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Control System

Control system in electrical engineering

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EE-053-Nirmal Tudu
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4 views

Control System

Control system in electrical engineering

Uploaded by

EE-053-Nirmal Tudu
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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A Progress Report On

[Transfer funcTion & Block Diagram


represenTaTion in The conTrol sysTem]
Submitted in partial fulfillment of the requirement for the degree.
OF
BACHELOR OF TECHNOLOGY
IN
ELECTRICAL ENGINEERING
BY

Nirmal Tudu
{Registration No.: - 213500101610016, University Roll No.: - 35001621053}
DR. JAYANTA KUMAR CHANDRA

(H.O.D OF EE, RKMGEC)

Subject: - CONTROL SYSTEM, Subject code: -PC-EE-503


Semester- 5th Sem, Year-3rd year
Department Of Electrical Engineering
Ramkrishna Mahato Government Engineering College
Joypur, Purulia, Pin – 723103, West Bengal
❖ Transfer funcTion of conTrol sysTem
❑ Definition: The transfer function of a control system is the
ratio of Laplace transform of output to that of the input while
taking the initial conditions, as 0. basically, it provides a
relationship between input and output of the system.
• For a control system, T(s) generally represents the transfer
function.
• In the figure given below X(s) and Y(s) represents input and
output respectively.

Where,

1. T(S) = Transfer function of the system.


2. C(S) = output.
3. R(S) = Reference output.
4. G(S) = Gain.
❑Steps to obtain transfer function -
Step-1 Write the differential equation.
Step-2 Find out Laplace transform of the equation assuming 'zero' as
an initial condition.
Step-3 Take the ratio of output to input.
Step-4 Write down the equation of G(S) as follows –
𝐶(𝑆) 𝑏𝑚 𝑆 𝑚 + 𝑏𝑚−1 𝑆 𝑚−1 + …………..𝑏1 𝑠+ 𝑏0
G(S) = 𝑅(𝑆) = …………(1)
𝑎𝑛 𝑆 𝑛 + 𝑎𝑛−1 𝑆 𝑛−1 + …………..𝑎1 𝑠+ 𝑎0

Here, a and b are constant, and S is a complex variable.

• Characteristic equation of a transfer function -


Here, the characteristic equation of a linear system can be obtained by
equating the denominator to the polynomial of a transfer function is
zero. thus the characteristic equation of the transfer function of Eq.1
will be-

𝑎𝑛 𝑆 𝑛 + 𝑎𝑛−1 𝑆 𝑛−1 + … … … … . . 𝑎1 𝑠 + 𝑎0 = 0

• Poles and Zeros of a transfer function -


Consider the equation 1, the numerator and denominator can be
factored in m and n terms respectively:

𝑏𝑚
Where, K= is known as the gain factor and ‘s’ is the complex
𝑎𝑛
frequency.
• Poles: -
Poles are the frequencies of the transfer function for which the value
of the transfer function becomes zero.

• Zeros: -
Zeros are the frequencies of the transfer function for which the value
of the transfer function becomes zero.

• For example-
Find the transfer function of the following function:-
The zeros of the function are S = -3 and the poles of the
function are S = 0, S = -2, and multiple poles at S = -4 i.e. the
pole of order 2 at S = -4.

• The two cases that arise when we consider the


whole 'S' plane is:
1. If the no. of zeros are less than no. of poles, i.e., Z<P then
the value of transfer function becomes zero for S, and the order
of such zeros is P-Z.
2. If the no. of poles are less than no. of zeros P<Z then the
value of transfer function becomes infinity for S, and the order
of such poles is Z-P.
❖ Block Diagram represenTaTion in conTrol
sysTem: -
A block diagram is used to represent a control system in diagram form.
In other words, the practical representation of a control system is its
block diagram. Each element of the control system is represented with
a block and the block is the symbolic representation of the transfer
function of that element.

❑ Basic Elements of Block Diagram: -


The basic elements of a block diagram are a block, the summing point
and the take-off point. Let us consider the block diagram of a closed
loop control system as shown in the following figure to identify these
elements.

❑ Block: -
The transfer function of a component is represented by a block. Block
has single input and single output.
The following figure shows a block having input X(s), output Y(s) and
the transfer function G(s).

