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Block and Signal-Flow Diagrams ( ( ( (4) ) ) )

This document discusses representation and analysis methods for control systems using block diagrams and signal flow graphs. It covers: - Block diagrams and signal flow graphs are universal languages used to represent and analyze control systems. - They describe subsystem interactions and signal flow using basic elements like blocks, signals, sum and derivation nodes. - Block and signal flow algebra can be used to reduce complex diagrams to equivalent single transfer functions. - Mason's rule provides a systematic way to determine a transfer function from a signal flow graph by accounting for path, loop, and nontouching loop gains. - Examples demonstrate applying reduction techniques and Mason's rule to specific diagrams.

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عبدالرحمن عطاري
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12 views

Block and Signal-Flow Diagrams ( ( ( (4) ) ) )

This document discusses representation and analysis methods for control systems using block diagrams and signal flow graphs. It covers: - Block diagrams and signal flow graphs are universal languages used to represent and analyze control systems. - They describe subsystem interactions and signal flow using basic elements like blocks, signals, sum and derivation nodes. - Block and signal flow algebra can be used to reduce complex diagrams to equivalent single transfer functions. - Mason's rule provides a systematic way to determine a transfer function from a signal flow graph by accounting for path, loop, and nontouching loop gains. - Examples demonstrate applying reduction techniques and Mason's rule to specific diagrams.

Uploaded by

عبدالرحمن عطاري
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© © All Rights Reserved
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Download as PDF, TXT or read online on Scribd
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Control Systems

Representation
Block and Signal-flow Diagrams
Block Diagrams and Signal-flow Diagrams:
• A control system is composed of several subsystems that interact and exchange signals and employ signal combination
through sum nodes and distribution through derivation points.
• A simple representation that describes the subsystems interaction and signal flow become necessary to analyze and
study.
• Block diagrams and Signal-flow diagrams are among the most used universal languages in control systems.
• An analogy relation exists between Block diagrams and signal flow diagrams. That is between the input and output
vocabularies of the these languages and their grammar.
• Whenever, these representation are used, it is inherently assumed that the chain rule is satisfied, that is the connection
of two subsystems does not affect the validity of their mathematical models. That is each system maintains its transfer
relation.
• Specific subsystems interconnection (cascade, parallel, and feedback) and other rules related to signals combination
(sum nodes) and extraction (derivation points) are used to reduce the system representation to an equivalent one that
includes only the necessary components for the control systems objectives.
Block Diagrams:
The basic input vocabulary components of the block
diagrams are shown in figure, with the signal represented
by an arrow, system transfer relation (gain) represented by
a block and signal combination and extraction represented
by sum and derivation nodes.

Block Algebra:
• Cascade connection

• Parallel connection
• Feedback connection 𝐶 𝑠 =𝐺 𝑠 𝐸 𝑠
𝐸 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝐶 𝑠 =𝑅 𝑠 −𝐻 𝑠 𝐺 𝑠 𝐸 𝑠 →
1
𝐸 𝑠 1+𝐻 𝑠 𝐺 𝑠 =𝑅 𝑠 →𝐸 𝑠 = 𝑅 𝑠 →
1+𝐻 𝑠 𝐺 𝑠
𝐺(𝑠)
𝐶 𝑠 = 𝑅 𝑠
1+𝐻 𝑠 𝐺 𝑠

Moving Blocks to Create Familiar Forms:


• Transfer of a sum node from the input to the output of a block:
𝐶 𝑠 = 𝐺 𝑠 [𝑅 𝑠 + 𝑋 𝑠 ] = 𝐺 𝑠 𝑅 𝑠 + 𝐺 𝑠 𝑋(𝑠)

• Transfer of a sum node from the output to the input of a block:


1
𝐶 𝑠 = 𝐺 𝑠 𝑅 𝑠 + 𝑋 𝑠 = 𝐺 𝑠 [𝑅 𝑠 + 𝑋 𝑠 ]
𝐺 𝑠
• Transfer of a derivation point from the input to
the output of a block:

• Transfer of a derivation point from the output to


the input of a block:

• Signal-node switching:
Example1: Reduce the block diagram shown in Figure to a single transfer function.

Reduction Steps:
1. 𝐶𝑎𝑠𝑐𝑎𝑑𝑒 𝐺3 , 𝐺2 = 𝑇1
2. 𝑃𝑎𝑟𝑎𝑙𝑙𝑒𝑙 𝐻1 , 𝐻2 , 𝐻3 = 𝑇2
3. 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘(𝑇1 , 𝑇2 ) = 𝑇3
4. 𝐶𝑎𝑠𝑐𝑎𝑑𝑒 𝑇3 , 𝐺1 = 𝑇
Example2: Reduce the block diagram shown in Figure to a single transfer function.

Reduction Steps:
• 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑡ℎ𝑒 𝑑𝑒𝑟𝑖𝑣𝑎𝑡𝑖𝑜𝑛 𝑝𝑜𝑖𝑛𝑡 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒
• 𝑖𝑛𝑝𝑢𝑡 𝑜𝑓 𝐺2 𝑡𝑜 𝑖𝑡𝑠 𝑜𝑢𝑡𝑝𝑢𝑡 and apply
feedback(𝐺3 , 𝐻3 )
• 𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝑡ℎ𝑒 𝑠𝑢𝑚 𝑛𝑜𝑑𝑒 𝑓𝑟𝑜𝑚 𝑡ℎ𝑒 𝑜𝑢𝑡𝑝𝑢𝑡 𝑜𝑓
1
𝐺1 𝑡𝑜 𝑖𝑡𝑠 𝑜𝑢𝑡𝑝𝑢𝑡+ parallel(𝐺 (𝑠) , 1)
2
• 𝑐𝑎𝑠𝑐𝑎𝑑𝑒 𝑎𝑛𝑑 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙
• 𝑓𝑒𝑒𝑑𝑏𝑎𝑐𝑘 and then cascade
Signal-Flow diagrams:
The basic input vocabulary of the signal flow
diagrams are shown in figure, with the signal
represented by a node, system transfer relation
(gain) represented by an arrow, and signal
combination and extraction represented by rows
converging in a node and rows diverging from it.

