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W EE 418 - Lecture 3 Block Diagram and Signal Flow Graph

This document provides an overview of block diagrams and signal flow graphs for representing control systems. It discusses how complex dynamic systems can be broken down into subsystems represented by transfer functions, and how block diagrams and signal flow graphs provide graphical ways to depict the interconnections between these subsystems. The key concepts of open-loop transfer function, closed-loop transfer function, feedback path, and loop transfer function are introduced. Rules for simplifying block diagrams through techniques like reduction and Mason's rule for calculating gains in signal flow graphs are presented. Examples are provided to demonstrate these concepts and techniques.

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69 views

W EE 418 - Lecture 3 Block Diagram and Signal Flow Graph

This document provides an overview of block diagrams and signal flow graphs for representing control systems. It discusses how complex dynamic systems can be broken down into subsystems represented by transfer functions, and how block diagrams and signal flow graphs provide graphical ways to depict the interconnections between these subsystems. The key concepts of open-loop transfer function, closed-loop transfer function, feedback path, and loop transfer function are introduced. Rules for simplifying block diagrams through techniques like reduction and Mason's rule for calculating gains in signal flow graphs are presented. Examples are provided to demonstrate these concepts and techniques.

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GGAP LAST
Copyright
© © All Rights Reserved
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Download as PPTX, PDF, TXT or read online on Scribd
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Automatic Control

Lecture 3
Presented by
Dr. Walid Ghoneim
Lecture on: Block Diagrams and Signal Flow Graphs
Reference:
 Benjamin C. Kuo, “Automatic Control Systems”, Prentice Hall, Inc.
 Dorf, “Modern Control Systems”
Introduction:
• The complex dynamic systems that ought to be
controlled contains (can be simplified to) sub-systems.
• These sub-systems are represented mathematically by
differential equations in the time domain.
• The Laplace transformation turns them into algebraic
equations in the s-domain.
• Since control systems are concerned with the control of
specific variables, the controlled variables must relate
to the controlling variables.
• This relationship is typically represented by the
transfer function of the subsystem relating the
input and output variables.
Introduction:
• The Transfer Function blocks can be organized into:
1. Block Diagrams
2. Signal-Flow Graphs
to graphically depict the interconnections.

• Block diagrams and signal-flow graphs are very


convenient and natural tools for analyzing and
designing control systems.
Block Diagrams
Dr. Walid Ghoneim
Block Diagrams:
• The importance of this cause-and-effect relationship is
clear to represent the relationship of system
variables by diagrammatic means.

• The block diagram representation of the system


relationships is dominant in control system
engineering.

• Block diagrams consist of unidirectional,


operational blocks that represent the transfer
functions of the variables of interest.
Block Diagram Reduction:
Block Diagram Reduction:
The Feedback Loop Transfer Function:

• The following terminology often used in control systems is defined with


reference to the block diagram
• r(t), R(s) = Reference Input , Set point
• c(t), C(s) = Output Signal (controlled variable)
• b(t), B(s) = Feedback Signal
• e(t), E(s) = R(s) - C(s) = Error Signal
• G(s) = C(s) / E(s) = Open-loop transfer function or forward path transfer
function
• M(s) = C(s) / R(s) = Closed-loop transfer function
• H(s) = feedback-path transfer function
• G(s).H(s) = B(s) / E(s) = Loop transfer function
The Feedback Loop Transfer Function:

• The closed-loop transfer function, M(s) = C(s)/R(s), can be expressed as a


function of G(s) and H(s).
• C(s) = E(s).G(s) and B(s) = C(s).H(s)
• The Error signal is: E(s) = R(s) - B(s)
• Substituting yields:
• C(s) = R(s).G(s) – B(s).G(s)
• C(s) = R(s).G(s) – C(s).H(s).G(s)
• Solving C(s) from the last equation, the closed-loop transfer function of the
system is given by:
• M(s) = C(s) / R(s) = G(s) / [1 + G(s).H(s)] =
Rules for Simplification /
Reduction:
1. Find Cascaded blocks : G1.G2
2.Find Parallel blocks: G1±G2
3.Find Feedback blocks: G / ( 1±G.H)

