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Chapter 2 - Mathematical Modeling - 2

The document discusses mathematical modeling of control systems. It defines linear systems and transfer functions. The transfer function relates the output of a system to the input using Laplace transforms. Block diagrams provide a pictorial representation of system equations and models. Block diagrams can be reduced and simplified to obtain single block representations. Examples show how to reduce complex block diagrams and obtain overall system transfer functions from the simplified diagrams.

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Qadeer Ahmed
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30 views15 pages

Chapter 2 - Mathematical Modeling - 2

The document discusses mathematical modeling of control systems. It defines linear systems and transfer functions. The transfer function relates the output of a system to the input using Laplace transforms. Block diagrams provide a pictorial representation of system equations and models. Block diagrams can be reduced and simplified to obtain single block representations. Examples show how to reduce complex block diagrams and obtain overall system transfer functions from the simplified diagrams.

Uploaded by

Qadeer Ahmed
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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3/14/2016

Chapter two
Mathematical modeling of control systems

Laith Batarseh

Mathematical modeling of control systems


Mathematical modeling

The dynamics of many systems, whether they are mechanical, electrical,


thermal, economic, biological, and so on, may be described in terms of
differential equations
Linear Systems. A system is called linear if the principle of superposition
applies. The principle of superposition states that the response
produced by the simultaneous application of two different forcing
functions is the sum of the two individual responses

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Mathematical modeling of control systems


TRANSFER FUNCTION

Transfer Function. The transfer function of a linear, time-invariant, differential


equation system is defined as the ratio of the Laplace transform of the output
(response function) to the Laplace transform of the input (driving function)
under the assumption that all initial conditions are zero.
Consider the linear time-invariant system defined by the following differential
equation:

Mathematical modeling of control systems


Comments on Transfer Function

1. The transfer function of a system is a mathematical model in that it is an


operational method of expressing the differential equation that relates the output
variable to the input variable.
2. The transfer function is a property of a system itself, independent of the
magnitude and nature of the input or driving function.
3. The transfer function includes the units necessary to relate the input to the
output; however, it does not provide any information concerning the physical
structure of the system. (The transfer functions of many physically different systems
can be identical.)

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Mathematical modeling of control systems


Comments on Transfer Function

4. If the transfer function of a system is known, the output or response can be


studied for various forms of inputs with a view toward understanding the nature of
the system.

5. If the transfer function of a system is unknown, it may be established


experimentally by introducing known inputs and studying the output of the system.
Once established, a transfer function gives a full description of the dynamic
characteristics of the system, as distinct from its physical description

Mathematical modeling of control systems


Block diagram

Block Diagram:- is a pictorial representation


of the system governing equations. In
general, it is a box with two arrows. One is
the input and the other is the output.

Block Diagram element


Block Diagram of a Closed-Loop System

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Mathematical modeling of control systems


AUTOMATIC CONTROL SYSTEMS

Used to convert the form


of the output signal to
that of the input signal

Mathematical modeling of control systems


AUTOMATIC CONTROL SYSTEMS

Open-Loop Transfer Function and


Feed forward Transfer Function

Closed-Loop Transfer Function

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Mathematical modeling of control systems


Drawing block diagram
Example :- draw a single block diagram that represents the following
system

Mathematical modeling of control systems


Drawing block diagram

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Mathematical modeling of control systems


Drawing block diagram

Mathematical modeling of control systems


Block diagram reduction

Consecutive blocks

As   G1 s U s 
 X s   G1 s G2 s U s 
X s   G2 s As 

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Mathematical modeling of control systems


Block diagram reduction

Nodes and comparators

A1 s   U s 
A2 s   G1 s A1 s   G1 s U s 
A3 s   G2 s A1 s   G2 s U s 
X s   A2  A3  G1 s U s   G2 s U s 
 X s   U s G1 s   G2 s 
 G s   G1 s   G2 s 

Mathematical modeling of control systems


Block Diagram Reduction

It is preferred in many cases to reduce the complex block diagram to a


single block diagram relates the excitation with the response

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Mathematical modeling of control systems


Block Diagram Reduction

Mathematical modeling of control systems


Block Diagram Reduction
EXAMPLE 2–1

Consider the system shown in Figure 2–13(a). Simplify this diagram.

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Mathematical modeling of control systems


Block Diagram Reduction
EXAMPLE 2–1
Solution
By moving the summing point of the negative feedback loop containing H2
outside the positive feedback loop containing H1, we obtain Figure 2–13(b).

Mathematical modeling of control systems


Block Diagram Reduction
EXAMPLE 2–1
Solution
Eliminating the positive feedback loop, we have Figure 2–13(c).

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Mathematical modeling of control systems


Block Diagram Reduction
EXAMPLE 2–1
Solution
The elimination of the loop containing H2/G1 gives Figure 2–13(d).

Finally, eliminating the feedback loop results in Figure 2–13(e).

Mathematical modeling of control systems


Block Diagram Reduction
A–2–1. Simplify the block diagram shown in Figure

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Mathematical modeling of control systems


Block Diagram Reduction
EXAMPLE A–2–1.
Solution

1. First, move the branch


point of the path
involving H1 outside the
loop involving H2 as
shown in Figure (a)
2. Then eliminating two
loops results in Figure
(b).
3. Combining two blocks
into one gives Figure (c).

Mathematical modeling of control systems


Block Diagram Reduction

A–2–2. Simplify the block diagram shown in Figure 2–19. Obtain the
transfer function relating C(s) and R(s).

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Mathematical modeling of control systems


Block Diagram Reduction
A–2–2.
Solution

Redrawn for
more
identification

Mathematical modeling of control systems


Block Diagram Reduction
Example 2.7 Dorf (2008)

Reduce the following block diagram to single block diagram system

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Mathematical modeling of control systems

Solution

1. Move the node between G3 and G4 to after G4:

2. Reduce the feedback system G3, G4 and H1:

Mathematical modeling of control systems


Example [1]
Solution

3. Reduce the feedback system

The system become

Reduce the final feed back system

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Block Diagram Reduction
EXAMPLE 3-1-5 Golnaraghi (2010)

Reduce the following block diagram to single block diagram system

Mathematical modeling of control systems


Solution

1. move the branch point at Y1 to the left of block G2

2. combining the blocks G2, G3, and G4

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Mathematical modeling of control systems


Solution

3. eliminating the two feedback loops

Mathematical modeling of control systems


Obtaining system functions from block diagram

Consider the
same system
from example
3-1-5 Golnaraghi
(2010), find the

system
equations in
s-domain

Solution E  R Y
Y3  E  H1 Y1
Y2  G1 Y3
Y1  G2 Y2
Y  G3   G4 Y2

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