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Lecture 5

Lecture 5 covers transfer functions and block diagrams, reviewing differential equations and introducing time response analysis. It explains the concept of transfer functions as a ratio of Laplace transforms of output and input, and how they characterize the input-output relationship of linear time-invariant systems. Block diagrams are introduced as a visual tool for representing complex systems and their signal flow.

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Abdul Haseeb Shakir
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4 views

Lecture 5

Lecture 5 covers transfer functions and block diagrams, reviewing differential equations and introducing time response analysis. It explains the concept of transfer functions as a ratio of Laplace transforms of output and input, and how they characterize the input-output relationship of linear time-invariant systems. Block diagrams are introduced as a visual tool for representing complex systems and their signal flow.

Uploaded by

Abdul Haseeb Shakir
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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Lecture 5: Transfer Functions and

Block Diagrams

1. Review differential equation solution


process
2. Transfer function models

ENGR 4220/5220, Lecture 5


3. Intro to block diagrams
4. Intro to time response analysis (if
time)

1
Differential Equation
Review
• Recall, the Laplace transform converts
LTI differential equations to algebraic
equations

ENGR 4220/5220, Lecture 5


differential solve in time domain
equation x(t)

1 L L-1 3
algebraic solve in s-domain
equation
X(s) 2

2
Differential Equation
Review
• Let’s determine the solution of the linear
differential equation from last lecture
2
 2ka  mgl
   f (t )

ENGR 4220/5220, Lecture 5


2
ml
 2
n
• System has no damping, note that the roots
of characteristic equation are purely
imaginary
• Can solve for θ(t) using the Laplace 3

transform
Example
Example (continued)
• The free response (f(t) = 0) is then
1
 (t ) (cos nt ) (0)  (sin  nt ) (0)
n

ENGR 4220/5220, Lecture 5


• θ(t) is a shifted sinusoid of frequency ωn,
called the (undamped) natural
frequency
• Now consider mass-spring-damper
example from last time (which does
have damping) my by  ky 0
5
Example
b k
Let 4, 40, predict form of free response
m m
Example (continued)
 2t 1
y (t ) e (cos 6t  sin 6t ) x0
3
• y(t) is a damped sinusoid with frequency 6
rad/sec … called the damped natural freq ωd

• The (undamped) natural frequency ωn is


frequency if the system has no damping
Transfer Function Models
• Often it is desired to remain in the
Laplace domain for analysis and
manipulation
• The transfer function G(s) of a system is

ENGR 4220/5220, Lecture 5


an alternative model to the differential
equation and is defined as the ratio of
the Laplace transform of the output Y(s)
to the Laplace transform of the input
U(s) assuming zero initial conditions
L [output ] Y (s)
G (s)   8
L [input ] init cond 0 U ( s )
Transfer Function Models
• Characterize the input-output relationship
of a dynamic system (ignores initial
conditions)
• Are a property of the system itself, not

ENGR 4220/5220, Lecture 5


specific to the particular forcing input
(represent natural response)
• Have units, but do not provide information
concerning the physical structure
• Apply only to linear time-invariant (LTI)
systems 9

• Make combining systems much easier


Finding a Transfer Function
Model
Begin with
a0
y  a1 y  a2 y  a3 y b0u  b1u  b2u
1. Choose what is the input and what is
the output
2. Take Laplace transform assuming zero

ENGR 4220/5220, Lecture 5


ICs
a s 3Y ( s )  a s 2Y ( s )  a sY ( s )  a Y ( s ) 
0 1 2 3
2
b0 s U ( s )  b1sU ( s )  b2U ( s )

3. Rearrange
Y ( s) b0 s 2  b1s  b2 10
 3 2
U ( s) a0 s  a1s  a2 s  a3
Example
• Find the equation of motion for the following
system
Example (continued)
• Find the transfer function for the previous
example where T(t) is the input and θ(t) is the
output
Block Diagrams
Y (s)
• G ( s)  is often drawn as a block
diagram U (s)
U(s) Y(s)
G(s)

ENGR 4220/5220, Lecture 5


where U(s), Y(s) are signals and G(s) is a system
• Mathematically, Y(s) = G(s)U(s)
• In the time domain, need a convolution
integral t
y (t ) g ( )u (t   ) d 13
0
Block Diagrams
• Useful for visualizing complex systems
wind force,
gravity force

ENGR 4220/5220, Lecture 5


+ Control -
Engin
Algorith Car
desired - throttle e + actual
m force
speed angle speed
(voltage)

Speedomete
measured r
speed
14
Block Diagrams
• Useful for visualizing complex systems
D

R + Em - U Y
- C(s) G(s) +
P(s)

ENGR 4220/5220, Lecture 5


Ym
H(s)

here each block is a transfer function


and the arrows represent signal flow
15
Time Response
• Consider the TF from our earlier
example
( s ) 1 rad
G ( s)   2
T ( s ) Js  bs  k

ENGR 4220/5220, Lecture 5


Nm

• It is desired to find the time response


θ(t) for different torque inputs
• In general,
 (t ) L-1[( s )] L-1[G ( s)T ( s)] 16
Time Response
– (t )  (t )
• Impulse response T

ENGR 4220/5220, Lecture 5


17
MATLAB Notes

ENGR 4220/5220, Lecture 5


18

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