Control System Block Diagrams

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Explore the concept of control system block diagrams, where pictorial representations depict the cause-and-effect relationships within a system. Learn about key elements like summing points, takeoff points, and equations to understand system behavior efficiently.

  • Control Systems
  • Block Diagrams
  • System Analysis
  • Control Theory
  • Engineering
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  1. Control Systems Block Diagrams 1

  2. 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 2

  3. Introduction 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. 3

  4. Introduction 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. 4

  5. Example 1 Consider the following equations in which x1, x2, x3, are variables, and a1, a2 are general coefficients or mathematical operators. = + x a x a x 5 3 1 1 2 2 5

  6. Example 1 Consider the following equations in which x1, x2, x3, are variables, and a1, a2 are general coefficients or mathematical operators. = + x a x a x 5 3 1 1 2 2 6

  7. Example 2 Consider the following equations in which x1, x2,. . . , xn, are variables, and a1, a2,. . . , an , are general coefficients or mathematical operators. = + + x a x a x a x n n n 1 1 2 2 1 1 7

  8. Canonical Form of A Feedback Control System 8

  9. Definitions ) ( H s G s ) ( G s E B s = ( ) ( ) s 1. Open loop transfer function ( ) E C s = ( ) s 2. Feed Forward Transfer function ( ) (s ) G ( ) ( s ) H C s G s (s ) E =1 3. control ratio + ( ) ( ) ( ) R s G s (s ) B ( ) ( G ) ( ) B s G + s H s =1 4. feedback ratio ( ) ( ) ( ) R s s H s (s ) H ( ) E s 1 =1 5. error ratio + ( ) ( ) ( ) R s G s H s ( ) ( s ) H C s G s =1 6. closed loop transfer function + ( ) ( ) ( ) R s G s + = ( ) ( ) 7. characteristic equation G s H s 1 0 9

  10. Characteristic Equation The control ratio is the closed loop transfer function of the system. ( ) ( s ) H C s G s =1 ( ) ( ) ( ) R s G s The denominator of closed loop transfer function determines the characteristic equation of the system. Which is usually determined as: = ( ) ( ) G s H s 1 0 10

  11. Reduction of Complicated Block Diagrams The block diagram of a practical control system is often quite complicated. It may include several feedback or feedforward loops, and multiple inputs. By means of systematic block diagram reduction, every multiple loop linear feedback system may be reduced to the canonical form. 11

  12. Reduction techniques 1. Combining blocks in cascade G G G 1G 1 2 2 2. Combining blocks in parallel G 1 G + G 1 2 G 2 12

  13. Reduction techniques 3. Moving a summing point behind a block G G G 4. Moving a summing point ahead of a block G G 1 G 13

  14. 5. Moving a pickoff point behind a block G G 1 G 6. Moving a pickoff point ahead of a block G G G 14

  15. 7. Eliminating a feedback loop G G 1 GH H G G 1 G = 1 H 8. Swap with two neighboring summing points A B B A 15

  16. Example 3: Reduce the Block Diagram to Canonical Form. Combine all cascade block using rule-1 Combine all parallel block using rule-2 16

  17. Example 3 ?2+ ?3 ?1?4 17

  18. Example 3 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 18

  19. Example 4 For the system represented by the following block diagram determine: 1. Open loop transfer function 2. Feed Forward Transfer function 3. control ratio 4. feedback ratio 5. error ratio 6. closed loop transfer function 7. characteristic equation 8. closed loop poles and zeros if K=10. 19

  20. Example 4 First we will reduce the given block diagram to canonical form K + s 1 20

  21. Example 4 K + s 1 K + G s 1 = K + + GH 1 + s 1 s 1 21

  22. Example 4 ) H s G s ) ( G s E ( B s = ( ) ( ) s 1. Open loop transfer function ( ) E C s = ( ) s 2. Feed Forward Transfer function ( ) (s ) G ( ) ( s ) H C s G s =1 3. control ratio + ( ) ( ) ( ) R s G s ( ) ( G ) ( ) B s G + s H s =1 4. feedback ratio ( ) ( ) ( ) R s s H s (s ) H ( ) E s 1 =1 5. error ratio + ( ) ( ) ( ) R s G s H s ( ) ( s ) H C s G s =1 6. closed loop transfer function + ( ) ( ) ( ) R s G s + = ( ) ( ) 7. characteristic equation G s H s 1 0 8. closed loop poles and zeros if K=10. 22

