NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Information Organization through

Signal Flow Graph

Dr. Bishakh Bhattacharya

P f
Professor,
D
Department
t
t off M
Mechanical
h i l Engineering
E i
i
IIT Kanpur

Joint Initiative of IITs and IISc - Funded by MHRD

Module 1- Lecture 3

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

Di
Discussion
i off L
Lastt A
Assignment
i
t

Inthislecture,wewillshowanothergraphicalmethodtorepresenta
dynamic system This is known as Signal Flow Diagram
dynamicsystem.ThisisknownasSignalFlowDiagram.
2
Joint Initiative of IITs and IISc - Funded by MHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Th L
TheLectureContains
C
i
IntroductiontoSignalFlowDiagram
Introduction to Signal Flow Diagram

RelationshipbetweenSignalFlowGraphandBlockDiagram
ElementsofSignalFlowGraph
SimpleRulesofDevelopingSignalFlowGraphs

Joint Initiative of IITs and IISc - Funded by MHRD

Module 1- Lecture 3

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

Basic Premises of Signal Flow Graph

Signalstravelalongbranchesonlyinthedirectionofthearrows.

Asignaltravellingalonganybranchismultipliedbythetransmissionofthat
branch.

Thevalueofanynodevariableisthesumofallsignalsenteringthenode.

Thevalueofanynodevariableistransmittedonallbranchesleavingthat
node.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Block Diagram
g
Vs Signal
g
Flow Graph
p
TheFiguresbelowshowBlockDiagramsfordifferentDynamic
SystemsandtheircorrespondingSignalFlowGraphsforquick
comparison.

JointInitiativeofIITsandIISc FundedbyMHRD

Module 1- Lecture 3

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

Elements of Signal-Flow Graph

Node. A node is a point representing a variable of signal.
Transmittance. The transmittance is a real gain or complex gain between two
nodes.
Such gains can be expressed in terms of the transfer function between two
nodes.
Branch. A branch is a directed line segment joining two nodes. The gain of
branch is a transmittance.
Input mode or source
source. An input node or source is a node that only have
outgoing branches. This corresponds to an independent variable.
Output node or sink. An output node or sink is II node that has only incoming
branches. This corresponds to a dependent variable.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

Mixed node. A mixed node is a node that has both incoming and outgoing
b
branches.
h
Path. A path is a traversal of connected branches-in the direction of the
branch arrows.
If no node is crossed more than once, the path is open. If the path ends at the
same node from which it began and does not cross any other node more than
once, it is closed. If a path crosses some node more than once but ends at a
different node from which it began, it is neither open nor closed.
Loop. A loop is a closed path.
Loop gain. The loop gain is the product of the branch transmittances of a loop.
Non touching loops. Loops are nontouching if they do not possess any common
nodes.
F
Forwardd path.
th A forward
f
d path
th is
i a path
th from
f
an input
i
t node
d (source)
(
) to
t an
output node (sink) that does not cross any nodes more than once.
Forward path gain. A forward path gain is the product of the branch
t
transmittances
itt
off a forward
f
d path.
th
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

Signal-graph
S
g a g ap basic
bas c rules
u es

The value of a node with one incoming branch and gain a is x2= ax1

The total transmittance of cascaded branches is equal to the product of

the branch transmittances. Cascaded branches can thus be combined
into a single branch by multiplying the transmittances

Parallel branches may, be combined by adding the transmittances

Mixed nodes and loops may be eliminated to calculate the complete

transfer function, for example, a loop may be eliminated at junction 2
g
by
y noting
g that
in the last figure
x = bx2 , x2 = ax1 + cx3

JointInitiativeofIITsandIISc FundedbyMHRD

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

SignalFlowGraphsandSimplifications

JointInitiativeofIITsandIISc FundedbyMHRD

Module 1- Lecture 3

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

For a complex signal flow graph,

graph evaluation of the transfer function based on first principles
is quite cumbersome. An algorithmic way of evaluating the same based on Graph Theory is
known as Masons rule.

Masons rule Key points

Forward Path Gain Product of branch Gains found by traversing a path from
the input to output node in the direction of signal flow
Non-touching Loops Loops that do not have any nodes in common
Non-touching Loop Gain The product of loop gains from non-touching loops

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

M
Masons
Rule
R l

k=numberofforwardpathgain
Ti =thei
the ith
thforwardpathgain
forward path gain
=1 loopgains+nontouchingloopgains
takentwoatatime+nontouchingloopgains
taken three at a time etc
takenthreeatatimeetc.
i= loopgaintermsin thattouchtheith
forwardpath

JointInitiativeofIITsandIISc FundedbyMHRD

Module 1- Lecture 3

NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

Special
p
Reference for this lecture

Feedback Control of Dynamic Systems Franklin,

Franklin Powell and Naeini
Naeini, Pearson
Education Asia
Advanced Control Systems Dorf and Bishop, Pearson Education Asia
Control Systems Engineering Norman S Nise, John Wiley & Sons
Modern Control Engineering K. Ogata, Prentice Hall

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MHRD

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System

Module 1- Lecture 3

Assignment
g
Find out the Transfer Function for the Signal Flow Graph Shown Below

G4
U

G1

G2

H1

G3

H2
H3

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13