𝑌(𝑆)
Transfer Function, 𝐺 (𝑆) =
𝑋(𝑆)
❑ ARROWS: -
Block Diagrams contain arrows which indicate the unidirectional flow
of signals in this diagram.

❑ SUMMING POINTS: -
A summing point is a point in a system where two or more signal are
added algebraically. The summing point is represented with a circle
having cross (X) inside it. It has two or more inputs and single output.
It produces the algebraic sum of the inputs. It also performs the
summation or subtraction or combination of summation and
subtraction of the inputs based on the polarity of the inputs. Let us see
these three operations one by one.

• The following figure shows the


summing point with two inputs (A,
B) and one output (Y). Here, the
inputs A and B have a positive sign.
So, the summing point produces the output, Y as sum of A and B.
• i.e.,Y = A + B.
• The following figure shows the
summing point with two inputs (A, B)
and one output (Y). Here, the inputs
A and B are having opposite signs,
i.e., A is having positive sign and B is
having negative sign. So, the
summing point produces the output Y as the difference of A and
B.
• Y = A + (-B) = A - B.
• The following figure shows the summing
point with three inputs (A, B, C) and one
output (Y). Here, the inputs A and B are
having positive signs and C is having a
negative sign. So, the summing point
produces the output Y as
• Y = A + B + (−C) = A + B − C.
❑ Take-off Point: -
The take-off point is a point from which the
same input signal can be passed through more
than one branch. That means with the help of
take-off point, we can apply the same input to
one or more blocks, summing points.
In the following figure, the take-off point is used to connect the same
input, R(s) to two more blocks.

❑ Closed loop control system: -


A system in which a feedback path is there is called a closed-loop
control system. In this system, the output is feedback into the error
detector and then it is compared with the input signal. The feedback
signal can be negative or positive. In a closed-loop control system, a
fraction of output is fed-back and added to the system’s input. If H (s)
is the transfer function of the feedback path, then the transfer function
of the feedback signal will be B(s) = C(s)H(s).
At the summing point, the input signal R(s) will be added to B(s) and
produces the actual input signal or error signal of the system, and it is
denoted by E(s).
Where,

• R(s) = Reference Input.


• C(s) = Controlled Output.
• B(s) = Feedback Signal.
• E(s) = Actuating Signal or
Error Signal.
𝐶(𝑠)
• G(s) = = Forward path
𝐸(𝑠)
transfer function.
𝐵(𝑠)
• 𝐻 (𝑠) = = Feedback Transfer function.
𝐶(𝑆)
• 𝐶 (𝑠) = 𝐺 (𝑠)𝐸 (𝑠) = 𝐺 (𝑠)[𝑅(𝑠) − 𝐵(𝑠)] = 𝐺 (𝑠)𝑅 (𝑠) − 𝐺 (𝑠)𝐵(𝑠)
• Since, 𝐵(𝑠) = 𝐶 (𝑠) 𝐻(𝑠)
• Therefore, 𝐶 (𝑠) = 𝐺 (𝑠)𝑅 (𝑠) − 𝐺 (𝑠) 𝐶 (𝑠) 𝐻 (𝑠)
• 𝐶 (𝑠)[1 + G(s)H(s)] = G(s) R(s)
𝐶(𝑠) 𝐺(𝑠)
• Therefore, =
𝑅(𝑠) 1+𝐺(𝑠)𝐻(𝑠)
• This is a Negative Feedback in this equivalent block.
❑ BLOCK DIAGRAM REDUCTION RULES: -
1. COMBINING THE BLOCKS IN CASCADE: -

2.COMBINING PARALLEL BLOCKS: -


3. MOVING THE TAKEOFF POINT A BEFORE OF THE
BLOCK: -

4. MOVING THE TAKEOFF POINT A HEAD OF THE BLOCK:


-

5. MOVING THE SUMMING POINT A HEAD OF THE


BLOCK: -

=>
6. MOVING THE SUMMING POINT A HEAD OF THE
BLOCK: -

=>

❑ REFERENCE: -
I. Modern Control Engineering, K. Ogata, 4th Edition, Pearson
Education
II. Control System Engineering, I. J. Nagrath & M. Gopal. New
Age International Publication.
III. Control System Engineering, D. Roy Choudhury, PHI.

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