  23. Example 5 H 2 C _ R G G G + + ++ _ 3 1 2 H 1 23

  24. Example 5 H 2 G 1 C _ R G G G + + ++ _ 3 1 2 H 1 24

  25. Example 5 H 2 G 1 C _ R G G 1G + + ++ _ 3 2 H 1 25

  26. Example 5 H 2 G 1 C _ R G G 1G + + ++ _ 3 2 H 1 26

  27. Example 5 H 2 G 1 C _ R G G 1 2 G + + _ 1 3 G G H 1 2 1 27

  28. Example 5 H 2 G 1 C _ R G G G 1 G 2 3 H + + _ 1 G 1 2 1 28

  29. Example 5 C R G G G 1 2 + 3 + 1 G G H G G H _ 1 2 1 2 3 2 29

  30. Example 6 Find the transfer function of the following block diagram G 4 (s ) Y R (s ) G G G 1 2 3 H 2 H 1 30

  31. I G 4 (s ) (s ) R Y B A G G G 3 2 1 H 2 G H 2 1 Solution: G 1. Moving pickoff point A ahead of block 2 2. Eliminate loop I & simplify B G + G G 4 2 3 31

  32. G G (s ) R 4 (s ) Y G + G 3 2 G B A G G 4 1 3 2 H H 1G 2 2 G + G G 3. Moving pickoff point B behind block 4 2 3 II (s ) (s ) R Y B C G + G G G 4 2 3 1 H 2 H 1G G + 1 /( ) G G 2 4 2 3 32

  33. 4. Eliminate loop III (s ) (s ) R Y + G G G C C G + ( 2 H G 2 + G 3 G 4 4 G 2 G 3 G 1 + 1 ) H 4 2 3 2 G + H 2 1 G G G 4 2 3 (s ) (s ) R Y + ( ) + G G G G 1 H 4 2 G 3 + + 1 ( ) G G H G G 1 2 1 2 4 2 3 + ( ) + ( ) G G G G Y s 1 G 4 + 2 3 = + + + ( ) ( ) ( ) R s G G H H G G G G G G 1 1 2 1 2 4 2 3 1 4 2 3 33

  34. Example 7 Find the transfer function of the following block diagrams (s ) (s ) R Y G G 2 1 H H 2 1 H 3 34

  35. Solution: 1. Eliminate loop I G I (s ) (s ) R Y 2 A B G H G G 2 1 + 1 H 2 2 H 2 1 H 3 G 2. Moving pickoff point A behind block 2 + G H 1 2 2 (s ) (s ) R Y G A B G 2 + 1 1 G H 2 2 II + 1 G H H 2 2 + 1 1 G H G + ( ) 2 2 H H 2 3 1 G 2 H 3 35 Not a feedback loop

  36. 3. Eliminate loop II (s ) (s ) R Y G + G 1 2 H 1 G 2 2 + 1 ( ) H G H + 1 2 2 H 3 G 2 ( ) G G + Y s 1 2 G = + + + ( ) R s G H G G H H G G H H 1 2 2 1 2 3 1 1 1 2 1 2 36

  37. Example 8 Find the transfer function of the following block diagrams H 4 (s ) R (s ) Y G G G G 3 2 1 4 H 3 H 2 H 1 37

  38. Solution: G 1. Moving pickoff point A behind block I 4 H 4 (s ) R (s ) Y A B G G G G 3 2 1 4 1 H 3 H G H G 1 G 3 4 4 H 2 2 G 4 4 H 1 38

  39. 2. Eliminate loop I and Simplify (s ) R II (s ) Y G + G G 2 3 4 H B G 1 1 G G 3 4 4 H 3 G 4 H 2 III G 4 H 1 II III feedback Not feedback G G G + H G H 2 3 4 G 2 4 1 + 1 G G H G H G 3 4 4 2 3 3 4 39

  40. 3. Eliminate loop II & IIII (s ) (s ) R Y G G G G 1 2 3 4 + + 1 G G H G G H 3 4 4 2 3 3 H G H 2 4 1 G 4 ( ) G G + G G Y s 1 2 G 3 G 4 G = + + ( ) R s G G H G G H H G G G G H 1 2 3 3 3 4 4 1 2 3 2 1 2 3 4 1 40

  41. Example 9 Find the transfer function of the following block diagrams H 2 (s ) (s ) R Y A G G G 3 2 1 B H 1 G 4 41

  42. Solution: G 1. Moving pickoff point A behind block 3 I H 2 (s ) (s ) R Y A B G G G 3 2 1 1 H G 1 3 1 H G 1 3 G 4 42

  43. 2. Eliminate loop I & Simplify H 2 B G 2G G B G 3 3 2 H+ 1 1 H H 2 G G 1 3 3 II (s ) (s ) R Y G G G 2 + 3 + 1 1 G H G G H 2 1 2 3 2 H 1 G 3 G 4 43

  44. 3. Eliminate loop II (s ) (s ) R Y G G G 1 2 3 + + + 1 G H G G H G G H 2 1 2 3 2 1 2 1 G 4 ( ) G G G Y s = = + 1 2 3 ( ) T s G 4 + + + ( ) 1 R s G H G G H G G H 2 1 2 3 2 1 2 1 44

  45. Example 10: Multiple Input System. Determine the output C due to inputs R and U using the Superposition Method. 45

  46. Example 10 46

  47. Example 10 47

  48. Example 11: Multiple-Input System. Determine the output C due to inputs R, U1 and U2 using the Superposition Method. 48

  49. Example 11 49

  50. Example 11 50

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