Kontrol Si̇stemi̇

ELKE 405 Automatic Control Systems
Department of Electrical and Electronics Engineering - Electrical and Control Area
Blok Diyagramlar ve aret Ak Grafikleri
www.altas.org
Eyll 2004
i.h Alta - 2003 26 September 2004 21:30
2-1
Block Diagram
BLOCK MANIPULATION RULES
Gain Block
Ea(s)
G(s)
R(s) + _
m (s)
E(s)
Summation Junction
Y(s)
Pick-off Point
2-2

RULE PROCESS # COMBINING SERIAL BLOCK
Block Diagram
EQUIVALENT BLOCK DIAGRAM
ORIGINAL BLOCK DIAGRAM
G1 G1 G2
G2 + + G H
G1G2
Y
X
COMBINING PARALLEL BLOCK
G1 _ G2 +
CLOSING A FEEDBACK LOOP
Y
X
+ + _
_G 1 + GH 21:30
i.h Alta - 2003
26 September 2004
2-3
Block Diagram
X +

MOVING A SUMMING JUNCTION AHEAD OF A BLOCK MOVING A SUMMING JUNCION PAST A BLOCK
+ + _
+ Y X
G
1/G
+ + _ Z
Z
Y
X + Y
+ _
G
Y
G G G G
Y Y
MOVING A PICKOFF POINT AHEAD OF A BLOCK
G
Y
7
i.h Alta - 2003
MOVING A PICKOFF POINT PAST A BLOCK
G
X
X Y X
1/G
2-4
26 September 2004
21:30
Block Diagram Reduction

An overall input/output transfer function can be obtained from the block diagram by applying some block diagram reduction rules. Series rule:
G1(s) G2(s)
G1(s) G2(s)
Feedback rule:
+ _ G(s) H(s)
i.h Alta - 2003 26 September 2004
G (s) 1 + GH ( s )
21:30
2-5
Block Diagram Reduction Feedback rule derivation:

R(s) E(s)
+ _
G(s) H(s)
C(s)
E ( s ) = R( s ) H ( s )C ( s ) C ( s) = G (s) E (s) then C ( s ) = G ( s )[ R ( s ) H ( s )C ( s )] and C ( s) G(s) = R( s) 1 + G ( s) H ( s)

21:30
2-6
This is a rule that is used extensively.

i.h Alta - 2003
26 September 2004
Servomotor Block Diagram Reduction

Td(s) Ea(s)
+ --
G1(s)
1 Ra + s La
G2(s) Ki H1(s)
+
G3(s)
1 Bm + s J m
G4(s)
1 s
m(s)
Kb With Td(s)=0 , first combine the inner forward path. Ea(s) + _ G1 G2 G3(s) H1(s)
2-7
G4(s)
m(s)
Servomotor Block Diagram Reduction

Next combine the feedback loop.
Ea(s)
G1G2G3 ( s ) 1 + G1G2G3 H1 ( s )
G4(s)
m(s)
The final series combination is Ea(s) G1G2G3G4 ( s ) 1 + G1G2G3 H1 ( s )
m(s)
Note: The defined values of the components may be substituted in to get the final transfer function in terms of system parameters.
2-8
Block Diagram Block Diagram Reduction

Given a control system represented in the block diagram shown. Determine the relationship Y(s)/R(s). R(s) (a)
_ G1 + G2 G3
An Example
H2
+ _
+ +
Y(s)
H1
i.h Alta - 2003
26 September 2004
21:30
2-9
Block Diagram
An Example
H2
R(s) + _
+ +
G1
+ _
G1
H1
G2
G3
Y(s)
(b)
i.h Alta - 2003
26 September 2004
21:30
2-10
Block Diagram Block Diagram Reduction
An Example
H2
R(s) + _ +
G1
G 1G 2 1- G1G2H1
G3
Y(s)
i.h Alta - 2003
26 September 2004
21:30
2-11
An Example
R(s) + _ -

G1G2G3 1- G1G2H1+G2G3H2
Y(s)
(d)
R(s)
G1G2G3 1- G1G2H1+G2G3H2+G1G2G3
Y(s) (e)
i.h Alta - 2003
26 September 2004
21:30
2-12
Signal Flow Graphs

