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Lecture 5

The document outlines the direct method for block diagram modeling in mechatronics, suitable for simple or minimally coupled multidiscipline models. It details the conversion of ordinary differential equations (ODEs) or transfer functions into block diagrams through a series of steps, including creating state variables, constructing integrator blocks, and implementing output equations. The final step involves adding initial conditions to complete the block diagram representation.

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6 views

Lecture 5

The document outlines the direct method for block diagram modeling in mechatronics, suitable for simple or minimally coupled multidiscipline models. It details the conversion of ordinary differential equations (ODEs) or transfer functions into block diagrams through a series of steps, including creating state variables, constructing integrator blocks, and implementing output equations. The final step involves adding initial conditions to complete the block diagram representation.

Uploaded by

johnevanz77
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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MECHATRONICS SYSTEM

DESIGN
(MTE 311)
Mechatronics Engineering Top-up
Federal University Oye-Ekiti

LECTURE V
Block Diagram Modeling
—
Direct Method
Block Diagram Modeling—Direct Method
• The direct method for block diagram modeling is well suited for the
modeling of simple, single discipline models or of multidiscipline models
with minimal coupling between disciplines.
• Normally, the starting point in these applications is either a set of linear
ordinary differential equations, a transfer function, or an illustration of
the system itself.
Transfer Function (or ODE) Conversion to
Block Diagram Model
• An ordinary differential equation (ODE) is a differential equation with all
derivatives taken with respect to time. Time is the independent variable.
• A complete set of initial conditions must be specified for each (time)
derivative term.
• It is assumed that the transfer function is in proper form, which means
that the order of the numerator polynomial is less than or equal to the
order of the denominator polynomial.
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Given A transfer function is used here with input r, output y, and all
required initial conditions.
• To better illustrate the procedure, we will apply it to the following
illustrative transfer function, T(s).

• This transfer function can be written as the following top-level block


diagram to show the numerator and polynomial polynomials.
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Step 1. Create the state variable, x(t), by “sliding” the numerator part of
the transfer function into a new block located to the right of the
denominator part of the transfer function.
• Connect the denominator and numerator blocks with an arrow and label
the signal, x(t), as the state variable. Include any transfer function gain
term with the numerator block. The resulting block diagram is shown
here.

• Compute the order of the transfer function as the order of its


denominator, ny. In this case, ny = 4.
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Step 2. From step 1, write the state equation (SE) as the differential
equation relating the input, r(t), to the state, x(t).
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Step 3. Begin constructing the block diagram by placing ny-integrator
blocks in series and connect them from left to right. The input to the
leftmost integrator block will be the highest derivative of the state
equation, in this case and the output of the rightmost integrator
block will be x(t). Using our example system, there are four integrators
written as follows.

• For now the initial conditions will be ignored, they will be added in the
last step of the procedure, step 6.
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Step 4. Solve the state equation from step 2 for the highest derivative of
the state variable. In this case, solving for

• Using a summing junction to represent the equality condition, we


implement the previous state equation onto the block diagram started in
step 3 using the existing state variable and its derivatives (for the
feedback parts) and also add a new external signal, r(t).
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Notice the diagram that we have chosen to make all feedbacks at the
summing junction negative, the other sign information is included in the
feedback gains (i.e., 5 and 9).
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Step 5. From step 1, write the output equation (OE) as the differential
equation relating the output, y(t), to the state, x(t), and its derivatives.
Transfer Function (or ODE) Conversion to
Block Diagram Model
• To complete this step, we implement the output equation on the block
diagram from step 4 by combining the existing state variable and its
derivatives through the appropriate gains and a summing junction to
create the output signal, y(t)
Transfer Function (or ODE) Conversion to
Block Diagram Model
Transfer Function (or ODE) Conversion to
Block Diagram Model
Transfer Function (or ODE) Conversion to
Block Diagram Model
Transfer Function (or ODE) Conversion to
Block Diagram Model
Transfer Function (or ODE) Conversion to
Block Diagram Model
Transfer Function (or ODE) Conversion to
Block Diagram Model
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Solving for the state and its derivatives yields
Transfer Function (or ODE) Conversion to
Block Diagram Model
• Step 6 is completed by adding the initial conditions to the block diagram
from step 5. The completed block diagram is shown below.

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