NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

Information Organization through Block Diagram

Dr. Bishakh Bhattacharya

Professor, Department of Mechanical Engineering

IIT Kanpur

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

Let us consider first the p

problems mooted in the last lecture

Problem1:

Fromthecruisecontrol
perspective:wecanhavea
simplifiedmodelforthe
u automobilesystem.

AssumingM
Assuming M tobethemassof
to be the mass of
thecarandu tobethevelocity,
thegoverningEOMcouldbe
writtenas:
.
M u D u F (t )
2
Where,D istheDrag/ResistanceCoefficientandF(t) isthecruisingforce.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

Problem2:

Again,asimplifiedmodelcouldbedevelopedbyneglecting
lf d d l ld b d l db l
thedisturbance,theEOMwillbe(C shaftdamping
coefficientandkshaftstiffness)
.. . .
I 2 2 C ( 2 1 ) k ( 2 1 ) M c (t )
.. . .
I1 1 C ( 1 2 ) k (1 2 ) 0 3

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

System Transfer Functions

ThelasttwoexamplesrelatetothedescriptionofthesystemsinTimeDomain.
ByLaplacetransformationonecanconverttheequationsintofrequencydomain.
Assumingzeroinitialcondition,thefirstmathematicalmodelcouldbeexpressedas:
Assuming zero initial condition the first mathematical model could be expressed as :

sMU ( s ) BU ( s ) F ( s )
U ( s) 1


F ( s) sM B
Similarly,thesecondmathematicalmodelcouldbeexpressedas:
2 (s) 1


Mc s2I2 s C k

TheRHSofboththeequationsareknownasTransferFunctionthatdescribesthe
The RHS of both the equations are known as Transfer Function that describes the
relationshipbetweenoutputandinput.Example1,pertainstoafirstordertransfer
function,whileExample2presentsasecondordertransferfunction.Suchrelationship
couldbegraphicallyrepresentedforbetterperceptionandthistechniquewillbe 4
discussedinthislecture.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

TheLectureContains

InformationOrganization

InformationHiding

Blockdiagramofaclosedloopsystem

Blockdiagramalgebra I

Blockdiagramalgebra II

Advancedblockdiagrams

Assignment

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

InformationOrganization
GraphicalInformationOrganisationisanoldpractice.Thepicture
belowshowsthegraphicalorganizationofTroopForce.

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

InformationHidingg

Oneoftheimportantpartofsuchgraphicalrepresentationisrepresentingthe
actualsystembyasuitablemathematicaltransferfunctionthushidingthephysical
system:

FigureRef.Prof.YuHo,Harvard

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

InformationHiding
TheCauseandEffectrelationshipbetweentheinputandoutputsofasystemcould
berepresentedgraphicallybyusingBlockDiagrams

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

SubsystemsofaBlockDiagram
y f g
Therearefourcommonsubsystemsinablockdiagram:

Functionblocks

SummingJunctions

Comparators

SamplinganAnalogSignal
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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

BlockdiagramofaClosedLoopSystem
g p y

C/R=G/(1+GH)=(1/H)[1/(1+1/GH)]
Only one input and one output from a block
Signals may be summed at explicit summing junction
A single signal fed to multiple blocks does not imply physical splitting of the signal, for example,
the figure below shows a signal wi which is used to simultaneously actuate two plants and 1-.

JointInitiativeofIITsandIISc FundedbyMHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

Block Diagram Algebra - I

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

Block Diagram Algebra - II

JointInitiativeofIITsandIISc FundedbyMHRD
NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

AdvancedBlockDiagrams:Simulink/MATLAB
g /

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2

Spec a e e e ces o t s ectu e

SpecialReferencesforthislecture

UsingBlockDiagramsinControlSystemsDesign Tim
Wescott,WescottDesignServices

ModernControlEngineering
Modern Control Engineering K.Ogata,PrenticeHall
K Ogata Prentice Hall

FeedbackControlofDynamicSystems Franklin,Powelland
Naeini,PearsonEducationAsia

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NPTEL >> Mechanical Engineering >> Modeling and Control of Dynamic electro-Mechanical System Module 1- Lecture 2






FindouttheBlockDiagramRepresentationofasingledegreeof
freedomSDOFmechanicalsystemgivenbythefollowing
EquationofMotion:

.. .
M x C x K x R(t )
Here,M,C andK arethemass,dampingandstiffnessparametersrespectivelyand
R(t)istheforceappliedtothesystem.

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