MT 323: Automatic Control (1)

MT 421: Automatic Control in

Mechanical Systems
Instructor. Gamal Abdelnasser

Lecture 6 Block Diagram Representation of Control Systems

Dr. Shuaiby Mohamed

 Last Lecture

 Mathematical Modelling of Liquid Level Systems

 Mathematical Modelling of a Thermal Systems

10/24/2022 2
 Today’s Lecture
Today we are going to discuss the following topics:

 Block Diagram Representation of Control Systems

 Examples

 Canonical Form of a Feedback Control System

 Reduction Techniques

 Examples

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 Introduction
• A Block Diagram is a shorthand pictorial representation of the cause-and-effect
relationship of a system.

• The interior of the rectangle representing the block usually contains a description
of or the name of the element, or the symbol for the mathematical operation to be
performed on the input to yield the output.

• The arrows represent the direction of information or signal flow.

d
x y
dt

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 Introduction (Cont.)
• The operations of addition and subtraction have a special representation.

• The block becomes a small circle, called a summing point, with the appropriate plus or
minus sign associated with the arrows entering the circle.

• The output is the algebraic sum of the inputs.

• Any number of inputs may enter a summing point.

• Some books put a cross in the circle.

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 Introduction (Cont.)
• In order to have the same signal or variable be an input to more than one block
or summing point, a takeoff point is used.

• This permits the signal to proceed unaltered along several different paths to
several destinations.

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 Example-3
• Consider the following equations in which x1, x2, x3, are variables, and a1, a2 are general
coefficients or mathematical operators.

x3  a1 x1  a2 x2  5

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 Example-3(Cont.)
• Consider the following equations in which x1, x2, x3, are variables, and a1, a2 are general
coefficients or mathematical operators.

x3  a1 x1  a2 x2  5

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 Example 4
• Determine the system dynamic model and draw the block diagram.

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 System Dynamic Model
h1  h2
L q1  C1
dh1
 q  q1
R1 dt L
H1 ( s )  H 2 ( s )
Q1 ( s )  C1sH1( s )  Q( s )  Q1( s )
R1

h2
q2 
R2 dh2
L C2  q1  q2
dt L
H 2 (s)
Q2 ( s ) 
R2 C2 sH 2 ( s )  Q1( s )  Q2 ( s )
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 Block Diagram
H1 ( s )  H 2 ( s ) C1sH1( s )  Q( s )  Q1( s )
Q1 ( s ) 
R1

H 2 (s) C2 sH 2 ( s )  Q1( s )  Q2 ( s )
Q2 ( s ) 
R2

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 Block Diagram (Cont.)
1
2

4 3

Q2 ( s )
?
Q( s)
Next Lecture
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 Example 5
• Determine the system dynamic model, draw the block diagram and find the
transfer function (s)V (s) of armature controlled D.C motor.
a

Ra La
c
ia
Va eb T J

System Dynamic Model
Lec_04

La s  Ra I a (s)  K b(s)  Va (s)

Js  c (s)  K ma I a (s)
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 Example 5 (Cont.)
La s  Ra I a(s)  K b(s)  Va(s) Js  c(s)  K ma I a(s)

(s) ?
Va (s)

Next Lecture
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 Canonical Form of a Feedback Control System
R (s ) E (s ) C (s )
+ G (s )
+
B (s )

H (s )

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 Closed Loop Transfer Function
Closed Loop Transfer Function(Control Ratio )

R (s ) E (s ) C (s )
R( s)  B( s)  E ( s) (1) +
+ G (s )

C (s)  E (s) G (s) ( 2)
B (s )
B( s)  C ( s) H ( s) (3)
H (s )
Substituting Eqs.(2) and (3) into Eq. (1)

C (s)
R( s)  C ( s) H ( s)  (4)
G (s)
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 Closed Loop Transfer Function (Cont.)
Closed Loop Transfer Function(Control Ratio )

R (s ) E (s ) C (s )
C (s)
R( s)  C ( s) H ( s)  (4) +
+ G (s )
G (s) 
 1  B (s )
R( s)  C ( s)   H ( s)
 G (s)  H (s )
1  G ( s ) H ( s ) 
 C (s)  (5)
 G (s)  C (s) G (s)
 (6)
R( s) 1  G ( s) H ( s)
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 Error Ratio
Actuating Signal Ratio(Error Ratio )
R( s)  B( s)  E ( s) (1) R (s ) E (s ) C (s )
+
C (s)  E (s) G (s) ( 2) + G (s )

B( s)  C ( s) H ( s) (3)
B (s )
Substituting Eq.(3) into Eq. (1)

R( s)  C ( s) H ( s)  E ( s) (4) H (s )
Substituting Eq.(2) into Eq. (4)

