Topics

• Transfer Function by SFG

• Transfer Function by differential equations of basic
Electrical systems
• Transfer Function by differential equations of Basic
Mechanical Systems
• Transfer Function of a typical DC Motor
• State Space Method

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Representation of
Control System
Elements of Control
System

3
Modeling of the System
The System can be represented by
Block Diagram
SFG
Differential equations
State Space
Simulation Diagrams

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Transfer Functions
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Signal Flow Graph
• Path
• Loop
• Touching Loops
• Non Touching loop

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What is Mason’s Gain Formula?
Mason’s Gain Formula (MGF) is a method for finding the transfer
function of a linear signal flow graph (SFG).
“The relationship between the input variables and the output variables of a signal
flow diagram is given by the net gain of the input and output nodes, called the
total gain of the system.”

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Assigning Values
• Let us take all G’s = 1/S
• H1=2
• H2=3
Direct Method
• Without going to the details of Mason Gain, the
transfer function can be directly found out.
How?
Problem
1
1
Transfer Fcn2

1 1
s s
Integrator Integrator1

2
1
Transfer Fcn

3
1
Transfer Fcn1
Control Tutorials for MATLAB and Simulink - M
otor Speed: System Modeling (umich.edu)

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Transfer Function
Representation for
Electrical Systems
Mechanical Element
Laws
A mechanical System is composed of inertia,stiffness and
energy dissipation elements.
Inertial elements are either lumped masses or moment of
Inertia.
Stiffness Elements; when a mechanical element stores energy
due to deformation or change in shape, then it is modeled as
stiffness element
When a Mechanical system dissipates energy due to its motion
it can be modeled as friction element
Modeling of mechanical
systems
Mechanical Systems

Translational Rotational

Newton’s Third Law of Motion:

For every reaction there is an equal and
opposite reaction
Mechanical Model of the Seat Suspension
System

The mass acts on the spring, the spring compresses and stores the energy,
and then the spring releases that energy back onto the mass. The result is you
jumped and bounced back into the air, over and over, until the energy is
dissipated by friction. Adamper is a device that resists the springs motion
Translational Mechanical
Systems
Component Force-Velocity Force-Displacement

t
f (t ) K v( )d f (t ) Kx (t )
0

- spring constant

dx(t )
f (t )  f v v(t ) f (t )  f v
dt
- coefficient
of viscous
friction

dv(t ) d 2 x(t )
f (t ) M f (t ) M
dt dt 2

M-mass
Let’s consider a simple
system given below:

a. Mass, spring, and damper system; b. block diagram

X (s) 1
G (s)   2
F ( s) Ms  f v s  K
But, how to actually find G(s) ?????
 Free Body Diagram (FBD)
1: Identify all possible forces on the left & right of the systems

Fdue to spring

Fdue to damper M
Fapplied force

Fdue to mass

Step 2: From the Newton’s Third Law of Motion : For every reaction there is an equal
and opposite reaction

Fdue to spring + Fdue to damper + Fdue to mass = Fapplied force

3: Replace all the forces with its differential equations

dx(t ) d 2 x (t )
Kx (t )  f v M 2
 f (t )
dt dt
ep 4: Apply the Laplace transform
KX ( s )  f v sX ( s )  Ms 2 X ( s ) F ( s )

Step 5: Identify input and output

X ( s )  output
F ( s )  input

Step 6: TF can be given as:

X (s) 1
G (s)   2
F ( s ) Ms  f v s  K
 Now, let’s consider another
system

a. Two-degrees-of-freedom translational mechanical system

b. block diagram
X 2 (s)
So, how to find G (s) 
F (s)
 For this case, you have to
consider each mass one-
by-one
Step 1: FBD on Mass 1

Forces on M1 due only to motion of M1b. forces on M1 due only to motion of M2

c. all forces on M1 (combination from a. & b.)

 Step 2: From the Newton’s Third Law of Motion : For every reaction there is an equal
and opposite reaction
( K1  K 2 ) X 1 ( s)  ( f v1  f v 3 ) sX 1 ( s)  M 1s 2 X 1 ( s) K 2 X 2 ( s)  f v 3 sX 2 ( s)  F ( s)
or (K  K )  ( f
1 2 v1  f v3 ) s  M 1 s 2
X 1 ( s) K 2  f v 3 s X 2 ( s)  F ( s)

Step 3: FBD on Mass 2

. Forces on M2 due only to motion of Mb.

2 forces on M2 due only to motion of M1

c. all forces on M2 (combination of a. & b.)

 Step 4: From the Newton’s Third Law of Motion : For every reaction there is an equal
and opposite reaction

( K 2  K 3 ) X 2 ( s )  ( f v 2  f v 3 ) sX 2 ( s )  M 2 s 2 X 2 ( s )  f v 3 sX 1 ( s )  K 2 X 1 ( s )
or ( K 2 
 K 3 )  ( f v 2  f v 3 ) s  M 2 s 2 X 2 ( s )  f v 3 s  K 2 X 1 ( s )

ep 5: Now, we have 2 sets of equation, where

(K  K )  ( f
1 2 v1  f v3 ) s  M 1 s 2
X 1 ( s) K 2  f v 3 s X 2 ( s)  F ( s) Eqn 1

( K 2 
 K 3 )  ( f v 2  f v 3 ) s  M 2 s 2 X 2 ( s )  f v 3 s  K 2 X 1 ( s ) Eqn 2

Step 6: From eqn 2, we’ll have

X ( s) 
(K 2  K 3 )  ( f v2  f v3 ) s  M 2 s 2

X 2 (s) Eqn 3
1
 f v3s  K 2 
7: Substitute eqn 3 into eqn 1, then simplify it, yields to:

X 2 (s)
G (s) 
F (s)

f v3s  K 2
G (s) 
  
M 1s 2  ( f v1  f v 3 ) s  ( K1  K 2 ) M 2 s 2  ( f v 2  f v 3 )  ( K 2  K 3 )   f v 3 s  K 2 2
Transfer Function
of a DC Motor
Control Tutorials for MATLAB and Simulink - M
otor Speed: System Modeling (umich.edu)
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