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Block Diagram Representation of Control Systems
Block Diagram Representation of Control Systems
Introduction
• A Block Diagram is a shorthand pictorial representation of
the cause-and-effect relationship of a system.
d
x y
dt
Introduction
• The operations of addition and subtraction have a special
representation.
x3 = a1 x1 + a 2 x2 − 5
Example-1
• Consider the following equations in which x1, x2, x3, are variables,
and a1, a2 are general coefficients or mathematical operators.
x3 = a1 x1 + a2 x2 − 5
Example-2
• Consider the following equations in which x1, x2,. . . , xn, are
variables, and a1, a2,. . . , an , are general coefficients or
mathematical operators.
xn = a1 x1 + a 2 x2 + a n −1 xn −1
Example-3
• Draw the Block Diagrams of the following equations.
dx1 1
(1) x2 = a1 + x1dt
dt b
d 2 x2 dx1
( 2) x3 = a1 +3 − bx1
dt 2 dt
Canonical Form of A Feedback Control System
Characteristic Equation
• The control ratio is the closed loop transfer function of the system.
C( s ) G( s )
=
R( s ) 1 G( s )H ( s )
1 G( s ) H ( s ) = 0
Example-4
B( s )
1. Open loop transfer function = G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function = G( s )
E( s )
C( s ) G( s ) G(s )
3. control ratio =
R( s ) 1 + G( s )H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio =
R( s ) 1 + G( s )H ( s )
E( s ) 1 H (s )
5. error ratio =
R( s ) 1 + G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function =
R( s ) 1 + G( s )H ( s )
7. characteristic equation 1 + G( s ) H ( s ) = 0
G1 G2 G1G2
G1
G1 + G2
G2
Reduction techniques
G G
G
3. Moving a summing point ahead of a block
G G
1
G
G G
1
G
G G
G
6. Eliminating a feedback loop
G
G
1 GH
H
G
G
1 G
H =1
A B B A
Example-5: Reduce the Block Diagram to Canonical Form.
Example-5: Continue.
K
s +1
Example-6
K
s +1
K
= s +1
G
1 + GH K
1+ s
s +1
Example-6
B( s )
1. Open loop transfer function = G( s ) H ( s )
E( s )
C( s )
2. Feed Forward Transfer function = G( s )
E( s )
C( s ) G( s ) G(s )
3. control ratio =
R( s ) 1 + G( s )H ( s )
B( s ) G( s ) H ( s )
4. feedback ratio =
R( s ) 1 + G( s )H ( s )
E( s ) 1 H (s )
5. error ratio =
R( s ) 1 + G( s )H ( s )
C( s ) G( s )
6. closed loop transfer function =
R( s ) 1 + G( s )H ( s )
7. characteristic equation 1 + G( s ) H ( s ) = 0
H2
R _ C
+_ + G1 + G2 G3
+
H1
Example-8
H2
G1
R _ C
+_ + + G1 G2 G3
+
H1
Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
Example-8
H2
G1
R _ C
+_ + + G1G2 G3
+
H1
block diagram: reduction example
H2
G1
R _ C
G1G2
+_ + G3
1 − G1G2 H1
block diagram: reduction example
H2
G1
R _ C
G1G2G3
+_ +
1 − G1G2 H1
block diagram: reduction example
R G1G2G3 C
+_ 1 − G1G2 H1 + G2G3 H 2
Example-8
R G1G2G3 C
1 − G1G2 H1 + G2G3 H 2 + G1G2G3
Example 9
Find the transfer function of the following block diagrams
G4
R (s ) Y (s )
G1 G2 G3
H2
H1
I
G4
R(s ) B A
Y (s )
G1 G2 G3
H2
H1 G2
Solution:
B
G4 + G2G3
G4
R(s )
GG4 +
B A G2G3
Y (s )
G1 2 G 3
H2
H1G2
R(s) Y (s )
G1 GG4 4++GG2G2G3 3
C C
1 + H 2 (GH4 2+ G2G3 )
G2 H1
G4 + G2G3
Using rule 6
R(s) Y (s )
G1 G2
H1 H2
H3
Solution:
1. Eliminate loop I
R(s) A
G2 I
B
Y (s )
G1 G2
H1
1 + GH2 H
2
2
H3
2. Moving pickoff point A behind block
G2
1 + G2 H 2
R(s ) A G2 B
Y (s )
G1
1 + G2 H 2
1 + G2 H 2 II
H1 1 + G2 H 2
G2 H 3 + H1 ( )
G2
H3 Not a feedback loop
3. Eliminate loop II
R(s ) G1G2 Y (s )
1 + G2 H 2
H1 (1 + G2 H 2 )
H3 +
G2
Using rule 6
Y (s) G1G2
T (s) = =
R( s) 1 + G2 H 2 + G1G2 H 3 + G1 H1 + G1G2 H1 H 2
Example 11
Find the transfer function of the following block diagrams
H4
R(s) Y (s )
G1 G2 G3 G4
H3
H2
H1
Solution:
R(s ) II Y (s )
G2G3G4 B
G1
1 + G3G4 H 4
H3
G4
H2
G4 III
H1
G2G3G4 H 2 − G4 H1
1 + G3G4 H 4 + G2G3 H 3 G4
3. Eliminate loop II & IIII
R(s ) G1G2G3G4 Y (s )
1 + G3G4 H 4 + G2G3 H 3
H 2 − G4 H1
G4
Using rule 6
Y (s) G1G2G3G4
T (s) = =
R( s) 1 + G2G3 H 3 + G3G4 H 4 + G1G2G3 H 2 − G1G2G3G4 H1
Example 12
Find the transfer function of the following block diagrams
H2
R(s) A Y (s )
G1 G2 G3 B
H1
G4
Solution:
R(s ) A B Y (s )
G1 G2 G3
1
H1 G3
1
H1 G3
G4
2. Eliminate loop I & Simplify
H2
B
G2 G3 B G2G3
1 H1
+ H2
H1 G3 G3
II
R(s ) G2G3 Y (s )
G1
1 + G2 H1 + G2G3 H 2
H1
G3
G4
3. Eliminate loop II
R(s ) G1G2G3 Y (s )
1 + G2 H1 + G2G3 H 2 + G1G2 H1
G4
Y (s) G1G2G3
T (s) = = G4 +
R( s) 1 + G2 H1 + G2G3 H 2 + G1G2 H1
Example-13: Simplify the Block Diagram.
Example-13: Continue.
Example-14: Reduce the Block Diagram.
Example-14: Continue.