R ( s )  E ( s )G ( s ) H ( s )  E ( s ) (5) E (s) 1
 (7 )
R( s )  E ( s ) 1  G ( s ) H ( s ) (6) R( s) 1  G ( s) H ( s)
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 Primary Feedback Ratio
Primary Feedback Ratio
R( s)  B( s)  E ( s) (1) R (s ) E (s ) C (s )
+
C (s)  E (s) G (s) ( 2) + G (s )

B( s)  C ( s) H ( s) (3)
B (s )
Substituting Eq.(2) into Eq. (1)
C (s) H (s )
R( s)  B( s)  (4)
G (s)
Substituting Eq.(3) into Eq. (4), then
B( s)  G ( s) H ( s) 
B( s) 
R ( s ) 1  G ( s ) H ( s ) 
(7 )
R( s)  B( s)  (5)
G (s) H (s)
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 Characteristic Equation
• Control ratio is the closed loop transfer function of the system.

R (s ) E (s ) C (s )
C( s ) G( s ) +
 + G (s )
R( s ) 1  G( s )H ( s ) 
B (s )

H (s )

• The denominator of closed loop transfer function determines the characteristic equation of the
system.
• Which is usually determined as:
1  G( s )H ( s )  0
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 Example-1
• For the system represented by the following block diagram determine:
1. Open loop transfer function
2. Feed Forward Transfer function
3. Control ratio (closed loop transfer function)
4. Feedback ratio
5. Error ratio
6. Characteristic equation
R (s ) 10 C (s )
+
+ ( s  10) s  1

0 .1

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 Example-1 (Cont.)
Solution

1. Open loop transfer function

G (s )
1
G (s) H (s)  R (s ) 10 C (s )
( s  10) s  1 +
+ ( s  10) s  1

2. Feed Forward Transfer function

10
G (s)  0 .1
( s  10) s  1

H (s )
3. Control ratio
10
C (s) G (s) ( s  10) s  1 10
  
R( s) 1  G ( s) H ( s) 1 ( s  10) s  2
1
( s  10) s  1

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 Example-1 (Cont.)
Solution
1. Feedback ratio
1
G (s )
B( s) G (s) H (s) ( s  10) s  1 1
   R (s ) 10 C (s )
R( s) 1  G ( s) H ( s) 1 ( s  10) s  2 +
1 + ( s  10) s  1
( s  10) s  1

2. Error ratio 0 .1
E (s) 1 1 ( s  10) s  1
  
R( s) 1  G ( s) H ( s) 1 ( s  10) s  2 H (s )
1
( s  10) s  1
3. Characteristic equation

1 ( s  10) s  2
1  G (s) H (s)  1  
( s  10) s  1 ( s  10) s  1

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 Reduction Techniques
1. Combining blocks in cascade

G1 G2 G1G2

2. Combining blocks in parallel

G1
G1  G2
G2

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 Reduction Techniques(Cont.)
3. Moving a summing point behind a block

G G

4. Moving a summing point ahead of a block

G G
1
G

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 Reduction Techniques(Cont.)
5. Moving a pickoff point behind a block

G G
1
G

6. Moving a pickoff point ahead of a block

G G
G

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 Reduction Techniques(Cont.)
7. Eliminating a feedback loop
G
G
1  GH
H

G
G
1 G

H 1
8. Swap with two neighboring summing points

A B B A

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 Reduction Techniques(Cont.)

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 Example-2
Reduce the following block diagram to canonical form

• Combine all cascade block using rule-1

• Combine all parallel block using rule-2

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 Example-2 (Cont.)

𝐺2 + 𝐺3
𝐺1 𝐺4

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 Example-2 (Cont.)
• Eliminate all minor feedback loops using rule-7

• After the elimination of minor feedback loop the block diagram is reduced to as shown below

• Again blocks are in cascade are removed using rule-1

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 Example-3
• Find the transfer function C(s)/R(s) of the following block diagram

H2

R _ C
+_ + G1 + G2 G3
+

H1

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 Example-3 (Cont.)
• Solution
H2
G1
R _ C
+_ + + G1 G2 G3
+

H1

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 Example-3 (Cont.)
• Solution
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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 Example-3 (Cont.)
• Solution
H2
G1
R _ C
+_ + + G1G2 G3
+

H1

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 Example-3 (Cont.)
• Solution
H2
G1
R _ C
G1G2
+_ + G3
1  G1G2 H1

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 Example-3 (Cont.)
• Solution
H2
G1
R _ C
G1G2G3
+_ +
1  G1G2 H1

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 Example-3 (Cont.)
• Solution

R G1G2G3 C
+_ 1  G1G2 H1  G2G3 H 2

G1G2 G3
C (s) 1  G1G2 H 1  G2 G3 H 2 G1G2 G3
 
R( s) G1G2 G3 1  G1G2 H 1  G2 G3 H 2  G1G2 G3
1
1  G1G2 H 1  G2 G3 H 2
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 Any questions or
Comments?!

End of Lecture 06
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