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Ch 3 (Block Diagram)

Chapter 3 of EMEng4201 discusses the modeling and representation of control systems using block diagrams. It explains the basic elements such as blocks, summing points, and take-off points, along with types of connections like series, parallel, and feedback connections. The chapter also covers block diagram reduction techniques and provides examples for finding transfer functions in various configurations.

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13 views

Ch 3 (Block Diagram)

Chapter 3 of EMEng4201 discusses the modeling and representation of control systems using block diagrams. It explains the basic elements such as blocks, summing points, and take-off points, along with types of connections like series, parallel, and feedback connections. The chapter also covers block diagram reduction techniques and provides examples for finding transfer functions in various configurations.

Uploaded by

amrelasecho507
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Control System (EMEng4201)

CHAPTER 3
MODELING AND REPRESENTATION OF CONTROL
SYSTEMS

Block Diagrams
Lidiya A.

2022 gc
Block Diagram
If a given system is complicated, it is very difficult to analyze it as a whole,
with the help of transfer function approach, we can find transfer function of each and
every element of the complicated system.
And by showing connection between the elements, complete system can be splitted
into different blocks and can be analyzed conveniently.
This is the basic concept of block diagram representation.
Pictorial representation of the relationships between system variables is offered by
the block diagram.

Block diagrams consist of a single block or a combination of blocks. These are used
to represent the control systems in pictorial form.
Basic Elements of Block Diagram
The basic elements of a block diagram are
1. a block,
2. the summing point and
3. the take-off point.

The above block diagram consists of:


two blocks having transfer functions G(s) and H(s).
one summing point and one take-off point.
Arrows indicate the direction of the flow of signals.
Cont…
BLOCK
The transfer function of a component is represented by a block.
Block has single input and single output.
The following figure shows a block having input X(s), output Y(s) and the transfer
function G(s).
𝑌 ( 𝑠)
𝑇𝑟𝑎𝑛𝑠𝑓𝑒𝑟 𝐹𝑢𝑛𝑐𝑡𝑖𝑜𝑛: 𝐺 ( 𝑠 )=
𝑋 ( 𝑠)

Output of the block is obtained by multiplying transfer function of the block with
input. Y(s)=G(s)X(s)
Cont…
SUMMING POINT
The summing point is represented with a circle having cross (X) inside it.
It has two or more inputs and single output.
It gives the algebraic sum of the inputs.
It performs the summation or subtraction or combination of summation and subtraction of
the inputs based on the polarity of the inputs.
Cont…
TAKE-OFF POINT
The take-off point is a point, from which the same input signal can be passed through
more than one branch.
 That means with the help of take-off point, we can apply the same input to one or more
blocks and summing points.

take-off point is used to connect the output C(s), as


 take-off point is used to connect the same input, one of the inputs to the summing point.
R(s) to two more blocks.
Cont…
Block diagram components
Basic Connection for Block Diagram
There are three basic types of connections between two blocks.
1. Series Connection
2. Parallel Connection
3. Feedback Connection
Cont…
SERIES CONNECTION
Series connection is also called cascade connection.
In the following figure, two blocks having transfer functions G1(s) and G2(s) are connected in series.
Y(s)=G2(s)Z(s)
Where, Z(s)=G1(s)X(s)
⇒Y(s)=G2(s)[G1(s)X(s)]=G1(s)G2(s)X(s)
⇒
Compare this equation with the standard form of the output equation,
Y(s)=G(s)X(s). Where, G(s)=G1(s)G2(s).
That means we can represent the series connection of two blocks with a single block.
The transfer function of this single block is the product of the transfer functions of those
two blocks.
The equivalent block diagram is:-
Cont…
PARALLEL CONNECTION
The blocks which are connected in parallel will have the same input.
In the following figure, two blocks having transfer functions G1(s) and G2(s) are connected in parallel. The
outputs of these two blocks are connected to the summing point.

Where,
⇒
Y(s)
Compare this equation with the standard form of the output equation,
Y(s)=G(s)X(s). Where, G(s)=G1(s)+G2(s).
That means we can represent the parallel connection of two blocks with a single block.
The transfer function of this single block is the sum of the transfer functions of those
two blocks.
Cont…
FEEDBACK CONNECTION
There are two types of feedback
positive feedback and negative feedback.

Negative feedback: The following figure shows negative feedback control system. Here, two blocks
having transfer functions G(s) and H(s) forms a closed loop.