Basic definitions
The block diagram reduction method works well for relatively simple block diagrams, but it gets very confusing for more complicated models. A signal flow graph represents the same information as the block diagram, however it leads to a set of rules that allow a systematic approach to finding the overall input/output transfer function.
2-13
Signal Flow Graphs
Basic definitions
DEFINITION: - It is a graphical tool for control systems analysis and design - It consists of nodes and branches - The relationship between the inputs(s) and output(s) are determined by Masons gain formula PROPERTIES OF FLOW GRAPHS:
Each branch is unilateral (one direction) Each node trasnsmits the sum of all entering signals along each output branch A forward path is the path travelled by the signal in a forward direction A loop is formed when the signal travels and returns to its original source Special nodes: Source node - no inputs Sink node - no outputs 2-14 i.h Alta - 2003 26 September 2004 21:30
Signal Flow Graphs
Basic definitions
The main steps are as follows:

a) construct the signal flow graph either from a block diagram or from the basic physical connection of system components (the transfer functions of the components must be known). b) Identify and calculate the various paths and loops in the signal flow graph. c) With the results from b), apply a formula, Masons formula, to determine the overall transfer function.
2-15
Signal Flow Graphs
Construction
x1 t12 t12 G12(s) x2
Nodes, branches and transmission elements

x1
node
t12
branch
x2
node
x2 = t12 x1
Summation node
x1 x2 x3 t24 t34 t14 x4
Distribution node
t12 x1 t13 t14 x2 x2 = t12 x1 x4 = t14 x1
2-16
x3 x3 = t13 x1 x4
x4 = t14 x1 + t24 x2 + t34 x3

26 September 2004
i.h Alta - 2003
21:30
Signal Flow Graphs

1. A SINGLE BRANCH
V1,V2 are called nodes and T12 is called a branch This single branch represents the equation Note: V1 = V2/T12 V1
Construction
T12 V2
V2 = T12 V1
(each branch is unilateral) T13
2. SUM OF TWO BRANCHES

V3 = T13V1 + T23V2
V1
V3 T23
V2 i.h Alta - 2003 26 September 2004 21:30

2-17
Signal Flow Graphs

3. PARALLEL BRANCHES
Construction
T12b
V2 = (T12a + T12b) V1
V1 T12a
V2
V2 = T12 V1 V1 = T21 V2
T12 V1
i.h Alta - 2003
26 September 2004
21:30
2-18
Signal Flow Graphs

4. CASCADED BRANCHES
V3 = T12 + T23 V1 V1 T12
Construction
V2 T23 V3
5. NODE ELIMINATION
V3 = T13V1 + T23V2 and V4 = T34V3
,
then
V4 = (T34T13)V1 + (T34T23)V2
V1 T13 T23 V2 i.h Alta - 2003 26 September 2004 21:30 V3 T34 V4 V1 T34 T13 V4 T34 T23
2-19
Signal Flow Graphs
Construction
Write down and label the nodes from input to output, representing all the important signals. Draw in all the branches connecting the nodes and write down their transmission functions. Check for any additional nodes and branches required in the feedback paths.
2-20
Signal Flow Graphs
Example 1: Servomotor System

Td(s) Ea(s)
+ --
x1
G1(s)
1 Ra + s La
x2
G2(s) Ki
+
G3(s) x3
1 Bm + s J m
x4
G4(s)
1 s
m(s)
x5
H1(s) Kb 1 Ea(s) 1 x1 G x2 G 2 1 -H1 Td(s) x3 G x4 G4 3
m(s)
i.h Alta - 2003
26 September 2004
21:30
2-21
Signal Flow Graphs
Definitions
Masons Formula
Source node: only has outgoing branches. Sink node: only has incoming branches. Path: continuous unidirectional succession of branches (passes through no node more than once). Forward path: a path from input to output. Feedback path or loop: originates and terminates at the same node. Non-touching paths: paths with no common nodes. Path gain or loop gain: product of branch gains or transmission functions along the path.
2-22
Signal Flow Graphs
Masons Formula
T=
Definitions
FP (1 - Loops not touching FP)

1 -
Loops
Mkk =
T=
1 M kk k
k = 1L p ; p the number of forward paths.
where = 1 (all loop gains)
loop gain products + of non touching pairs loop gain products of non touching groups of three loop gain products of + non touching groups of four
i.h Alta - 2003
26 September 2004
21:30
2-23
Signal Flow Graphs
Masons Formula
... continued
Definitions
T=
1 M kk k
k = 1L p ; p the number of forward paths.
where
M k = k th forward path gain k = defined only using loops not touching the k th forward path.
i.h Alta - 2003
26 September 2004
21:30
2-24
Signal Flow Graphs
Masons Formula A Systematic Approach

