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Lecture 4 Mathematical Modelling of Transfer Functions (Autosaved)

A transfer function (TF) is used to characterize the input-output relationship of systems described by linear, time-invariant differential equations. The TF is defined as the ratio of the Laplace transform of the output to the input, assuming zero initial conditions. Block diagrams provide a pictorial representation of a system using functional blocks connected by arrows to show signal flow. Complex block diagrams can be reduced using guidelines such as reducing series blocks to a product and parallel blocks at a summing junction. TFs can model disturbances and the feedback loop modifies the output signal fed back for comparison to the input.

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27 views19 pages

Lecture 4 Mathematical Modelling of Transfer Functions (Autosaved)

A transfer function (TF) is used to characterize the input-output relationship of systems described by linear, time-invariant differential equations. The TF is defined as the ratio of the Laplace transform of the output to the input, assuming zero initial conditions. Block diagrams provide a pictorial representation of a system using functional blocks connected by arrows to show signal flow. Complex block diagrams can be reduced using guidelines such as reducing series blocks to a product and parallel blocks at a summing junction. TFs can model disturbances and the feedback loop modifies the output signal fed back for comparison to the input.

Uploaded by

Kabo Mphanyane
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPTX, PDF, TXT or read online on Scribd
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Welcome

Transfer Functions
• A transfer function (TF) is a commonly used
equation, to characterize the input – output relation
of components in a system; that can be described
by linear, time-invariant, and differential equations.

• TF is defined as the ratio of the Laplace transform of


the output(system response) to the Laplace
transform of the input (driving function); with
assumption of zero conditions.
Transfer Functions cont..
• Given:

• A time domain equation, with y = output and x = input; for all


conditions zero.

• The TF if called the nth-order system, from the highest power of s


in the denominator.
Characteristics of a TF
• The TF is extensively used in analysis and design of linear, time-invariant,
differential systems.
• Transfer Functions is:
– A mathematical model operational method of expressing the output variable
to input variable of the differential equation.
– A property of the system itself, independent of magnitude and nature of input.
– A function that includes units necessary to relate input to output, and doesn’t
concern with physical structure of the system.
– A function that; given output, it can be studied for variations of inputs to
understand nature is the system.
– A function that can be derived from experimentally studying the inputs to the
outputs of a known system; then, it’s a full description of the dynamic
characteristics of the system.
Transfer Functions cont..
• The TF of a linear, time invariant system is given by G(s):

• Where X(s) = Laplace inputs and Y(s) = Laplace outputs, assuming zero
conditions.

• The above is the convolution equivalent of the first equation in time


domain; where, g(t) & x(t) = 0, for t <0.
Impulse –Response Function
• Given a unit-impulse input with zero conditions, the Laplace
transform of a unit-impulse is unity (i.e. X(s) = 1); then:

• Inverse Laplace transform of the output given above, gives the


impulse response of the system.
• i.e.

• g(t) is also called the weighting function; therefore, the TF and


Impulse-response of an LTI system contain same information
about the system dynamics.
Block Diagrams
• A common control system is usually a collection of subsystems, to show
functional representation of these sub-systems; a block diagram is used.

• A block diagram, shortly called a block; is a pictorial representation, of the


relation of the input signal to the output signal through the block. The arrows
indicate directionality of the signal.

• All system variables are linked through functional blocks, the TF of the
components is entered in the blocks correspondingly and connected by arrows.
Advantages of Block Diagrams
• Block diagram representation makes it easy to represent
the entire system and to evaluate the contributions of the
individual blocks or subsystems in relation to the overall
system.

• It also makes it easy to visualize the functional operations


by examining block diagrams than the physical system.

• different block diagrams can represent the same system,


depending on perspective of analysis.
Closed Loop System BD
• Summing point  a point in the system
diagram indicating joining of signals by
summation.

• Branch point  a section where a signal


breaks into similar signals going in different
directions.

• A closed loop system is when the


difference of the output/ response to input
is fed back to the system through a
summing point, called feedback signal.

• Figure above shows closed loop with


constant feedback (i.e. H(s) = a), while the
figure below shows variable feedback (i.e. -
a<= H(s) <=a)
Closed Loop BD Cont.…
• Feedback modifies the output
before it is compared with
input, usually represents a
sensor
• E(s)  error signal, resulting
from comparing input signal
[R(s)] with contribution of
feedback from output [C(s)].
• B(s)  represents the signal
contribution of output signal
and feedback modification.
– B(s) = H(s)C(s)
Closed Loop TF
Block Diagram Reduction
• Blocks cascaded in series like reduce to a product of the blocks and signals.

• Parallel connection of blocks reduces through the summing junction.

• Closed loop system with variable feedback, reduces to the given function.


Block Reduction guidelines
• In reducing complex block diagrams try to follow the provided guidelines below:
– First, check if possible to reduce cascading or series connections
– Second, check if any parallel blocks exist that can be reduced without interfering with
other signals
– Third, check if there exist any unobstructed closed loop to reduce into a single block.
– Forth, any difficulty or obstruction caused by a summing junction, shift the block to
the right of the summing junction and provide a balancing block to the effect of the
movement.
– Firth, if any obstruction caused by a branching point; shift the block to the left, and .
provide a balancing block to the effect of the movement.
– Finally repeat the process until there is only one block representation of the complete
system Transfer Function.
• Note: Make sure to keep reducing the sub blocks to their single fraction, and
give the final answer in the same format.
Example
Given:

After guideline 3, again:


After applying guideline 4:

Finally:

After guideline 3:
Block Reduction Example
• We can also use block diagram • Current through resistor is:
reduction to convert a known electrical
or mechanical system to a block
diagram using physics laws and Laplace
Transforms.
• Take the RC-Circuit below:
• And finally block diagram representation of
circuit is:

• Then, we can reduce this block diagram to


• Current through capacitor is: a single transfer function, or use MATLAB
to analyze the individual components of
the circuit.
CLTF with Disturbance
• Closed loop control system are subjected to • Assuming zero input for each we can
a disturbance need to represent the identify the TF for the contribution of each
contribution of the disturbance in the TF of and their effect on the final TF.
the system. • Case 1: R(s) = 0, Effect of D(s) is:
• Consider system given:

• Case 2: D(s) = 0; Effect of R(s) is:

• Output response C(s) is the sum of the input • Finally, C(s) is:
response CR(s) and disturbance
contribution CD(s).
CLTF with Disturbance cont.
• Consider a case where, |G1(s)H(s)|>>1 and |G1(s)G2(s)H(s)|
>>1; the effect of CD(s)/D(s) ~= 0, then Distance is suppressed.

• Also, as |G1(s)G2(s)H(s)|>>1, then CR(s)/R(s) approaches


1/H(s); then the system is independent of G1(s)G2(s) and
inversely proportional to H(s).

• Finally any CLTF with unity feedback [H(s) =1], approaches


equalizing input to output.
Exercise

• Exercise (Reduce this block into its Transfer Function)


Thank you !

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