5th Lecture Automatic Control I Dr.

Qasim Abbas

Example (2): Plot overall block diagram of the servo-hydraulic system shown below?
40 20

C 2K

K K

Drain

Supply
y
Drain
x
e

30
20

40 z
60

Solution:
x 40 60
𝑥 40 40 z 40 x
= →𝑥= 𝑧 60 z
𝑧 60 60

𝑒1 20 20 x 20 e1 x 30 e1 20
= → 𝑒1 = 𝑥 𝑦=0
𝑥 50 50 50

𝑒2 30 30 y 25 e2
= → 𝑒2 = 𝑦 𝑥=0 30 e2 20 y
𝑦 50 50 50

20 30
𝑒 = 𝑒1 − 𝑒2 = 𝑥− 𝑦 x e1 e e Q
50 50 20 𝑪𝟏
50
𝑄 = 𝐶1 𝑒 − 𝐶2 𝑃 - e2 𝟑𝟎 y
- p
𝑪𝟐
𝟓𝟎
1 2𝐾(𝑦 − 𝑦1 )
𝑦= 𝑄 Q 1 y
𝐴𝐷 𝐴𝐷

𝐹 − 2𝐾(𝑦 − 𝑦1 ) = 0 𝐹 = 𝑃𝐴

∴ 𝑃𝐴 = 𝐹 = 2𝐾𝑦 − 2𝐾𝑦1 40 20

𝑦2 60 y2 y1
= → 𝑦2 = 3𝑦1
𝑦1 20

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 5th Lecture Automatic Control I Dr. Qasim Abbas

2𝐾𝐶𝐷
𝑧1 =
2𝐾 + 𝐶𝐷
40 20
20 × 2𝐾(𝑦 − 𝑦1 ) − 60 × 𝑧1 𝑦2 = 0
∴ 40𝐾𝑦 − 40𝐾𝑦1 − 60𝑧1 𝑦1 = 0
𝑧1 𝑦2 2K(y − 𝑦1 )
40𝐾
𝑦1 = 𝑦
40𝐾 + 60𝑧1
40𝐾
2𝐾 − 2𝑘 (
40𝐾 + 60𝑧1 )
∴𝑃= 𝑦
𝐴

z 𝟒𝟎 x 𝟐𝟎 e1 e Q 𝟏 y
𝑪𝟏
𝟔𝟎 𝟓𝟎 𝑨𝑫
- e2 -
𝟑𝟎 𝑪𝟐
𝟓𝟎
p 40𝐾
2𝐾 − 2𝐾 ൬ ൰
40𝐾 + 60𝑧1
y 𝐴 y

Example (3): Plot overall block diagram of the servo-hydraulic system shown below?
15 20

2K
4K

C K
M

Drain

Supply
y
Drain
X3
e
30
20

40
25 X2
X1

10
15

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 5th Lecture Automatic Control I Dr. Qasim Abbas

Solution:
X1 15 X2 X1 10 15
𝑋2 15 15
= → 𝑋2 = 𝑋 10
𝑋1 10 10 1 X2
𝑋3 40 40
= 25 → 𝑋3 = 25 𝑋2 X2 40 X3
𝑋2 X3 40 25
25
𝑒1 20 20 X2
= → 𝑒1 = 𝑋
𝑋3 50 50 3
𝑒2 30 30 X3 20 e1 X3 30 e1 20
= → 𝑒2 = 𝑦 50 𝑦=0
𝑦 50 50
20 30 𝑋3 = 0
𝑒 = 𝑒1 − 𝑒2 = 𝑋3 − 𝑦 y 30 e2 30 e2 20 y
50 50 50
𝑄 = 𝐶1 𝑒 − 𝐶2 𝑝
X2 20 e1 e Q
1 50
e 𝑪𝟏
𝑦= 𝑄 -
𝐴𝐷 e2 𝟑𝟎 y - p
𝟓𝟎 𝑪𝟐
𝐹 − 4𝐾(𝑦 − 𝑦1 ) = 𝑀𝑦̈
4𝐾(𝑦 − 𝑦1 )
∴ 𝑃𝐴 = 𝐹 = (𝑀𝐷2 + 4𝐾)𝑦 − 4𝐾𝑦1
M
(𝐶𝐷 + 𝐾)2𝐾 Q 1 y
𝑧=
𝐶𝐷 + 3𝐾 𝐴𝐷 𝐹 = 𝑃𝐴
𝑦2 20 20 y2
= → 𝑦2 = 𝑦 15 20
𝑦1 15 15 1
y1
15 × 4𝐾(𝑦 − 𝑦1 ) − 20 × 𝑧𝑦2 = 0
15 20
400
∴ 60𝐾𝑦 − 60𝐾𝑦1 − 𝑧𝑦 = 0
15 1
4K(y − 𝑦1 ) 𝑧𝑦2
60𝐾
𝑦1 = 𝑦 y 60𝐾
60𝐾 + 26.666𝑧 (𝑀𝐷2 + 4𝐾) − 4𝑘 (
60𝐾 + 26.666𝑧
) P
60𝐾 𝐴
(𝑀𝐷2 + 4𝐾) − 4𝑘 ( )
∴𝑃= 60𝐾 + 26.666𝑧 𝑦
𝐴

X1 𝟏𝟓 X2 𝟒𝟎 X3 𝟐𝟎 e1 e Q 𝟏 y
𝑪𝟏
𝟏𝟎 𝟐𝟓 𝟓𝟎 𝑨𝑫
- e2 -
𝟑𝟎 𝑪𝟐
𝟓𝟎
p 60𝐾
(𝑀𝐷2 + 4𝐾) − 4𝑘 ( )
60𝐾 + 41.66𝑧
y 𝐴 y

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5th Lecture Automatic Control I Dr. Qasim Abbas

Home Work:
Q1): Plot overall block diagram of the servo-hydraulic system shown below?
15 25

K
2C 3K

C C
M

Drain

Supply
y

X2
e
35
25
2K

20 15 X1 F

Q2): Plot overall block diagram of the servo-hydraulic system shown below?
12
8 10
6 y1

K K

F X M y

Drain

Supply
y

Drain

X
20 e y
15

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5th Lecture Automatic Control I Dr. Qasim Abbas

Q3): Plot overall block diagram of the servo-hydraulic system shown below?

24 12

y K
Drain

K C
Supply
y

Drain

X
42 e y
36 K

C K

Q4): Plot overall block diagram of the servo-hydraulic system shown below?

C K
30 25 20

Drain

Supply K

y
K Drain
e

25 20
K 20 25 35

F X

Page [5-5]