The output of the summing point is: E(s)=X(s)−H(s)Y(s)


The output Y(s) is: Y(s)=E(s)G(s)
Substitute E(s) value in the above equation.
Y(s)={X(s)−H(s)Y(s)}G(s)}
Y(s){1+G(s)H(s)}=X(s)G(s)}
Therefore, the negative feedback closed loop transfer function
is:
Cont…
Positive feedback
Similarly, you can represent the positive feedback connection of two blocks with a
single block.

The transfer function of this single block (i.e. the closed loop transfer function of the
positive feedback) become:
𝒀 (𝒔 ) 𝑮(𝒔)
=
𝑿 (𝒔 ) 𝟏 − 𝑮 ( 𝒔 ) 𝑯 ( 𝒔 )
Cont…

 The forward transfer function G(s) also called


forward path gain
 The open‐loop transfer function G(s)H(s) also
called loop gain
 In general:
i.e. The above equation is for negative feedback
Block Diagram Representation of a System
Mechanical System
Electrical System
Block Diagram Reduction Techniques
Cont…
Block Diagram Reduction Rules
Follow these rules for simplifying (reducing) the block diagram, which is having
many blocks, summing points and take-off points.
Rule 1 − Check for the blocks connected in series and simplify.
Rule 2 − Check for the blocks connected in parallel and simplify.
Rule 3 − Check for the blocks connected in feedback loop and simplify.
Rule 4 − If there is difficulty with take-off point while simplifying, shift it towards right.
Rule 5 − If there is difficulty with summing point while simplifying, shift it towards left.
Rule 6 − Repeat the above steps till you get the simplified form, i.e., single block.

The final transfer function which is in a single block represents the transfer function of the overall
block diagram.

Example:
Example 1
Find the transfer function for
the block diagram shown

Step1: Combine G1 and G2 which are in series 


Step2: Combine G3 and G4 which are in parallel 
Step3: Reduce minor negative feedback loop of and 
Step4: Combine and which are in series 
Step5: Find the overall transfer function by reducing the positive feedback loop of and
Cont…
Example 2
Find the transfer function for the block diagram shown
Example 3
Find the transfer function for the block diagram shown

Answer:-
Example 4
Find the transfer function for the block diagram shown

 Step1) move the takeoff b to a


 Step2) Combine G1 and G2 which are in
parallel
 Step3) Reduce the feedback loop with unity
forward gain
 Step4) combine the two blocks in series to
obtain the overall transfer function
Example 5
Find the transfer function for the block diagram shown

Answer:-

(Steps to obtain this transfer function is given in


the next slide)
Cont…
Step1) The take-off point is
shifted after the block G2

Step2) Reducing the cascade


block and parallel block

Step3) Reducing the internal


feedback loop

Step4) Equivalent block


diagram
Example 6
Find the transfer function for the block diagram shown

Answer:-
Cont…

Step1) eliminating the feedback loop b/n G3 and H3


Step 2)Shifting take-off point (at V3) to the right

Step3) Combine the parallel loop b/n unity gain(1)


and 1/G2
Step4) Shift summing point (b/n V2 & V7) to the left
Step5) Combine the cascade blocks of G1 and G2
Cont…

Step6) combine two blocks which are parallel and series

Step7) Reduce the feedback loop

Step8) combine the two blocks which are in series and


obtain the overall transfer function
Example 7
Find the transfer function for the block diagram shown

Answer:
Cont…
Step1) Use Rule 1 for blocks G1 and
G2. Use Rule 2 for blocks G3 and G4.
Step2) Use Rule 3 for blocks G1G2
and H1. Use Rule 4 for shifting take-off
point after the block G5
Step3) Use Rule 1 for blocks (G3+G4)
and G5
Step4) Use Rule 3 for blocks
(G3+G4)G5 and H3
Step5) Use Rule 1 for blocks
connected in series.
Step6) Use Rule 3 for blocks
connected in feedback loop.
Cont…
Step4) Use Rule 3 for blocks
(G3+G4)G5 and H3
Step5) Use Rule 1 for blocks
connected in series.
Step6) Use Rule 3 for blocks
connected in feedback loop.
Example 8
Find the transfer function for the block diagram shown

Answer:
Multiple-Input-multiple-Output Systems (MIMO)
When multiple inputs are present in a linear system, each inputs can be treated
independently of the other. Complete output of the system can then be obtained by
superposition. Output corresponding to each input along are added together.
Step 1 − Find the transfer function of block diagram by considering one input at a time and
make the remaining inputs as zero.
Step 2 − Repeat step 1 for remaining inputs.
Step 3 − Get the overall transfer function by adding all those transfer functions.
Cont…
Example
Find the transfer function Y2(s)/R1(s)

+
From the expression we can obtain
Exercise
Find the transfer function for armature controlled dc motor
Cont…
Thank You

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