1. Identify all forward paths and write the path gains Mk . 2. Identify all loops and write the loop gains. 3. Identify all non touching loop pairs and write down the loop gain products. 4. Do the same for groups of 3, 4, non touching loops. 5. Calculate as defined. 6. Identify all loops not touching forward path k , and repeat steps 2 -> 5 to calculate k . 7. Apply Masons formula to calculate the overall transfer function.
2-25
Signal Flow Graphs
Masons Formula Servomotor System

Ea(s) 1
m (s)
E a (s)
Example 1
Td(s)
x1 G x2 G 2 1
x3 G x4 G4 m(s) 3
-H1 Forward paths: M1 Ea x1 x2 x3 x4 m Gain = G1G2G3G4 Feedback loops: L1 x1 x2 x3 x4 x1 Loop gain = - G1G2G3H1 Non touching loop pairs: none
2-26
Signal Flow Graphs
Masons Formula
Servomotor System ...continued
Example 1
then, = 1 + G1G2G3H1 Loops not touching forward path 1: none then, 1 = 1 Apply Masons formula.
m (s ) M1 1 G1G 2G 3G 4 = = T= E a (s) 1 + G1G 2G 3H1
i.h Alta - 2003
26 September 2004
21:30
2-27
Signal Flow Graphs
Masons Formula
Servomotor System ...continued
Example 1
Consider the transfer function from the disturbance input, Td(s) to the output, m(s) , with (Ea = 0). The forward path is now M1 Td x3 x4 m Gain = G3G4 The loops are not changed, so and 1 are unchanged. Applying Masons formula
T=
m (s ) M 1 1
Td ( s ) =
G3G4 1 + G1G2G3 H 1
21:30
2-28
Note: The denominator has not changed.

Masons Formula
G6 R(s) 1 R(s) -H1 -H2 G1 x1 G2 x2 G x3 G4 3
Example 2
x4 G5 C(s)
Forward Paths: M1 RR x3 x4 C M2 RR x1 x2 x3 x4 C
Gain = G6G4G5 Gain = G1G2G3G4G5

21:30
2-29
Signal Flow Graphs
Masons Formula
... continued
Example 2
Feedback loops: L1 x1 x2 x1 Loop gain = G2H1 L2 x3 x4 x3 Loop gain = G4H2 Non touching loop pairs: L1 L2 Loop gain = G2G4H1H2 then = 1 ( G2H1 G4H2) + (G2G4H1H2) = 1 + G2H1 + G4H2 + G2G4H1H2
2-30
Signal Flow Graphs
Masons Formula
... continued
Example 2
Loops not touching forward path 1 : L1 then, 1 = 1 ( G2H1 ) = 1 + G2H1 Loops not touching forward path 2 : none
then, 2 = 1
Now applying Masons formula

T= C ( s ) M 11 + M 2 2 G6G4G5 (1 + G2 H1 ) + G1G2G3G4G5 = = R(s) 1 + G2 H1 + G4 H 2 + G2G4 H1 H 2
26 September 2004 21:30
2-31
i.h Alta - 2003
Signal Flow Graphs
Masons Formula
Rs Vs Vb Ri Vbè (b) R`b (b`) (c)
Example 3
Low frequency ac model of a single transistor circuit
GmVbè
RL
Vo
Ri =
rè
Ie in mA 26 September 2004
(e)
rè = 25/Ie Gm = 1/r`1 i.h Alta - 2003
21:30
2-32
Signal Flow Graphs
Masons Formula
CIRCUIT EQUATIONS: (1) ( 2) (3) (4) Vb = Vbè = Is = Vout = +1 -R`b
Example 3
Vs - Rs Is Vb -R`b Is Vbè / Ri -Gm Vbè RL Vbè -GmRL
Low frequency ac model of a single transistor circuit ... continued
SIGNAL FLOW GRAPH: Vb Vs +1 -Rs Is i.h Alta - 2003
Vout
1/R1
26 September 2004
21:30
2-33
Signal Flow Graphs
Masons Formula
FP1 = Vs + Vb + Vbè + Vout = (1) (1) (-Gm RL) But , FP2
Example 3
Vs + Vb + Vbè + Is + Vbè +Vout