Converting a Block Diagram to a Signal-Flow Graph


Mason’s Rule:
We define the following:
• Pathi,j : the sequence of branching that connects node i and node j without going through any node more than one time.
• Path-gain: the product of the gains of all the branches of the path.
• Loop: a closed path.
• Loop gain: its relative path gain.
• Nontouching loops: Loops that do not have any nodes and branches in common. Nontouching loops are inspected as two,
three, four, or more at a time.
• Nontouching loops gains: the product of nontouching loops taken as two, three, four, or more at a time.
• Loops and nontouching loops with a pathij: the loops and nontoucing loops that do not have any nodes or branches in
common.
• Loops and nontouching loops with a pathij gains: the product of the gains of the Loops and nontouching loops with the
pathij .

Masons Formula:
Example 1: determine the transfer function of
the following system using Masons rule.
Solution:
graph elements gains will be written directly.
Path gains:
𝑃1 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 𝐺7
𝑃2 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺6 𝐺7
Loop gains:
𝐿1 = 𝐻1 𝐺2
𝐿2 = 𝐻2 𝐺4
𝐿3 = 𝐻3 𝐺4 𝐺5
𝐿4 = 𝐻3 𝐺4 𝐺6
Nontouching Loops gains (2-2):
𝐿12 = 𝐻1 𝐻2 𝐺2 𝐺4
𝐿13 = 𝐻1 𝐻3 𝐺2 𝐺4 𝐺5
𝐿14 = 𝐻1 𝐻3 𝐺2 𝐺4 𝐺6
Nontouching Loops gains (3-3):
Do not exist Computation:
Nontouching Loops with 𝑃1 gains: ∆= 1 − (𝐻1 𝐺2 +𝐻2 𝐺4 +𝐻3 𝐺4 𝐺5 + 𝐻3 𝐺4 𝐺6 ) +(𝐻1 𝐻2 𝐺2 𝐺4 + 𝐻1 𝐻3 𝐺2 𝐺4 𝐺5 + 𝐻1 𝐻3 𝐺2 𝐺4 𝐺6 )
Do not exist ∆𝑃1 = 1, ∆𝑃2 = 1
Nontouching Loops with 𝑃2 gains: 𝐶(𝑠) 𝐺1 𝐺2 𝐺3 𝐺4 𝐺7 (𝐺5 + 𝐺6 )
Do not exist 𝑇 𝑠 = =
𝑅(𝑠) 1 − (𝐻1 𝐺2 +𝐻2 𝐺4 +𝐻3 𝐺4 𝐺5 ) + (𝐻1 𝐻2 𝐺2 𝐺4 + 𝐻1 𝐻3 𝐺2 𝐺4 𝐺5 )
Example 2: determine the transfer function of the following system using Masons rule.
Solution:
graph elements gains will be written directly.
Path gains:
𝑃1 = 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5
Loop gains:
𝐿1 = 𝐻1 𝐺2
𝐿2 = 𝐻2 𝐺4
𝐿3 = 𝐻4 𝐺7
𝐿4 = 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐺7 𝐺8
Nontouching Loops gains (2-2):
𝐿12 = 𝐻1 𝐻2 𝐺2 𝐺4
𝐿13 = 𝐻1 𝐻4 𝐺2 𝐺7
𝐿23 = 𝐻2 𝐻4 𝐺4 𝐺7
Nontouching Loops gains (3-3):
𝐿123 = 𝐻1 𝐻2 𝐻4 𝐺2 𝐺4 𝐺7
Nontouching Loops with 𝑃1 gains:
𝐿𝑃1−3 = 𝐻4 𝐺7
Computation:
∆= 1 − (𝐻1 𝐺2 +𝐻2 𝐺4 +𝐻4 𝐺7 + 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐺7 𝐺8 ) +(𝐻1 𝐻2 𝐺2 𝐺4 + 𝐻1 𝐻4 𝐺2 𝐺7 + 𝐻2 𝐻4 𝐺4 𝐺7 ) − 𝐻1 𝐻2 𝐻4 𝐺2 𝐺4 𝐺7 , ∆𝑃1 = 1 − 𝐻4 𝐺7
𝐶(𝑠) 𝐺1 𝐺2 𝐺3 𝐺4 𝐺5 ∙ (1 − 𝐻4 𝐺7 )
𝑇 𝑠 = =
𝑅(𝑠) 1 − (𝐻1 𝐺2 +𝐻2 𝐺4 +𝐻4 𝐺7 + 𝐺2 𝐺3 𝐺4 𝐺5 𝐺6 𝐺7 𝐺8 ) + (𝐻1 𝐻2 𝐺2 𝐺4 + 𝐻1 𝐻4 𝐺2 𝐺7 + 𝐻2 𝐻4 𝐺4 𝐺7 ) − 𝐻1 𝐻2 𝐻4 𝐺2 𝐺4 𝐺7

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