4.Move Summing Points to Summing Points


5.Successive Summing Points are exchangeable

6.Move Take-off Points to Take-off Points


7. Successive Take-off Points are exchangeable
Examples:
Examples:
Examples:
Examples:
Signal-Flow Graphs
Dr. Walid Ghoneim
Signal-Flow Graphs :
• It is a simplified notation for a block diagram.
• It is a graphical means of portraying the input-output
relationships between the variables of a set of linear
algebraic equations.
• It was originally introduced by S. J. Mason- as a cause-
and-effect representation of linear systems.
• There is a difference in the physical appearances between
the signal flow graph and the block diagram.
• The signal flow graph is constrained by more rigid
mathematical relationships.
• It provides the answer in less number of steps.
• It can solve problems that are unsolvable with block
diagram reduction techniques.
Basic Properties of Signal Flow Graphs:
1. Nodes are used to represent variables or signals.
2. Normally, the nodes are arranged from left to right,
following a succession of causes and effects through
the system.
3. Branches represent Transfer Functions and gains: a12.
4. Signals travel along branches only in the direction
described by the arrows of the branches.
5. A signal yk traveling along a branch between nodes yk
and yj is multiplied by the gain of the branch, akj , so
that a signal <yk.ajk> is delivered at node yj.
Definitions for Signal Flow Graphs:
• Input node: represents the input signal or set-point.
• Output node: represents the output signal.
• Forward path: It is a path that starts at an input node
and ends at an output node and along which no node is
traversed more than once.
• Example:
• Input Node: y1
• Output Node: y3
• Branches: a12 and a23
• Forward Path gain: a12.a23
Definitions for Signal Flow Graphs:

• Example:
• Input Node: y1
• Output Node: y5
• Forward Paths Gains:
1. a12.a23.a34.a45
2. a12.a24.a45
3. a12. a25
Definitions for Signal Flow Graphs:
• Loop: it is a path that originates and terminates on the
same node and along which no other node is
encountered more than once.
Definitions for Signal Flow Graphs:
• Loop Gains:
• L1 = a23.a32
• L2 = a34.a43
• L3 = a44
• L4 = a34.a43.a32
General Gain Formula (Mason’s Rule):
• Where:
• N = The total number of Forward Paths.

• Pk = gain of the kth forward path.

• Δ = 1 — (sum of all individual loop gains) + (sum of


gain products of all two non-touching loops) — (sum of
the gain products of all three non-touching loops) + . . .

• Δk = the Δ for that part of the signal flow graph which is


non-touching with the kth forward path.
General Gain Formula (Mason’s Rule):
• This general formula seem difficult to use at first
glance.
• However, the only complicated term in the gain
formula is Δ.
• In practice, systems having a large number of non-
touching loops are rare.
• Two parts of a signal flow graph are said to be
non-touching if they do not share a common
node:
• One or more successive summing points.
• One or more successive take-off points.
Examples:

• Number of forward paths: N = 1


• P1 = G(s)
• Number of Loops = 1
• L1 = -G(s).H(s)
• Number of Non-touching Loops = 0
• Δ = 1 – (-G(s).H(s)) = 1 + G(s).H(s)
• This loop is touching path one, So:
• Δk = 1
• C.L.T.F = M(s) = G(s).1 / (1 + G(s).H(s))
Examples:

G4

R E Y3 Y2 Y2 Y1 C C C C
1 1 G1 1 G2 G3 1 1 1

H2
H1

1
Examples:
• Number of forward paths: N = 2
• P1 = G1. G2. G3
• P2 = G1. G4
• Number of Loops = 4
• L1 = - G2.G3.H2
• L2 = - G4.H2
• L3 = - G1.G2.G3
• L4 = - G1.G4
• L5 = - G1.G2.H1
• Δ = 1 – [ - G2.G3.H2 - G4.H2 - G1.G2.G3 - G1.G4 - G1.G2.H1]
• Number of Non-touching Loops = 0
• All loops are touching both path 1 and path 2, So: Δ1=Δ2=1
• So,
Problems
Dr. Walid Ghoneim
Problems:
Problems:
Problems:
Problems:
Thank you
and
All the Best

Dr. Walid Ghoneim

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