠) = kTIa(s)
kT
θ(𝑠) = 2 Ia(s)
J𝑠 + b0s

Ia(s) kT θ(𝑠)
𝑠 J𝑠 + b0
Block diagram representation of separately excited dc
motor

dia Ea s − Eb (s)
Raia + La + eb = ea Ia (s) =
dt Ra + La s
RaIa(s) + La sIa (s) + Eb (s) = Ea (s)
Ra + La s Ia(s) = Ea s − Eb (s)
𝐄𝐚 𝐬 𝟏 𝐈𝐚 𝐬
+
− 𝐑𝐚 + 𝐋𝐚 𝐬

𝐄𝐛(𝐬)
Block diagram representation of separately excited dc
motor

dθ
eb = k b
dt
Eb(s) = k b sθ(s)

θ(𝑠)
Eb(s)
𝐤𝐛 𝐬
Output
Block diagram representation of separately excited dc
motor

Ia(s) kT θ(𝑠)
𝑠 J𝑠 + b0

𝐄𝐚 𝐬 𝟏 𝐈𝐚 𝐬
+
− 𝐑𝐚 + 𝐋𝐚𝐬

𝐄𝐛(𝐬)
θ(𝑠)
𝐄𝐛(𝐬)
𝐄𝐛𝐬
Block diagram representation of separately excited dc
motor

𝐄𝐚 𝐬 𝟏 𝐈𝐚 𝐬 kT θ(𝑠)
+
− 𝐑𝐚 + 𝐋𝐚𝐬 𝑠 J𝑠 + b0

𝐄𝐛(𝐬)

θ(𝑠)
𝐄𝐛(𝐬)
𝐤𝐛 𝐬
Block diagram representation of separately excited dc
motor

𝐄𝐚 𝐬 𝟏 𝐈𝐚 𝐬 kT θ(𝑠)
+
− 𝐑𝐚 + 𝐋𝐚𝐬 𝑠 J𝑠 + b0

𝐄𝐛(𝐬)

𝐤𝐛 𝐬
Thank you