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The document covers feedback control systems, focusing on block diagrams, their construction, and reduction techniques. It includes definitions, examples, and the fundamental elements of block diagrams, such as blocks, summing points, and takeoff points. Additionally, it presents methods for reducing block diagrams to their canonical form and provides several problems for practice.

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Haya
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2 views

week7_lecture1

The document covers feedback control systems, focusing on block diagrams, their construction, and reduction techniques. It includes definitions, examples, and the fundamental elements of block diagrams, such as blocks, summing points, and takeoff points. Additionally, it presents methods for reducing block diagrams to their canonical form and provides several problems for practice.

Uploaded by

Haya
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Feedback Control Systems

(EE-374)
Block Diagram
Ms. Uzma Perveen

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Modelling Methods
• Differential Equation
• Block Diagram
• Signal Flow Graph
• Objective of Modelling

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To be covered in this topic
• Definitions with basic examples
• Construction of Block Diagram
• Reduction techniques
• Examples

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Block Diagram(BD)

• Describes the composition and interconnection of a system


• Describes the cause and effect relationship throughout the system with
transfer fu
• nction
• Used to model Linear as well as Non Linear systems

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Block Diagram Fundamentals
Four Basic Elements
1.Blocks
2.Summing points
3.Takeoff points
4.Arrows (representing uni directional signal flow)

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Canonical Form Of Block Diagram

Simplest form of representation of a feedback control system


R=Reference Signal
C=controlled Variable OR output
E=Error Signal OR Actuating Signal
G = Forward Transfer Function
H= feedback Transfer Function
GH = Loop Transfer function=open loop transfer Function

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Canonical Form Of Block Diagram
𝐶(𝑆)
• = control Ratio = closed loop transfer function
𝑅(𝑆)
𝐸(𝑆)
• = error ratio=Actuating signal ratio
𝑅(𝑆)
𝐵(𝑆)
• = Primary feedback ratio
𝑅(𝑆)
• [1 + GH =0 ] =Characteristic equation of the system
• Where C = GE ;B = HC ; E =R-B
Control Ratio Error Ratio Feedback Ratio
C = GE E = R –B B = HC
C = G(R-B) E = R-HC B= H(GE)
C = GR-GB E = R - GHE B= HG(R-B)
C = GR-G(HC) B + HGB =GHR
C = GR-GHC
C + GHC = GR
𝑪(𝑺) 𝑮(𝑺) 𝑬(𝑺) 𝟏 𝑩(𝑺) 𝑮𝑯(𝑺)
= = =
𝑹(𝑺) 𝟏+𝑮𝑯(𝑺) 𝑹(𝑺) 𝟏+𝑮𝑯(𝑺) 𝑹(𝑺) 𝟏+𝑮𝑯(𝑺)

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Construction Of Block Diagram:

• Model of a separately excited


DC Motor

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• ea = Raia +LaDia +eb
• Taking Laplace Transform
• Ea = Ra Ia +LaSIa+ Eb
𝟏
• Ia = (Ea - Eb) ----------------------(1)
𝑹𝒂+𝑺𝑳𝒂
• Tm = K ø Ia
• Tm = K1 Ia -----------------------------------(2)
• eb = Kb ωm
• Taking Laplace Transform
• Eb = Kb ωm ----------------------(3)
• Tm = J D2ϴm+BDϴm+TL
• Tm =JDωm+Bmωm+TL
Taking Laplace Transform
• Tm =JSΩm+BmΩm+TL
𝟏
• ωmOR Ωm= (Tm -TL)-----------------(4)
𝑱𝒎𝑺+𝑩𝒎
• Also note that
𝚹 𝟏
• =
Ω 𝑺
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𝟏
Ia = (Ea - Eb) ----------------------(1)
𝑹𝒂+𝑺𝑳𝒂
Tm = K1 Ia -----------------------------------(2)
Eb = Kb ωm ----------------------(3)
𝟏
ωmOR Ωm= (Tm -TL)-----------------(4)
𝑱𝒎𝑺+𝑩𝒎
𝜭 𝟏
=
Ω 𝑺

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𝛳𝑚
𝐸𝑎
𝐾𝑖
=
LaJmS3 + (RaJm + BmLa)S2 + (KbKi + RaBm)S

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BLOCK DIAGRAM
REDUCTION
TECHNIQUES

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1.Combining Blocks in
cascade

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2.Combining Blocks in
parallel

𝑃1
Y= P2(𝑃2 + 1)X
Y= (P1 + P2)X

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2.Combining Blocks in
parallel

𝑃1
Y= P2(𝑃2 + 1)X
Y= (P1 + P2)X

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3.Eliminating a feedback loop or removing a
block from a feedback loop

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3.Eliminating a feedback loop or removing a
block from a feedback loop

𝒀 𝑷𝟏𝑷𝟐
=
𝒁 𝟏 + 𝑷𝟏𝑷𝟐
𝑷𝟏𝑷𝟐
𝒀= 𝒁
𝟏 + 𝑷𝟏𝑷𝟐
𝑷𝟏𝑷𝟐 𝟏
Y= = 𝑿
𝟏+𝑷𝟏𝑷𝟐 𝑷𝟐
𝒀 𝑷𝟏
=
𝑿 𝟏 + 𝑷𝟏𝑷𝟐
Y=P1(X-P2y))

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4.Moving a take off point
ahead of a block

A A

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5.Moving a take off point
beyond of a block

B B

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6.Moving a summing point
ahead of a block

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6.Moving a summing point
ahead of a block

1
Z=P[X+ 𝑃 Y]
Z = PX+ Y

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7.Moving a summing point
beyond of a block

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7.Moving a summing point
beyond of a block

Z=PX+ PY
Z=P(X+ Y)

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8.Moving a take off point
ahead of a summing point

B B

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9.Moving a take off point
beyond of a summing point
B B

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10 Rearranging summing
points

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Steps for block diagram reduction

1. Combine all cascaded blocks


2. Combine all parallel blocks
3. Eliminate all minor feed back loops
4. Shift summing point to left and takeoff point
to right of major loop
5. Repeat step 1 to 4 until block diagram will
reduce to canonical form

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Prob1:Reduce the block
diagram to canonical form

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STEP1:combining blocks in cascade

STEP2: combining blocks in parallel

STEP3:Eliminating a minor feedback loop

STEP4:Eliminating a major feedback loop

STEP5:canonical form

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𝑪(𝑺)
Find Transfer Function
𝑹(𝑺)

𝑪(𝑺) 𝑮(𝑺)
=
𝑹(𝑺) 𝟏+𝑮𝑯(𝑺)
G(S)

H(S)

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Prob2: Find the transfer function by
reduction method.

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ssssmvk
STEP1
jdkjdkv
mkmvm
mcvmkS
TERhbcj

STEP 2

STEP 3

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Prob3:Reduce the following system to a
single transfer function

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STEP
STEP
1

STEP2

STEP3

STEP4

STEP5

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Prob4:Reduce the following system to a single
transfer function

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STEP
STEP X
1

STEP2

STEP3

STEP4

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