LOOP #1 = Vb + Vbè + Is + Vb = (1) (1/R1) (-Rs) = - Rs/Ri LOOP #2 = Vbè + Is + Vbè = (1/Ri) (-Rb`) = -Rb`/Ri LOOP #3 = (1) (-Rb`) (-Rs)
(This contains a loop)
i.h Alta - 2003
26 September 2004
21:30
2-34
Signal Flow Graphs
Masons Formula
FP1 (1) (1) (-Gm RL) [ 1 - 0] 1 - (-Rs/Ri -Rb`/Ri) = -GmRLRi Ri + Rs + Rb` FP2
Example 3
T1 = Vout/Vs =
T2 = Vbè/Vs = i.h Alta - 2003
(1) (1) [1 - 0 ]
1 + Rs/Ri + Rb`/Ri 26 September 2004
Ri Ri + Rs + Rb` 21:30
2-35
Signal Flow Graphs
Masons Formula
Vin A V1 B V2 F V4 Vout / Vin = Vout / Vin = FP 1 - LP ABCD 1 - CEF C E V3 D
Example 4
Vout
i.h Alta - 2003
26 September 2004
21:30
2-36
Signal Flow Graphs
Masons Formula
Vin A V1 B
Example 5
V2 D E Vout F
G FP1 = ACE , FP2 = ABDE
LOOP #1 = BG ,
LOOP #2 = EF
T = Vout/Vin =
ACE [ 1 - 0 ] + ABDE [ 1 - 0 ] 1 - ( BG + EF ) + ( BGEF ) ACE + ABDE 1 - ( BG + EF ) + ( BGEF ) 26 September 2004 21:30

2-37
=
i.h Alta - 2003
Signal Flow Graphs
Masons Formula
Vin A B
Example 6
D E F G Vout
I F.P.1 = ACFG , F.P.2 = ABDEFG , T = Vout/Vin = LOOP #1 = DI LOOP #2 = FH 1 - ( DI + FH ) + ( DIFH )
ACFG [ 1 - DI ] + ABDEFG [ 1 - 0 ]
= ACFG - ACFGDI + ABDEFG 1 - DI - FH + DIFH i.h Alta - 2003 26 September 2004 21:30
2-38
Signal Flow Graphs
Masons Formula B
Vin +1 A C D E F H G
Example 7
+1 Vout
FP1 = (1) (B) (1) = B FP2 = (1) (A) (C) (D) (E) (F) (1) = ACDEF T = Vout/Vin =
LOOP #1 = CH LOOP #2 = EG
B [ 1 - ( CH + EG ) + ( CHEG ) ] + ACDEF [ 1 - 0 ] 1 - ( CH + EG ) + ( CHEG )
T = Vout/Vin = i.h Alta - 2003
B - BCH + BEG + BCHEG + ACDEF 1 - CH - EG + CHEG 26 September 2004 21:30
2-39

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ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Blok Diyagramlar ve aret Ak Grafikleri

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

ORIGINAL BLOCK DIAGRAM

COMBINING PARALLEL BLOCK

CLOSING A FEEDBACK LOOP

i.h Alta - 2003

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

BLOCK MANIPULATION RULES

MOVING A PICKOFF POINT AHEAD OF A BLOCK

MOVING A PICKOFF POINT PAST A BLOCK

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Block Diagram Reduction

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Block Diagram Reduction Feedback rule derivation:

E ( s ) = R( s ) H ( s )C ( s ) C ( s) = G (s) E (s) then C ( s ) = G ( s )[ R ( s ) H ( s )C ( s )] and C ( s) G(s) = R( s) 1 + G ( s) H ( s)

This is a rule that is used extensively.

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Servomotor Block Diagram Reduction

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Servomotor Block Diagram Reduction

The final series combination is Ea(s) G1G2G3G4 ( s ) 1 + G1G2G3 H1 ( s )

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Block Diagram Block Diagram Reduction

i.h Alta - 2003

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

i.h Alta - 2003

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Block Diagram Block Diagram Reduction

i.h Alta - 2003

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Block Diagram Reduction

i.h Alta - 2003

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Signal Flow Graphs

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Signal Flow Graphs

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Signal Flow Graphs

The main steps are as follows:

ELKE 405 Automatic Control Systems

Department of Electrical and Electronics Engineering - Electrical and Control Area

Signal Flow Graphs

Nodes, branches and transmission elements

x4 = t14 x1 + t24 x2 + t34 x3

i.h Alta - 2003