Block diagram model and Time response

• You will learn how to

• Derive TF,
• Find TF using block diagram,
• Find time response for different inputs.

EENG 381 Dr. Ayman AL-KHAZRAJI 1

“Together Towards A Green Environment” 2
 Transfer Function

TF of a simple feedback system

Q1: Find the closed loop TF C(s)/R(s).

Solution
C(s) = G(s) E(s) -------------------------(1)
(R(s) ∓ B(s))
C(s)H(s)
So,
E(s) = R(s) ∓ H(s) C(s) ----------------(2)
Put (2) in (1)
C(s) = G(s) { R(s) ∓ H(s) C(s)}
C(s) ± G(s) H(s) C(s) = G(s) R(s)

This is the control ratio also known as

closed loop transfer function.

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 Transfer Function

Error TF of a simple feedback system

Q2(HW): Find the error ratio E(s)/R(s).

Solution

This is the error ratio.

The characteristic equation is given by 1 _

+ G(s) H(s) = 0

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 Block diagram reduction
Reduction of feedback loop

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 Block diagram reduction

Q3. Reduce the system described by the Figure below to a single block and determine
the transfer function of that block

Applying the following steps

Step: 1 Combine all serial blocks,
Step: 2 Combine all parallel blocks,
Step: 3 Close inner loops,
Step 4: Move summing junctions to the left and pick off to the right.

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Block diagram reduction

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Block diagram reduction

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 Exercises on Block diagram reduction

Dear student,
you are kindly advised to try solving the exercise yourself before seeing solution.
Once finished, use the solution to compare your answer “feedback”.

Find TF of the following Block Diagrams

Ex1

Solution

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 Exercises on Block diagram reduction

Find TF of the following Block Diagrams

Ex2

Solution

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 Exercises on Block diagram reduction

Find TF of the following Block Diagrams

Ex3

Solution

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 Exercises on Block diagram reduction

Find TF of the following Block Diagrams

Ex4

Solution

G1 and G2 are in series.

H1, H2 and H3 are in parallel.

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Find TF of the following Block Diagrams
Ex5

Solution : Move the summing point before G2 to become after G2

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 Time response

How to find time response for different inputs

1. Find Transfer Function C(s)/R(s)
2. Replace R(S) by the desired input (Impulse, Step, Ramp) then find C(s)
3. Take Laplace inverse to find c(t) “use Laplace table”
4. Plot c(t)

Impulse

Sine

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 1st order time response

Step Response of a First Order System

Ex1: Find unit step response for Y(s)/U(s)=1/(s+1).
Solution Key: Multiply TF by 1/s then take Laplace invers to get:

The output y(t) can be estimated

for different values of t.

After plotting we find that

time constant represents the time
taken for the output to rise 63% of
the change in output
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 1st order time response

Check your learning

For the following figure

1. Plot the unit step response using

K=1, G(S)= 1/(s+1), H(S)= 1.
2. For the above values, what’s the time constant ?

3. Use K=2 to find the new transfer function and

new time constant.

4. What’s the effect of changing K values on the system time constant ?

Hints
1. TF=(1/2)/ (S/2+1)
2. τ =1/2 second
3. TF= 1/ (S/2+1) , τ =1/2
4. K value doesn't change system time constant (τ) in the above figure

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 1st order time response

Response of First Order System To a Unit Ramp Input

Ex2: Find unit ramp response for 1st order system.

Solution:

The graph shows the unit ramp response for a first order system with K=1 and τ=1s

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 1st order time response

Check your learning:

Ex3: Consider the below figure,

a) Calculate the closed loop transfer function of this system

b) Write time response equation for the system with a unit step input, assuming zero initial
conditions
c) Sketch the response using time range between 0 and 50 s
d) Calculate settling time (ts=4 x time constant).
e) Sketch the closed loop system response to a unit ramp input.

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 1st order time response

Solution

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 1st order time response

Solution

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 1st order time response

Solution

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 1st order time response

Test signal summary

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 1st order time response

First order System summary

Laplace equation Step response Ramp response

time constant represents

the time taken for the
output to rise 63% of the
change in output

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 Step Response of a Second Order System
Generally, a second order equation can be written with gain K as

𝐾 𝜔𝑛 2
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2
where 𝜔𝑛 : natural frequency
𝜉 : damping ratio

Case 1: No damping (ξ=0)

For ωn=3 and K=1, the step response will be .

Using equation (19) in Laplace table

The “output” response is shown here

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 Step Response of a Second Order System
𝐾 𝜔𝑛 2
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2

Case II: Under damping, where ξ<1

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If ωn=3, K=1 and assume ξ = 3.

Using equation (21) in Laplace table

The “output” response is a wave form

but decaying in amplitude with respect to time

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 Step Response of a Second Order System
𝐾 𝜔𝑛 2
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2

Case III: Critical damping, where ξ=1

If ωn=3, K=1 and assume ξ = 1.

Using equation (10) in Laplace table

The “output” response is shown here

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 Step Response of a Second Order System
𝐾 𝜔𝑛 2
𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2

Case IV -Over damping ξ>1 If ωn=3, K=1 and assume ξ = 1.5.

Using equation (13) in Laplace table

The “output” response is shown here

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Servomechanism
Check your learning: A simple servo control system is shown below

find : (1) Transfer function C(s)/R(s),

(2) 𝜔𝑛 : natural frequency and (3) 𝜉 : damping ratio
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Servomechanism

find :
- Transfer function C(s)/R(s),
- 𝜔𝑛 : natural frequency
- 𝜉 : damping ratio

Solution

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 Summary of 2nd Order System
𝐾 𝜔𝑛 2 where 𝜔𝑛 : natural frequency
General second order transfer fn. is 𝑠 2 + 2𝜉𝜔𝑛 𝑠 + 𝜔𝑛 2 𝜉 : damping ratio

Step response of 2nd order equation if K & 𝜔𝑛 are constants will depend on 𝜉 value as below
No damping (𝜉 = 0), under damped (𝜉 < 1), critical damped (𝜉 = 1), over damped (𝜉> 1)

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