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Mech371 Lecturenote4

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17 views

Mech371 Lecturenote4

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houzay00
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) 2.6 BLOCK DIAGRAM MODELS x Block olcagram of dC motor, Single Input Single Output (5150) output = | 4- aE 1s) —Kin __ Ypts) S(Ts+bUl¢s+Re) x Two- Input two- ouput System, (MIMO) Ris)_Tgts opts po {et yes) Yeo] f Guls) Geol vol Yts)| Gals) Gaal} L Rel? r= GR MIMO : nuttple Tipu Multiple Oidputs. The . block diagram can be reduced by block aliagram leduction fechnigites toa Siinplefied blook ohingsom, <2) TABLE 2.8 Block Diagram Transformations Transformation Original Diagram Equivalent Diagram LEP LOL 1. Combining blocks in Gs) 2} Gas 1G Combining fem Pete fee fee, Poe 2. Moving a summing point behind a block 3. Moving a pickoff point ahead of a block 4, Moving a pickoft point behind a block 5. Moving a summing point ahead of a block 6. Eliminating a feedback loop od erame: Find the fronfer farcton 57 # of the following feed back covtrol al ¥63) GG, 1= GH, a bs -f | 2 x 0 HM Stepc: eliminate the inner Loop He/y + COG, < a os IPL Gaunt Ger, M8) © STEP D: Reduce the (rep contedning Ha Re) GiOGsGe Xs) Ct HCO GGG] @ 2.7 sxqwal - Flow GRAPH Moves. 10 mplex iner relationship of system, leads to cumbersome and often oléfficulty block diagram reduction. provedure —~ Mason signal - flow graph. method, fective arel witht reduction feohnepues, Branch — unidirectional path segment o—4_, 9 HS), pe motor. Sova flow graph, Node — Japut and output points or junctions, Pe) Path ~ a branch oF a sepuetce of brasches thet fravere frm one signal Ao another signal (node) Lovp ~ a Cleseol poth. that oreginates ard terminates on the same node, Non-toughing ~ No common nade, tn) Mason's Signal flow goin formula. J; = —ePuedae. J A Tij Transfer function between Gutput %j ard input xy A: determinant of the graph Pojes kth path from cupt Li to ounce Xj Aik: Gfactr of the path Poig, determinant with Laps : touchig, Me kth path removed. 4 A= l-E lye Zylnly -Zhplele t- lg CHUA the value of the gee loop transiacthur, A= I= (Sum of alll diferout Loop gains) + (sum of the gain products of all combinations of two nontoucing (ys) — (Sum of the gain products of all combinations of three vordbuchig Lops) t+ -- +> Exampl 4, Find athe trassfer finetion of Block lingam Fig. Solution: 1. Drow the signal flo diagrams, te bus) 2. Loops, Li = -GrGsHe JLp= GG Hy 13 2GiGs GsGuts AL. loops are touching with each other A= I (thet) Feedforward pats, Pur = Be eOsGy. nnd ee) 4 t Lye . WW. eine GiGGs Gy aay: Gli Gea Phay Gis tudion cs He same as le One aie block Vedustion wetted, Exompl2. Find -tramefor function, off syste. in Fipure 2.28 fet Bet Sui, — The sipual - few graph in Fie ag: os oguivelet “te we dock dagttmn, Qn Ris), YO Ra) is a 0s Bat RB e us) o—> ts) @ Loops: 1 =Qn 1, = Az - . Cada vee Sum of three Loops and nostonolieg leeps, A= | élite) rhb =I[- Qu - Oar- Qu On On Are, Feedferweel pak From Rus) to Te E Amz |e = “ : Eras [is | of. i Feed foruad Pat fame 2, to Vi, Ly des nt tonsh Feattnnd pi Pu2 4. du=4| liz0 = In 5.Y. betes Ly=0 hacen Ra a Thus, t = fe Re Guta Bea ly Gee Simbel Ye = ZPekdny - 021 Re 4 4a Yo. ZPinaig Ri a Since the path fom Ri > FF has fo touching point with 12 =Qxz, the cofuctr dleterininat Ay= |- Ary Thus fn. [-Crde) [An R a alee Find the rons tatie of f Alms block dian _Gs)= Het 5, +. Ga) + + + HO we) A 29) = z +, m+ 610 pol ow Gx) Ko Me Tle Ty" ; 4) @ @ Solution: Drow ° eee flow graph: i Gi= = PunAr A Lows : Li= GHz, Li= Gals Ls= Gotle, p= Gr.Hty Fewdforwd path: REL P= Gi Ge Gay hee Pa = Ge Ge G Ge 4 2 {-L 4-1 tCLrls thy tL Hl ae lg tieeanee gs tens Cofacer of deterinat: f= Ielytetiole C Remate the (ops touching Pow, whish xe Ly, La, in the oletorounass Set Ll.eo ot A, d,= ‘Ate, tro] cofetter of dletormast, 42=I- Li-Lathla Set Ls-0,Le=0, =A (t,20, L420) There fore the transfer function Xt ; Gtsd= we. GuGo6sGuCl-Ls duajl¢ , GobeGnGe Cobia thle 4 A NULLIUS HLNAAS Io Sweysns [O4Uo WepOY) Prey “A tena porsoop £747 47 yomey 408 Soop $7 Bp rpi679'D SH- 287 717 EH 24] WRIST cr Ayn 287 DDH =) OHH =A MOTH 27 SNED*HA-='7 “Out EH eoquesg UOSIESY 800Z @ IUBAdOD €€-Z0 :ounbi4 {4 — FIGURE 2.33, Mattiple-loop system. Chapter 2 Mathematical Models of Systems. EXAMPLE 2.11 ‘Transfer function of a complex system Finally, we shall consider a reasonably complex system that would be difficult to re- duce by block diagram techniques. A system with several feedback loops and feed- forward paths is shown in Figure 2.33. The forward paths are PH GGGGGsG5 P= GG,GG,, and Py = G,G,G;G,G,. ‘The feedback loops are p Ly = —G,G:G,GsHa, 1, =-GsGelh, 1, =-Gglh, Ly = —Gy HG, Ls=—GsHy Lg = —GyG2G3G4GsGgHs, — L, = —G,GyG,GeH3, and Lg = —G,G,G;G.Gek. Loop Ls does not touch loop L, or loop Ly, and loop L; does not touch loop L4; but all other loops touch. Therefore, the determinant is A=1~ (Ly + Lot Ly t Ly t Ly + Lg + Ly + Ly) + (Ugly + Lyla + Loy). (2.103) ‘The cofactors are A,=A3=1 and Ap =1-1,=14+ Gh Finally, the transfer function is Xs) 1(6) = 2 A+ Pel + Be (2.104) » R(s) A Signal-flow graphs and Mason’s signal-flow gain formula may be used prof- itably for the analysis of feedback control systems, electronic amplifier circuits, sta- tistical systems, and mechanical systems, among many other examples.

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